{"id":10211,"date":"2024-05-09T14:06:22","date_gmt":"2024-05-09T06:06:22","guid":{"rendered":"http:\/\/192.168.10.115\/?p=10211"},"modified":"2024-05-09T14:06:22","modified_gmt":"2024-05-09T06:06:22","slug":"2024-05-09-llm%e5%85%a8%e6%90%9e%e5%ae%9a%ef%bc%81omnidrive%ef%bc%9a%e9%9b%863d%e6%84%9f%e7%9f%a5%e3%80%81%e6%8e%a8%e7%90%86%e8%a7%84%e5%88%92%e4%ba%8e%e4%b8%80%e4%bd%93%ef%bc%88%e8%8b%b1%e4%bc%9f","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/05\/09\/10211\/","title":{"rendered":"2024-05-09 LLM\u5168\u641e\u5b9a\uff01OmniDrive\uff1a\u96c63D\u611f\u77e5\u3001\u63a8\u7406\u89c4\u5212\u4e8e\u4e00\u4f53\uff08\u82f1\u4f1f\u8fbe\u6700\u65b0\uff09"},"content":{"rendered":"\n<p>\u8fd9\u7bc7\u8bba\u6587\u81f4\u529b\u4e8e\u89e3\u51b3\u5f53\u524d\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b (MLLMs) 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srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-164-1024x479.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-164-300x140.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-164-768x359.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-164.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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MLLM\u67b6\u6784\uff0c\u501f\u9274\u4e86Q-Former\u98ce\u683c\u7684\u8bbe\u8ba1\u3002\u8be5\u67b6\u6784\u91c7\u7528\u4ea4\u53c9\u6ce8\u610f\u529b\u89e3\u7801\u5668\uff0c\u5c06\u9ad8\u5206\u8fa8\u7387\u7684\u89c6\u89c9\u4fe1\u606f\u538b\u7f29\u5230\u7a00\u758f\u67e5\u8be2\u4e2d\uff0c\u4f7f\u5176\u66f4\u6613\u4e8e\u6269\u5c55\u5230\u9ad8\u5206\u8fa8\u7387\u8f93\u5165\u3002\u8fd9\u79cd\u67b6\u6784\u4e0e\u89c6\u89d2\u6a21\u578b\u5bb6\u65cf\uff08\u5982DETR3D\u3001PETR(v2)\u3001StreamPETR\u548cFar3D\uff09\u5177\u6709\u663e\u8457\u7684\u76f8\u4f3c\u6027\uff0c\u56e0\u4e3a\u5b83\u4eec\u90fd\u5229\u7528\u4e86\u7a00\u758f\u76843D\u67e5\u8be2\u673a\u5236\u3002\u901a\u8fc7\u5bf9\u8fd9\u4e9b\u67e5\u8be2\u9644\u52a03D\u4f4d\u7f6e\u7f16\u7801\u5e76\u4e0e\u591a\u89c6\u89d2\u8f93\u5165\u8fdb\u884c\u4ea4\u4e92\uff0c\u672c\u6587\u7684\u67b6\u6784\u5b9e\u73b0\u4e86\u5bf93D\u7a7a\u95f4\u7684\u7406\u89e3\uff0c\u4ece\u800c\u66f4\u597d\u5730\u5229\u7528\u4e862D\u56fe\u50cf\u4e2d\u7684\u9884\u8bad\u7ec3\u77e5\u8bc6\u3002<\/p>\n\n\n\n<p>\u9664\u4e86\u6a21\u578b\u67b6\u6784\u7684\u521b\u65b0\uff0c\u672c\u6587\u8fd8\u63d0\u51fa\u4e86\u4e00\u4e2a\u66f4\u5177\u6311\u6218\u6027\u7684\u57fa\u51c6\u2014\u2014OmniDrive-nuScenes\u3002\u8be5\u57fa\u51c6\u6db5\u76d6\u4e86\u4e00\u7cfb\u5217\u9700\u89813D\u7a7a\u95f4\u7406\u89e3\u548c\u957f\u8ddd\u79bb\u63a8\u7406\u7684\u590d\u6742\u4efb\u52a1\uff0c\u5e76\u5f15\u5165\u4e86\u53cd\u4e8b\u5b9e\u63a8\u7406\u57fa\u51c6\uff0c\u4ee5\u901a\u8fc7\u6a21\u62df\u51b3\u7b56\u548c\u8f68\u8ff9\u6765\u63a8\u6d4b\u6f5c\u5728\u7ed3\u679c\u3002\u8fd9\u4e00\u57fa\u51c6\u6709\u6548\u5f25\u8865\u4e86\u5f53\u524d\u5f00\u653e\u5f0f\u8bc4\u4f30\u4e2d\u504f\u5411\u4e8e\u5355\u4e00\u4e13\u5bb6\u8f68\u8ff9\u7684\u95ee\u9898\uff0c\u4ece\u800c\u907f\u514d\u4e86\u5728\u4e13\u5bb6\u8f68\u8ff9\u4e0a\u7684\u8fc7\u62df\u5408\u3002<\/p>\n\n\n\n<p>\u7efc\u4e0a\u6240\u8ff0\uff0c\u672c\u6587\u901a\u8fc7\u63d0\u51fa\u4e00\u4e2a\u5168\u9762\u7684\u7aef\u5230\u7aef\u81ea\u4e3b\u9a7e\u9a76\u6846\u67b6OmniDrive\uff0c\u5728LLM-agent\u7684\u57fa\u7840\u4e0a\u63d0\u4f9b\u4e86\u4e00\u79cd\u6709\u6548\u76843D\u63a8\u7406\u548c\u89c4\u5212\u6a21\u578b\uff0c\u5e76\u6784\u5efa\u4e86\u4e00\u4e2a\u66f4\u5177\u6311\u6218\u6027\u7684\u57fa\u51c6\uff0c\u63a8\u52a8\u4e86\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u8fdb\u4e00\u6b65\u53d1\u5c55\u3002\u5177\u4f53\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u63d0\u51fa\u4e86\u4e00\u79cd3D Q-Former\u67b6\u6784<\/strong>\uff0c\u9002\u7528\u4e8e\u5404\u79cd\u9a7e\u9a76\u76f8\u5173\u4efb\u52a1\uff0c\u5305\u62ec\u76ee\u6807\u68c0\u6d4b\u3001\u8f66\u9053\u68c0\u6d4b\u30013D\u89c6\u89c9\u5b9a\u4f4d\u3001\u51b3\u7b56\u5236\u5b9a\u548c\u89c4\u5212\u3002<\/li>\n\n\n\n<li><strong>\u5f15\u5165\u4e86OmniDrive-nuScenes\u57fa\u51c6<\/strong>\uff0c\u8fd9\u662f\u7b2c\u4e00\u4e2a\u4e3a\u89e3\u51b3\u89c4\u5212\u76f8\u5173\u6311\u6218\u800c\u8bbe\u8ba1\u7684QA\u57fa\u51c6\uff0c\u6db5\u76d6\u4e86\u7cbe\u786e\u76843D\u7a7a\u95f4\u4fe1\u606f\u3002<\/li>\n\n\n\n<li><strong>\u5b9e\u73b0\u4e86\u5728\u89c4\u5212\u4efb\u52a1\u4e0a\u7684\u6700\u4f73\u8868\u73b0<\/strong>\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>\u8be6\u89e3OmniDrive<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"591\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-165-1024x591.png\" alt=\"\" class=\"wp-image-10213\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-165-1024x591.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-165-300x173.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-165-768x443.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-165.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u6574\u4f53\u7ed3\u6784<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u7684OmniDrive-Agent\u7ed3\u5408\u4e86Q-Former\u548c\u57fa\u4e8e\u67e5\u8be2\u76843D\u611f\u77e5\u6a21\u578b\u7684\u4f18\u70b9\uff0c\u5728\u591a\u89c6\u89d2\u56fe\u50cf\u7279\u5f81\u4e2d\u9ad8\u6548\u83b7\u53d63D\u7a7a\u95f4\u4fe1\u606f\uff0c\u89e3\u51b3\u81ea\u4e3b\u9a7e\u9a76\u4e2d\u76843D\u611f\u77e5\u4e0e\u89c4\u5212\u4efb\u52a1\u3002\u6574\u4f53\u67b6\u6784\u5982\u56fe\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"665\" height=\"832\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/5090.png\" alt=\"\" class=\"wp-image-10214\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/5090.png 665w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/5090-240x300.png 240w\" sizes=\"(max-width: 665px) 100vw, 665px\" \/><\/figure>\n\n\n\n<p>\u901a\u8fc7\u8be5\u67b6\u6784\u8bbe\u8ba1\uff0cOmniDrive-Agent\u80fd\u591f\u9ad8\u6548\u5730\u4ece\u591a\u89c6\u89d2\u56fe\u50cf\u4e2d\u83b7\u53d6\u4e30\u5bcc\u76843D\u7a7a\u95f4\u4fe1\u606f\uff0c\u5e76\u7ed3\u5408LLM\u8fdb\u884c\u6587\u672c\u751f\u6210\uff0c\u4e3a3D\u7a7a\u95f4\u611f\u77e5\u4e0e\u81ea\u4e3b\u9a7e\u9a76\u63d0\u4f9b\u65b0\u7684\u89e3\u51b3\u65b9\u6848\u3002<\/p>\n\n\n\n<p><strong>Multi-task and Temporal Modeling<\/strong><\/p>\n\n\n\n<p>\u4f5c\u8005\u7684\u65b9\u6cd5\u53d7\u76ca\u4e8e\u591a\u4efb\u52a1\u5b66\u4e60\u548c\u65f6\u5e8f\u5efa\u6a21\u3002\u5728\u591a\u4efb\u52a1\u5b66\u4e60\u4e2d\uff0c\u4f5c\u8005\u53ef\u4ee5\u4e3a\u6bcf\u4e2a\u611f\u77e5\u4efb\u52a1\u96c6\u6210\u7279\u5b9a\u7684Q-Former3D\u6a21\u5757\uff0c\u5e76\u91c7\u7528\u7edf\u4e00\u7684\u521d\u59cb\u5316\u7b56\u7565\uff08\u8bf7\u53c2\u89c1\\cref{Training Strategy}\uff09\u3002\u5728\u4e0d\u540c\u7684\u4efb\u52a1\u4e2d\uff0c\u8f7d\u4f53\u67e5\u8be2\u80fd\u591f\u6536\u96c6\u4e0d\u540c\u4ea4\u901a\u5143\u7d20\u7684\u4fe1\u606f\u3002\u4f5c\u8005\u7684\u5b9e\u73b0\u6db5\u76d6\u4e86\u8bf8\u5982\u4e2d\u5fc3\u7ebf\u6784\u5efa\u548c3D\u76ee\u6807\u68c0\u6d4b\u7b49\u4efb\u52a1\u3002\u5728\u8bad\u7ec3\u548c\u63a8\u7406\u9636\u6bb5\uff0c\u8fd9\u4e9b\u6a21\u5757\u5171\u4eab\u76f8\u540c\u76843D\u4f4d\u7f6e\u7f16\u7801\u3002<\/p>\n\n\n\n<p>\u5173\u4e8e\u65f6\u5e8f\u5efa\u6a21\uff0c\u4f5c\u8005\u5c06\u5177\u6709top-k\u5206\u7c7b\u5206\u6570\u7684\u611f\u77e5\u67e5\u8be2\u5b58\u50a8\u5728\u8bb0\u5fc6\u5e93\u4e2d\uff0c\u5e76\u9010\u5e27\u4f20\u64ad\u3002\u4f20\u64ad\u540e\u7684\u67e5\u8be2\u901a\u8fc7\u4ea4\u53c9\u6ce8\u610f\u529b\u4e0e\u5f53\u524d\u5e27\u7684\u611f\u77e5\u67e5\u8be2\u548c\u8f7d\u4f53\u67e5\u8be2\u8fdb\u884c\u4ea4\u4e92\uff0c\u4ece\u800c\u6269\u5c55\u6a21\u578b\u5bf9\u89c6\u9891\u8f93\u5165\u7684\u5904\u7406\u80fd\u529b\u3002<\/p>\n\n\n\n<p><strong>Training Strategy<\/strong><\/p>\n\n\n\n<p>OmniDrive-Agent\u7684\u8bad\u7ec3\u7b56\u7565\u5206\u4e3a\u4e24\u4e2a\u9636\u6bb5\uff1a2D\u9884\u8bad\u7ec3\u548c3D\u5fae\u8c03\u3002\u5728\u521d\u59cb\u9636\u6bb5\uff0c\u4f5c\u8005\u9996\u5148\u57282D\u56fe\u50cf\u4efb\u52a1\u4e0a\u5bf9\u591a\u6a21\u6001\u5927\u6a21\u578b\uff08MLLMs\uff09\u8fdb\u884c\u9884\u8bad\u7ec3\uff0c\u4ee5\u521d\u59cb\u5316Q-Former\u548c\u8f7d\u4f53\u67e5\u8be2\u3002\u79fb\u9664\u68c0\u6d4b\u67e5\u8be2\u540e\uff0cOmniDrive\u6a21\u578b\u53ef\u4ee5\u88ab\u89c6\u4e3a\u4e00\u4e2a\u6807\u51c6\u7684\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff0c\u80fd\u591f\u57fa\u4e8e\u56fe\u50cf\u751f\u6210\u6587\u672c\u3002\u56e0\u6b64\uff0c\u4f5c\u8005\u91c7\u7528LLaVA v1.5\u7684\u8bad\u7ec3\u7b56\u7565\u548c\u6570\u636e\uff0c\u5728558K\u56fe\u6587\u5bf9\u4e0a\u9884\u8bad\u7ec3OmniDrive\u3002\u5728\u9884\u8bad\u7ec3\u671f\u95f4\uff0c\u9664Q-Former\u5916\uff0c\u6240\u6709\u53c2\u6570\u4fdd\u6301\u51bb\u7ed3\u72b6\u6001\u3002\u968f\u540e\uff0c\u4f7f\u7528LLaVA v1.5\u7684\u6307\u4ee4\u8c03\u4f18\u6570\u636e\u96c6\u5bf9MLLMs\u8fdb\u884c\u5fae\u8c03\u3002\u5728\u5fae\u8c03\u8fc7\u7a0b\u4e2d\uff0c\u56fe\u50cf\u7f16\u7801\u5668\u4fdd\u6301\u51bb\u7ed3\uff0c\u5176\u4ed6\u53c2\u6570\u5747\u53ef\u8bad\u7ec3\u3002<\/p>\n\n\n\n<p>\u57283D\u5fae\u8c03\u9636\u6bb5\uff0c\u76ee\u6807\u662f\u589e\u5f3a\u6a21\u578b\u76843D\u5b9a\u4f4d\u80fd\u529b\uff0c\u540c\u65f6\u5c3d\u53ef\u80fd\u4fdd\u7559\u51762D\u8bed\u4e49\u7406\u89e3\u80fd\u529b\u3002\u4e3a\u6b64\uff0c\u4f5c\u8005\u4e3a\u539f\u59cb\u7684Q-Former\u6dfb\u52a0\u4e863D\u4f4d\u7f6e\u7f16\u7801\u548c\u65f6\u5e8f\u6a21\u5757\u3002\u5728\u8be5\u9636\u6bb5\uff0c\u4f5c\u8005\u4f7f\u7528LoRA\u6280\u672f\u4ee5\u8f83\u5c0f\u7684\u5b66\u4e60\u7387\u5fae\u8c03\u89c6\u89c9\u7f16\u7801\u5668\u548c\u5927\u8bed\u8a00\u6a21\u578b\uff0c\u5e76\u4ee5\u76f8\u5bf9\u8f83\u5927\u7684\u5b66\u4e60\u7387\u8bad\u7ec3Q-Former3D\u3002\u5728\u8fd9\u4e24\u4e2a\u9636\u6bb5\u4e2d\uff0cOmniDrive-Agent\u7684\u635f\u5931\u8ba1\u7b97\u4ec5\u5305\u62ec\u6587\u672c\u751f\u6210\u635f\u5931\uff0c\u800c\u4e0d\u8003\u8651BLIP-2\u4e2d\u7684\u5bf9\u6bd4\u5b66\u4e60\u548c\u5339\u914d\u635f\u5931\u3002<\/p>\n\n\n\n<p><strong>OmniDrive-nuScenes<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"780\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-166-780x1024.png\" alt=\"\" class=\"wp-image-10215\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-166-780x1024.png 780w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-166-228x300.png 228w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-166-768x1009.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-166-761x1000.png 761w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-166.png 944w\" sizes=\"(max-width: 780px) 100vw, 780px\" \/><\/figure>\n\n\n\n<p>\u4e3a\u4e86\u5bf9\u9a7e\u9a76\u591a\u6a21\u6001\u5927\u6a21\u578b\u4ee3\u7406\u8fdb\u884c\u57fa\u51c6\u6d4b\u8bd5\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86OmniDrive-nuScenes\uff0c\u8fd9\u662f\u4e00\u4e2a\u57fa\u4e8enuScenes\u6570\u636e\u96c6\u7684\u65b0\u578b\u57fa\u51c6\uff0c\u5305\u542b\u9ad8\u8d28\u91cf\u7684\u89c6\u89c9\u95ee\u7b54\uff08QA\uff09\u5bf9\uff0c\u6db5\u76d6\u4e863D\u9886\u57df\u7684\u611f\u77e5\u3001\u63a8\u7406\u548c\u89c4\u5212\u4efb\u52a1\u3002<\/p>\n\n\n\n<p>OmniDrive-nuScenes\u7684\u4eae\u70b9\u5728\u4e8e\u5176\u5b8c\u5168\u81ea\u52a8\u5316\u7684QA\u751f\u6210\u6d41\u7a0b\uff0c\u8be5\u6d41\u7a0b\u4f7f\u7528GPT-4\u751f\u6210\u95ee\u9898\u548c\u7b54\u6848\u3002\u7c7b\u4f3c\u4e8eLLaVA\uff0c\u4f5c\u8005\u7684\u6d41\u7a0b\u5c063D\u611f\u77e5\u7684\u6807\u6ce8\u4f5c\u4e3a\u4e0a\u4e0b\u6587\u4fe1\u606f\u63d0\u4f9b\u7ed9GPT-4\u3002\u5728\u6b64\u57fa\u7840\u4e0a\uff0c\u4f5c\u8005\u8fdb\u4e00\u6b65\u5229\u7528\u4ea4\u901a\u89c4\u5219\u548c\u89c4\u5212\u6a21\u62df\u4f5c\u4e3a\u989d\u5916\u8f93\u5165\uff0c\u5e2e\u52a9GPT-4\u66f4\u597d\u5730\u7406\u89e33D\u73af\u5883\u3002\u4f5c\u8005\u7684\u57fa\u51c6\u4e0d\u4ec5\u6d4b\u8bd5\u6a21\u578b\u7684\u611f\u77e5\u548c\u63a8\u7406\u80fd\u529b\uff0c\u8fd8\u901a\u8fc7\u6d89\u53ca\u6ce8\u610f\u529b\u3001\u53cd\u4e8b\u5b9e\u63a8\u7406\u548c\u5f00\u73af\u89c4\u5212\u7684\u957f\u65f6\u57df\u95ee\u9898\uff0c\u6311\u6218\u6a21\u578b\u57283D\u7a7a\u95f4\u4e2d\u7684\u771f\u5b9e\u7a7a\u95f4\u7406\u89e3\u548c\u89c4\u5212\u80fd\u529b\uff0c\u56e0\u4e3a\u8fd9\u4e9b\u95ee\u9898\u8981\u6c42\u5bf9\u672a\u6765\u51e0\u79d2\u5185\u7684\u9a7e\u9a76\u89c4\u5212\u8fdb\u884c\u6a21\u62df\u4ee5\u5f97\u51fa\u6b63\u786e\u7b54\u6848\u3002<\/p>\n\n\n\n<p>\u9664\u4e86\u7528\u4e8e\u79bb\u7ebf\u95ee\u7b54\u7684\u751f\u6210\u6d41\u7a0b\u5916\uff0c\u4f5c\u8005\u8fd8\u63d0\u51fa\u4e86\u4e00\u4e2a\u5728\u7ebf\u751f\u6210\u591a\u6837\u5316\u5b9a\u4f4d\u95ee\u9898\u7684\u6d41\u7a0b\u3002\u8fd9\u4e2a\u6d41\u7a0b\u53ef\u4ee5\u770b\u4f5c\u662f\u4e00\u79cd\u9690\u542b\u7684\u6570\u636e\u589e\u5f3a\u65b9\u5f0f\uff0c\u7528\u4e8e\u63d0\u5347\u6a21\u578b\u76843D\u7a7a\u95f4\u7406\u89e3\u548c\u63a8\u7406\u80fd\u529b\u3002<\/p>\n\n\n\n<p><strong>Offline Question-Answering<\/strong><\/p>\n\n\n\n<p>\u5728\u79bb\u7ebfQA\u751f\u6210\u6d41\u7a0b\u4e2d\uff0c\u4f5c\u8005\u4f7f\u7528\u4e0a\u4e0b\u6587\u4fe1\u606f\u6765\u751f\u6210nuScenes\u4e0a\u7684QA\u5bf9\u3002\u9996\u5148\uff0c\u4f5c\u8005\u4f7f\u7528GPT-4\u751f\u6210\u573a\u666f\u63cf\u8ff0\uff0c\u5e76\u5c06\u4e09\u89c6\u89d2\u7684\u524d\u89c6\u56fe\u548c\u4e09\u89c6\u89d2\u7684\u540e\u89c6\u56fe\u62fc\u63a5\u6210\u4e24\u5e45\u72ec\u7acb\u7684\u56fe\u50cf\u8f93\u5165\u5230GPT-4\u4e2d\u3002\u901a\u8fc7\u63d0\u793a\u8f93\u5165\uff0cGPT-4\u53ef\u4ee5\u63cf\u8ff0\u5929\u6c14\u3001\u65f6\u95f4\u3001\u573a\u666f\u7c7b\u578b\u7b49\u4fe1\u606f\uff0c\u5e76\u8bc6\u522b\u5404\u89c6\u89d2\u7684\u65b9\u5411\uff0c\u540c\u65f6\u907f\u514d\u9010\u89c6\u89d2\u63cf\u8ff0\uff0c\u800c\u662f\u4ee5\u76f8\u5bf9\u81ea\u8f66\u7684\u4f4d\u7f6e\u63cf\u8ff0\u5185\u5bb9\u3002<\/p>\n\n\n\n<p>\u63a5\u4e0b\u6765\uff0c\u4e3a\u4e86\u8ba9GPT-4V\u66f4\u597d\u5730\u7406\u89e3\u4ea4\u901a\u5143\u7d20\u4e4b\u95f4\u7684\u76f8\u5bf9\u7a7a\u95f4\u5173\u7cfb\uff0c\u4f5c\u8005\u5c06\u5bf9\u8c61\u548c\u8f66\u9053\u7ebf\u7684\u5173\u7cfb\u8868\u793a\u6210\u7c7b\u4f3c\u6587\u4ef6\u6811\u7684\u7ed3\u6784\uff0c\u5e76\u6839\u636e\u5bf9\u8c61\u76843D\u8fb9\u754c\u6846\uff0c\u5c06\u5176\u4fe1\u606f\u8f6c\u6362\u6210\u81ea\u7136\u8bed\u8a00\u63cf\u8ff0\u3002<\/p>\n\n\n\n<p>\u968f\u540e\uff0c\u4f5c\u8005\u901a\u8fc7\u6a21\u62df\u4e0d\u540c\u7684\u9a7e\u9a76\u610f\u56fe\u751f\u6210\u8f68\u8ff9\uff0c\u5305\u62ec\u8f66\u9053\u4fdd\u6301\u3001\u5de6\u4fa7\u6362\u9053\u548c\u53f3\u4fa7\u6362\u9053\uff0c\u5e76\u5229\u7528\u6df1\u5ea6\u4f18\u5148\u641c\u7d22\u7b97\u6cd5\u5c06\u8f66\u9053\u4e2d\u5fc3\u7ebf\u8fde\u63a5\u8d77\u6765\uff0c\u751f\u6210\u6240\u6709\u53ef\u80fd\u7684\u884c\u9a76\u8def\u5f84\u3002\u6b64\u5916\uff0c\u4f5c\u8005\u5bf9nuScenes\u6570\u636e\u96c6\u4e2d\u81ea\u8f66\u8f68\u8ff9\u8fdb\u884c\u4e86\u805a\u7c7b\uff0c\u9009\u53d6\u5177\u6709\u4ee3\u8868\u6027\u7684\u9a7e\u9a76\u8def\u5f84\uff0c\u5e76\u5c06\u5176\u4f5c\u4e3a\u6a21\u62df\u8f68\u8ff9\u7684\u4e00\u90e8\u5206\u3002<\/p>\n\n\n\n<p>\u6700\u7ec8\uff0c\u901a\u8fc7\u5bf9\u79bb\u7ebfQA\u751f\u6210\u6d41\u7a0b\u4e2d\u7684\u4e0d\u540c\u4e0a\u4e0b\u6587\u4fe1\u606f\u8fdb\u884c\u7ec4\u5408\uff0c\u4f5c\u8005\u80fd\u591f\u751f\u6210\u591a\u79cd\u7c7b\u578b\u7684QA\u5bf9\uff0c\u5305\u62ec\u573a\u666f\u63cf\u8ff0\u3001\u6ce8\u610f\u529b\u5bf9\u8c61\u8bc6\u522b\u3001\u53cd\u4e8b\u5b9e\u63a8\u7406\u548c\u51b3\u7b56\u89c4\u5212\u3002GPT-4\u53ef\u4ee5\u57fa\u4e8e\u6a21\u62df\u548c\u4e13\u5bb6\u8f68\u8ff9\u8bc6\u522b\u5a01\u80c1\u5bf9\u8c61\uff0c\u5e76\u901a\u8fc7\u5bf9\u9a7e\u9a76\u8def\u5f84\u7684\u5b89\u5168\u6027\u8fdb\u884c\u63a8\u7406\uff0c\u7ed9\u51fa\u5408\u7406\u7684\u9a7e\u9a76\u5efa\u8bae\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"366\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-167-1024x366.png\" alt=\"\" class=\"wp-image-10216\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-167-1024x366.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-167-300x107.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-167-768x274.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-167.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>Online Question-Answering<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u5145\u5206\u5229\u7528\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\u96c6\u4e2d\u76843D\u611f\u77e5\u6807\u6ce8\uff0c\u4f5c\u8005\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u4ee5\u5728\u7ebf\u65b9\u5f0f\u751f\u6210\u5927\u91cf\u5b9a\u4f4d\u7c7b\u4efb\u52a1\u3002\u8fd9\u4e9b\u4efb\u52a1\u65e8\u5728\u52a0\u5f3a\u6a21\u578b\u76843D\u7a7a\u95f4\u7406\u89e3\u548c\u63a8\u7406\u80fd\u529b\uff0c\u5305\u62ec\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>2D\u52303D\u5b9a\u4f4d<\/strong>\uff1a\u7ed9\u5b9a\u7279\u5b9a\u76f8\u673a\u4e0a\u76842D\u8fb9\u754c\u6846\uff0c\u6a21\u578b\u9700\u8981\u63d0\u4f9b\u5bf9\u5e94\u5bf9\u8c61\u76843D\u5c5e\u6027\uff0c\u5305\u62ec\u7c7b\u522b\u3001\u4f4d\u7f6e\u3001\u5927\u5c0f\u3001\u671d\u5411\u548c\u901f\u5ea6\u3002<\/li>\n\n\n\n<li><strong>3D\u8ddd\u79bb<\/strong>\uff1a\u57fa\u4e8e\u968f\u673a\u751f\u6210\u76843D\u5750\u6807\uff0c\u8bc6\u522b\u76ee\u6807\u4f4d\u7f6e\u9644\u8fd1\u7684\u4ea4\u901a\u5143\u7d20\uff0c\u5e76\u63d0\u4f9b\u5b83\u4eec\u76843D\u5c5e\u6027\u3002<\/li>\n\n\n\n<li><strong>\u8f66\u9053\u5230\u5bf9\u8c61<\/strong>\uff1a\u57fa\u4e8e\u968f\u673a\u9009\u62e9\u7684\u8f66\u9053\u4e2d\u5fc3\u7ebf\uff0c\u5217\u51fa\u8be5\u8f66\u9053\u4e0a\u7684\u6240\u6709\u5bf9\u8c61\u53ca\u51763D\u5c5e\u6027\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>Metrics<\/strong><\/p>\n\n\n\n<p>OmniDrive-nuScenes\u6570\u636e\u96c6\u6d89\u53ca\u573a\u666f\u63cf\u8ff0\u3001\u5f00\u73af\u89c4\u5212\u548c\u53cd\u4e8b\u5b9e\u63a8\u7406\u4efb\u52a1\u3002\u6bcf\u4e2a\u4efb\u52a1\u4fa7\u91cd\u4e0d\u540c\u7684\u65b9\u9762\uff0c\u96be\u4ee5\u4f7f\u7528\u5355\u4e00\u6307\u6807\u8fdb\u884c\u8bc4\u4f30\u3002\u56e0\u6b64\uff0c\u4f5c\u8005\u9488\u5bf9\u4e0d\u540c\u7684\u4efb\u52a1\u8bbe\u8ba1\u4e86\u4e0d\u540c\u7684\u8bc4\u4f30\u6807\u51c6\u3002<\/p>\n\n\n\n<p>\u5bf9\u4e8e\u573a\u666f\u63cf\u8ff0\u76f8\u5173\u4efb\u52a1\uff08\u5982\u573a\u666f\u63cf\u8ff0\u548c\u6ce8\u610f\u529b\u5bf9\u8c61\u9009\u62e9\uff09\uff0c\u4f5c\u8005\u91c7\u7528\u5e38\u7528\u7684\u8bed\u8a00\u8bc4\u4f30\u6307\u6807\uff0c\u5305\u62ecMETEOR\u3001ROUGE\u548cCIDEr\u6765\u8bc4\u4f30\u53e5\u5b50\u76f8\u4f3c\u6027\u3002\u5728\u5f00\u73af\u89c4\u5212\u4efb\u52a1\u4e2d\uff0c\u4f5c\u8005\u4f7f\u7528\u78b0\u649e\u7387\u548c\u9053\u8def\u8fb9\u754c\u4ea4\u53c9\u7387\u6765\u8bc4\u4f30\u6a21\u578b\u7684\u6027\u80fd\u3002\u5bf9\u4e8e\u53cd\u4e8b\u5b9e\u63a8\u7406\u4efb\u52a1\uff0c\u4f5c\u8005\u4f7f\u7528GPT-3.5\u63d0\u53d6\u9884\u6d4b\u4e2d\u7684\u5173\u952e\u5b57\uff0c\u5e76\u5c06\u8fd9\u4e9b\u5173\u952e\u5b57\u4e0e\u771f\u5b9e\u60c5\u51b5\u8fdb\u884c\u6bd4\u8f83\uff0c\u4ee5\u8ba1\u7b97\u4e0d\u540c\u4e8b\u6545\u7c7b\u522b\u7684\u7cbe\u786e\u7387\u548c\u53ec\u56de\u7387\u3002<\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"517\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-168-1024x517.png\" alt=\"\" class=\"wp-image-10217\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-168-1024x517.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-168-300x151.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-168-768x388.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-168.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u4e0a\u8868\u5c55\u793a\u4e86\u5bf9\u89c4\u5212\u76f8\u5173\u4efb\u52a1\u7684\u6d88\u878d\u7814\u7a76\u7ed3\u679c\uff0c\u5305\u62ec\u53cd\u4e8b\u5b9e\u63a8\u7406\u548c\u5f00\u73af\u89c4\u5212\u7684\u6027\u80fd\u8bc4\u4f30\u3002<\/p>\n\n\n\n<p>\u5b8c\u6574\u6a21\u578b\uff0c\u5373Q-Former3D\uff0c\u5728\u53cd\u4e8b\u5b9e\u63a8\u7406\u548c\u5f00\u73af\u89c4\u5212\u4efb\u52a1\u4e0a\u90fd\u8868\u73b0\u51fa\u8272\u3002\u5728\u53cd\u4e8b\u5b9e\u63a8\u7406\u4efb\u52a1\u4e2d\uff0c\u6a21\u578b\u5728\u201c\u7ea2\u706f\u8fdd\u89c4\u201d\u548c\u201c\u53ef\u901a\u884c\u533a\u57df\u8fdd\u89c4\u201d\u7c7b\u522b\u4e0a\u90fd\u5c55\u793a\u4e86\u8f83\u9ad8\u7684\u7cbe\u51c6\u7387\u548c\u53ec\u56de\u7387\uff0c\u5206\u522b\u4e3a57.6%\/58.3%\u548c48.5%\/58.6%\u3002\u540c\u65f6\uff0c\u8be5\u6a21\u578b\u5728\u201c\u78b0\u649e\u201d\u7c7b\u522b\u4e2d\u53d6\u5f97\u4e86\u6700\u9ad8\u7684\u53ec\u56de\u7387\uff0872.6%\uff09\u3002\u5728\u5f00\u73af\u89c4\u5212\u4efb\u52a1\u4e2d\uff0cQ-Former3D\u5728\u5e73\u5747\u78b0\u649e\u7387\u548c\u8def\u754c\u4ea4\u53c9\u7387\u4e0a\u5747\u8868\u73b0\u51fa\u8272\uff0c\u5206\u522b\u8fbe\u5230\u4e863.79%\u548c4.59%\u3002<\/p>\n\n\n\n<p>\u79fb\u9664\u5728\u7ebf\u8bad\u7ec3\u6570\u636e\uff08No Online\uff09\u540e\uff0c\u53cd\u4e8b\u5b9e\u63a8\u7406\u4efb\u52a1\u4e2d\u7684\u201c\u7ea2\u706f\u8fdd\u89c4\u201d\u7c7b\u522b\u53ec\u56de\u7387\u6709\u6240\u63d0\u9ad8\uff0865.6%\uff09\uff0c\u4f46\u6574\u4f53\u6027\u80fd\u7565\u6709\u4e0b\u964d\u3002\u78b0\u649e\u548c\u53ef\u901a\u884c\u533a\u57df\u8fdd\u89c4\u7684\u7cbe\u51c6\u7387\u548c\u53ec\u56de\u7387\u5747\u8f83\u5b8c\u6574\u6a21\u578b\u7565\u4f4e\uff0c\u800c\u5f00\u73af\u89c4\u5212\u4efb\u52a1\u7684\u5e73\u5747\u78b0\u649e\u7387\u4e0a\u5347\u81f34.93%\uff0c\u5e73\u5747\u8def\u754c\u4ea4\u53c9\u7387\u4e0b\u964d\u52304.02%\uff0c\u8fd9\u53cd\u6620\u51fa\u5728\u7ebf\u8bad\u7ec3\u6570\u636e\u5bf9\u4e8e\u63d0\u9ad8\u6a21\u578b\u6574\u4f53\u89c4\u5212\u6027\u80fd\u7684\u91cd\u8981\u6027\u3002<\/p>\n\n\n\n<p>\u5728\u67b6\u6784\u6d88\u878d\u5b9e\u9a8c\u4e2d\uff0cQ-Former2D\u7248\u672c\u5728\u201c\u7ea2\u706f\u8fdd\u89c4\u201d\u7c7b\u522b\u4e0a\u53d6\u5f97\u6700\u9ad8\u7cbe\u51c6\u7387\uff0858.3%\uff09\u548c\u8f83\u9ad8\u53ec\u56de\u7387\uff0861.1%\uff09\uff0c\u4f46\u5176\u4ed6\u7c7b\u522b\u7684\u8868\u73b0\u4e0d\u5982\u5b8c\u6574\u6a21\u578b\uff0c\u7279\u522b\u662f\u201c\u78b0\u649e\u201d\u548c\u201c\u53ef\u901a\u884c\u533a\u57df\u8fdd\u89c4\u201d\u7c7b\u522b\u7684\u53ec\u56de\u7387\u660e\u663e\u4e0b\u964d\u3002\u5728\u5f00\u73af\u89c4\u5212\u4efb\u52a1\u4e2d\uff0c\u5e73\u5747\u78b0\u649e\u7387\u548c\u8def\u754c\u4ea4\u53c9\u7387\u5747\u9ad8\u4e8e\u5b8c\u6574\u6a21\u578b\uff0c\u5206\u522b\u4e3a3.98%\u548c6.03%\u3002<\/p>\n\n\n\n<p>\u91c7\u7528Dense BEV\u67b6\u6784\u7684\u6a21\u578b\u5728\u6240\u6709\u7c7b\u522b\u7684\u53cd\u4e8b\u5b9e\u63a8\u7406\u4efb\u52a1\u4e0a\u5747\u8868\u73b0\u8f83\u597d\uff0c\u4f46\u53ec\u56de\u7387\u6574\u4f53\u504f\u4f4e\u3002\u5f00\u73af\u89c4\u5212\u4efb\u52a1\u4e2d\u7684\u5e73\u5747\u78b0\u649e\u7387\u548c\u8def\u754c\u4ea4\u53c9\u7387\u5206\u522b\u8fbe\u5230\u4e864.43%\u548c8.56%\u3002<\/p>\n\n\n\n<p>\u5f53\u79fb\u9664\u65f6\u95f4\u6a21\u5757\u65f6\uff08No Temporal\uff09\uff0c\u6a21\u578b\u5728\u53cd\u4e8b\u5b9e\u63a8\u7406\u4efb\u52a1\u7684\u8868\u73b0\u663e\u8457\u4e0b\u964d\uff0c\u7279\u522b\u662f\u5e73\u5747\u78b0\u649e\u7387\u4e0a\u5347\u81f36.07%\uff0c\u8def\u754c\u4ea4\u53c9\u7387\u8fbe\u52305.83%\u3002<\/p>\n\n\n\n<p>\u5728\u611f\u77e5\u76d1\u7763\u65b9\u9762\uff0c\u79fb\u9664\u8f66\u9053\u7ebf\u76d1\u7763\uff08No Lane\uff09\u540e\uff0c\u6a21\u578b\u5728\u201c\u78b0\u649e\u201d\u7c7b\u522b\u7684\u53ec\u56de\u7387\u663e\u8457\u4e0b\u964d\uff0c\u800c\u53cd\u4e8b\u5b9e\u63a8\u7406\u4efb\u52a1\u7684\u5176\u4ed6\u7c7b\u522b\u548c\u5f00\u73af\u89c4\u5212\u4efb\u52a1\u7684\u6307\u6807\u8868\u73b0\u76f8\u5bf9\u7a33\u5b9a\u3002\u5b8c\u5168\u79fb\u9664\u7269\u4f53\u4e0e\u8f66\u9053\u7ebf\u76843D\u611f\u77e5\u76d1\u7763\uff08No Object &amp; 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class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"384\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-169-1024x384.png\" alt=\"\" class=\"wp-image-10218\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-169-1024x384.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-169-300x113.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-169-768x288.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-169.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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