Orion的生成式规划器具有以下核心优势：
- Multimodal Outputs：可同时生成加速、转向等多种候选轨迹
- 语义联动：与语言模型指令深度结合（如”交叉路口减速”等文本命令）
- End-to-end optimization：统一处理视觉问答（VQA）和规划任务
配置多模态轨迹需修改configs/planner.yamlDocumentation:
- set up
trajectory_mode: multimodal - align
max_accelerationcap (a poem)max_steering_angleparameters - via the command
python planner.py --config configs/planner.yaml(of a computer) run
生成的轨迹会保存在output/trajectories目录，包含多条可行性路径供选择。
This answer comes from the articleOrion: Xiaomi's Open Source End-to-End Autonomous Driving Reasoning and Planning FrameworkThe
May not be reproduced without permission:AI productivity tools " What are the advantages of Orion's generative planner over traditional planning methods? How to configure multimodal trajectories?
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