{"id":11050,"date":"2024-06-03T14:47:04","date_gmt":"2024-06-03T06:47:04","guid":{"rendered":"http:\/\/192.168.10.115\/index.php\/2024\/06\/03\/11050\/"},"modified":"2024-06-03T14:49:16","modified_gmt":"2024-06-03T06:49:16","slug":"2024-06-03cvpr-2024-%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e4%b8%96%e7%95%8c%e6%a8%a1%e5%9e%8b%e5%9b%9b%e7%bb%b4%e6%97%b6%e7%a9%ba%e9%a2%84%e8%ae%ad%e7%bb%83","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/06\/03\/11050\/","title":{"rendered":"2024-06-03CVPR 2024 | \u81ea\u52a8\u9a7e\u9a76\u4e16\u754c\u6a21\u578b\u56db\u7ef4\u65f6\u7a7a\u9884\u8bad\u7ec3"},"content":{"rendered":"<p 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DriveWorld: 4D Pre-trained Scene Understanding via World Models for Autonomous Driving \u8bba\u6587\u94fe\u63a5\uff1a https:\/\/arxiv.org\/abs\/2405.04390 GitHub\u4e3b\u9875\uff1a https:\/\/zhaoj9014.github.io<\/p><\/blockquote>\n<p id=\"2ONKK84L\"><strong>\u4e00\u3001\u52a8\u673a<\/strong><\/p>\n<p 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id=\"2ONKK84N\">\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u8bbe\u8ba1\u548c\u5b9e\u73b0\u9700\u8981\u9762\u5bf9\u548c\u5904\u7406\u5404\u79cd\u4e0d\u786e\u5b9a\u6027\uff0c\u8fd9\u4e9b\u4e0d\u786e\u5b9a\u6027\u4e3b\u8981\u5206\u4e3a\u4e24\u7c7b\uff1a<strong>Aleatoric\u4e0d\u786e\u5b9a\u6027\u548cEpistemic\u4e0d\u786e\u5b9a\u6027<\/strong>\u3002Aleatoric\u4e0d\u786e\u5b9a\u6027\u6e90\u81ea\u4e8e\u4e16\u754c\u7684\u56fa\u6709\u968f\u673a\u6027\uff0c\u4f8b\u5982\u884c\u4eba\u7684\u7a81\u7136\u79fb\u52a8\u6216\u8f66\u8f86\u7684\u610f\u5916\u884c\u4e3a\u3002Epistemic\u4e0d\u786e\u5b9a\u6027\u5219\u6e90\u4e8e\u5bf9\u73af\u5883\u4e0d\u5b8c\u5168\u7684\u8ba4\u77e5\uff0c\u4f8b\u5982\u7531\u4e8e\u906e\u6321\u6216\u4f20\u611f\u5668\u9650\u5236\u5bfc\u81f4\u7684\u4fe1\u606f\u7f3a\u5931\u3002\u4e3a\u4e86\u6709\u6548\u5e94\u5bf9\u8fd9\u4e9b\u4e0d\u786e\u5b9a\u6027\uff0c\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5fc5\u987b\u80fd\u591f\u5229\u7528\u8fc7\u53bb\u7684\u7ecf\u9a8c\u6765\u9884\u6d4b\u672a\u6765\u53ef\u80fd\u7684\u72b6\u6001\uff0c\u5e76\u5bf9\u4e0d\u53ef\u89c1\u7684\u533a\u57df\u8fdb\u884c\u63a8\u6d4b\u3002\u672c\u5de5\u4f5c\u901a\u8fc7\u56db\u7ef4\u65f6\u7a7a\u9884\u8bad\u7ec3\u7684\u4e16\u754c\u6a21\u578b\u6765\u89e3\u51b3\u8fd9\u4e00\u6311\u6218\uff0c\u65e8\u5728\u63d0\u5347\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5728\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u4efb\u52a1\u4e2d\u7684\u6027\u80fd\u3002<\/p>\n<p 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src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2024%2F0603%2F8e5276d2j00sehag700bud200tv00ijg00it00bo.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p><strong>2.1 \u65f6\u5e8f\u6982\u7387\u6a21\u578b<\/strong><\/p>\n<p id=\"2ONKK84R\">\u4e3a\u4e86\u8d4b\u4e88\u6a21\u578b\u56db\u7ef4\u65f6\u7a7a\u5efa\u6a21\u7684\u80fd\u529b\uff0c\u6211\u4eec\u9996\u5148\u5f15\u5165\u4e24\u4e2a\u6f5c\u5728\u53d8\u91cf \uff0c\u5176\u4e2d \u8868\u793a\u5386\u53f2\u4fe1\u606f\u53d8\u91cf\uff0c\u5305\u542b\u4e86\u5230\u65f6\u95f4\u6b65 \u7684\u6240\u6709\u5386\u53f2\u4fe1\u606f\uff0c \u8868\u793a\u968f\u673a\u72b6\u6001\u53d8\u91cf\uff0c\u662f\u6a21\u578b\u9884\u6d4b\u672a\u6765\u72b6\u6001\u7684\u5173\u952e\u3002 \u901a\u8fc7\u5386\u53f2\u4fe1\u606f \u548c\u968f\u673a\u72b6\u6001 \u8fdb\u884c\u66f4\u65b0\u3002\u4e3a\u4e86\u9884\u6d4b\u672a\u6765\u72b6\u6001\uff0c\u6211\u4eec\u9075\u5faa\u5faa\u73af\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\uff08Recurrent State-Space Model\uff0cRSSM\uff09\uff0c\u6784\u5efa\u540e\u9a8c\u72b6\u6001\u5206\u5e03 \u548c\u5148\u9a8c\u72b6\u6001\u5206\u5e03 \u3002\u76ee\u6807\u662f\u5339\u914d\u5148\u9a8c\u5206\u5e03\uff08\u57fa\u4e8e\u5386\u53f2\u4fe1\u606f\u548c\u968f\u673a\u72b6\u6001\u7684\u9884\u671f\u7ed3\u679c\uff09\u4e0e\u540e\u9a8c\u5206\u5e03\uff08\u4ece\u89c2\u5bdf\u5230\u7684\u591a\u89c6\u89d2\u56fe\u50cf\u548c\u52a8\u4f5c\u4e2d\u5bfc\u51fa\u7684\u7ed3\u679c\uff09\u3002<\/p>\n<p id=\"2ONKK84S\">\u8003\u8651\u5230BEV\u7279\u5f81\u7684\u7ef4\u5ea6\u5f88\u9ad8\uff0c\u6211\u4eec\u5c06\u5176\u8f6c\u6362\u4e3a\u4e00\u7ef4\u5411\u91cf \uff0c\u7136\u540e\u4ece \u4e2d\u62bd\u6837\u9ad8\u65af\u5206\u5e03\u4ee5\u751f\u6210\u540e\u9a8c\u72b6\u6001\u5206\u5e03\uff1a<\/p>\n<p id=\"2ONKK84V\">\u5176\u4e2d \u88ab\u53c2\u6570\u5316\u4e3a\u5e26\u6709\u5bf9\u89d2\u534f\u65b9\u5dee\u7684\u6b63\u6001\u5206\u5e03\uff0c\u521d\u59cb\u5206\u5e03\u8bbe\u7f6e\u4e3a \u3002 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id=\"2ONKK857\">\u5728\u81ea\u52a8\u9a7e\u9a76\u7684\u573a\u666f\u7406\u89e3\u4e2d\uff0c\u9664\u4e86\u52a8\u6001\u53d8\u5316\u4fe1\u606f\uff0c\u7a7a\u95f4\u7ed3\u6784\u4fe1\u606f\u540c\u6837\u91cd\u8981\u3002\u7531\u4e8e\u8fde\u7eed\u7684\u573a\u666f\u5e27\u901a\u5e38\u53ea\u5305\u542b\u5fae\u5c0f\u7684\u53d8\u5316\uff0c\u800c\u573a\u666f\u7684\u4e3b\u8981\u5185\u5bb9\u5f80\u5f80\u662f\u7531\u9759\u6001\u7269\u4f53\u7ec4\u6210\u7684\uff0c\u5982\u9053\u8def\u3001\u6811\u6728\u548c\u4ea4\u901a\u6807\u5fd7\uff0c\u56e0\u6b64\u5728\u5904\u7406\u8fd9\u4e9b\u4fe1\u606f\u65f6\uff0c\u76f4\u63a5\u5c06\u8f93\u5165\u56fe\u50cf\u8f6c\u6362\u4e3a\u4e00\u7ef4\u5411\u91cf\u53ef\u80fd\u4f1a\u5bfc\u81f4\u5173\u952e\u7a7a\u95f4\u7ed3\u6784\u4fe1\u606f\u7684\u4e22\u5931\u3002\u6211\u4eec\u4ece1\u5230 \u5e27\u4e2d\u968f\u673a\u9009\u62e9\u4e00\u5e27 \uff0c\u5e76\u4f7f\u7528\u5176BEV\u7279\u5f81 \u6784\u5efa\u4e00\u4e2a\u63cf\u8ff0\u7a7a\u95f4\u611f\u77e5\u7ed3\u6784\u7684\u6f5c\u5728\u9759\u6001\u8868\u793a \u3002\u6211\u4eec\u5c06\u7a7a\u95f4\u611f\u77e5\u7684\u9759\u6001\u8868\u793a \u4e0e\u52a8\u6001\u53d8\u5316\u7684\u8fd0\u52a8\u8868\u793a \u7ed3\u5408\u8d77\u6765\uff0c\u5f97\u5230\u4e86\u5468\u56f4\u573a\u666f\u7684\u7efc\u5408\u8868\u793a\u3002<\/p>\n<p><strong>2.2 \u9884\u8bad\u7ec3\u8f85\u52a9\u4efb\u52a1<\/strong><\/p>\n<p id=\"2ONKK858\">\u5bf9\u5468\u56f4\u73af\u5883\u7684\u5168\u9762\u7406\u89e3\u5bf9\u81ea\u52a8\u9a7e\u9a76\u89c6\u81f3\u5173\u91cd\u8981\u7684\u3002\u6211\u4eec\u63d0\u51fa\u5c06\u7269\u7406\u4e16\u754c\u5efa\u6a21\u4e3a\u4e09\u7ef4\u5360\u636e\u6805\u683c\u7ed3\u6784\u6765\u63cf\u8ff0\u8f66\u8f86\u5468\u56f4\u7684\u73af\u5883\u3002\u4e09\u7ef4\u5360\u636e\u6805\u683c\u89e3\u7801\u5668\u88ab\u8bbe\u7f6e\u4e3a \u5176\u4e2d \u662f\u5c06\u4e00\u7ef4\u7279\u5f81\u6269\u5c55\u5230BEV\u7ef4\u5ea6\u7684\u7f51\u7edc\uff0c \u662f\u7528\u4e8e\u9884\u6d4b\u5360\u636e\u6805\u683c\u7684\u4e09\u7ef4\u5377\u79ef\u7f51\u7edc\u3002\u8fd9\u79cd\u56db\u7ef4\u5360\u636e\u6805\u683c\u9884\u8bad\u7ec3\u4e0d\u4ec5\u80fd\u591f\u6355\u6349\u5230\u573a\u666f\u7684\u9759\u6001\u7ed3\u6784\uff0c\u8fd8\u80fd\u591f\u7406\u89e3\u573a\u666f\u968f\u65f6\u95f4\u7684\u52a8\u6001\u53d8\u5316\uff0c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u63d0\u4f9b\u4e86\u66f4\u52a0\u4e30\u5bcc\u548c\u52a8\u6001\u7684\u73af\u5883\u7406\u89e3\u3002<\/p>\n<p><strong>2.3 \u4efb\u52a1\u63d0\u793a\u673a\u5236<\/strong><\/p>\n<p id=\"2ONKK859\">\u867d\u7136\u901a\u8fc7\u4e16\u754c\u6a21\u578b\u8bbe\u8ba1\u7684\u9884\u8bad\u7ec3\u4efb\u52a1\u53ef\u4ee5\u5b66\u4e60\u56db\u7ef4\u65f6\u7a7a\u8868\u793a\uff0c\u4f46\u4e0d\u540c\u7684\u4e0b\u6e38\u4efb\u52a1\u5173\u6ce8\u7684\u4fe1\u606f\u662f\u4e0d\u540c\u7684\u3002\u4e3a\u4e86\u7f13\u89e3\u8fd9\u4e2a\u95ee\u9898\uff0c\u53d7\u5c11\u6837\u672c\u56fe\u50cf\u8bc6\u522b\u7684\u8bed\u4e49\u63d0\u793a\u548c\u591a\u4efb\u52a1\u5b66\u4e60\u4e2d\u7684\u89c6\u89c9\u793a\u4f8b\u5f15\u5bfc\u63d0\u793a\u7684\u542f\u53d1\uff0c\u5f15\u5165\u4e86\u201c\u4efb\u52a1\u63d0\u793a\u201d\u673a\u5236\uff0c\u4e3a\u4e0d\u540c\u7684\u4efb\u52a1\u63d0\u4f9b\u7279\u5b9a\u7684\u63d0\u793a\uff0c\u4ee5\u5f15\u5bfc\u5b83\u4eec\u63d0\u53d6\u4efb\u52a1\u76f8\u5173\u7684\u7279\u5f81\u3002\u7531\u4e8e\u4e0d\u540c\u4efb\u52a1\u4e4b\u95f4\u5b58\u5728\u8bed\u4e49\u5173\u8054\uff0c\u6211\u4eec\u5229\u7528\u5927\u8bed\u8a00\u6a21\u578b 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id=\"2ONKK85A\">DriveWorld\u7684\u9884\u8bad\u7ec3\u76ee\u6807\u5305\u62ec\u6700\u5c0f\u5316\u540e\u9a8c\u72b6\u6001\u5206\u5e03\u4e0e\u5148\u9a8c\u72b6\u6001\u5206\u5e03\u4e4b\u95f4\u7684\u5dee\u5f02\uff08\u5373Kullback-Leibler\uff08KL\uff09\u6563\u5ea6\uff09\uff0c\u4ee5\u53ca\u6700\u5c0f\u5316\u4e0e\u8fc7\u53bb\u548c\u672a\u6765\u4e09\u7ef4\u5360\u636e\u6805\u683c\uff08\u5373\u4ea4\u53c9\u71b5\u635f\u5931\uff08CE\uff09\uff09\u548c\u52a8\u4f5c\uff08\u5373L1\u635f\u5931\uff09\u76f8\u5173\u7684\u635f\u5931\u3002\u6211\u4eec\u91c7\u7528\u6a21\u578b\u5728 \u4e2a\u65f6\u95f4\u6b65\u5185\u89c2\u5bdf\u8f93\u5165\uff0c\u7136\u540e\u9884\u6d4b\u672a\u6765\u7684\u4e09\u7ef4\u5360\u636e\u6805\u683c\u548c \u4e2a\u6b65\u9aa4\u7684\u52a8\u4f5c\u3002<\/p>\n<p id=\"2ONKK85B\"><strong>\u4e09\u3001\u5b9e\u9a8c<\/strong><\/p>\n<p><strong>3.1 \u5b9e\u9a8c\u8bbe\u7f6e<\/strong><\/p>\n<p id=\"2ONKK85C\">\u6211\u4eec\u5728\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\u96c6\u4e0anuScenes\u548cOpenScenes\u4e0a\u8fdb\u884c\u9884\u8bad\u7ec3\uff0c\u5e76\u5728nuScenes\u4e0a\u8fdb\u884c\u5fae\u8c03\u3002\u6211\u4eec\u91c7\u7528\u591a\u5e27\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u805a\u5408\u7684\u65b9\u5f0f\u83b7\u5f97\u5bc6\u96c6\u7684\u4e09\u7ef4\u5360\u636e\u6805\u683c\u6807\u7b7e\u3002<\/p>\n<p><strong>3.2 \u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n<p id=\"2ONKK85D\">\u8fd9\u91cc\u5c55\u793a\u90e8\u5206\u7ed3\u679c\uff0c\u66f4\u591a\u7ed3\u679c\u8bf7\u53c2\u8003\u8bba\u6587\u3002<\/p>\n<p class=\"f_center\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2024%2F0603%2Fa9e60417j00sehagc000xd200kr007cg00it006n.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p class=\"f_center\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2024%2F0603%2F541b65aej00sehagc000ud200kr008rg00it007x.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p class=\"f_center\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2024%2F0603%2F79ae1de6j00sehagd001wd200kp009jg00it008n.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p class=\"f_center\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2024%2F0603%2F39f5c249j00sehagd001bd200kx007yg00it0075.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p class=\"f_center\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2024%2F0603%2Fc6492cfcj00sehagf00iud200nv00gsg00it00d8.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p id=\"2ONKK85K\"><strong>\u56db\u3001\u603b\u7ed3<\/strong><\/p>\n<p id=\"2ONKK85L\">DriveWorld\u901a\u8fc7\u57fa\u4e8e\u4e16\u754c\u6a21\u578b\u7684\u56db\u7ef4\u65f6\u7a7a\u9884\u8bad\u7ec3\uff0c\u63d0\u9ad8\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5bf9\u5468\u56f4\u73af\u5883\u7684\u7406\u89e3\u548c\u9884\u6d4b\u80fd\u529b\uff0c\u964d\u4f4e\u81ea\u52a8\u9a7e\u9a76\u9762\u4e34\u7684\u4e0d\u786e\u5b9a\u6027\u3002DriveWorld\u63d0\u51fa\u4e86\u8bb0\u5fc6\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\u8fdb\u884c\u65f6\u7a7a\u5efa\u6a21\uff0c\u5305\u542b\u52a8\u6001\u8bb0\u5fc6\u5b58\u50a8\u6a21\u5757\u7528\u4e8e\u5b66\u4e60\u65f6\u5e8f\u611f\u77e5\u8868\u793a\uff0c\u9759\u6001\u573a\u666f\u4f20\u64ad\u6a21\u5757\u7528\u4e8e\u5b66\u4e60\u7a7a\u95f4\u611f\u77e5\u8868\u793a\u3002\u4e3a\u4e86\u8fdb\u4e00\u6b65\u63d0\u5347\u6a21\u578b\u7684\u9002\u5e94\u6027\u548c\u7075\u6d3b\u6027\uff0cDriveWorld\u8fd8\u5f15\u5165\u4e86\u4efb\u52a1\u63d0\u793a\u673a\u5236\uff0c\u5141\u8bb8\u6a21\u578b\u6839\u636e\u5f53\u524d\u7684\u4efb\u52a1\u9700\u6c42\u81ea\u9002\u5e94\u5730\u8c03\u6574\u5176\u8868\u793a\uff0c\u4ece\u800c\u5728\u4e0d\u540c\u7684\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u4e2d\u5b9e\u73b0\u6700\u4f73\u6027\u80fd\u3002<\/p>\n<p id=\"2ONKK85M\"><strong>\u53c2\u8003\u8d44\u6599<\/strong><\/p>\n<p id=\"2ONKK85N\">[1]Chen Min, et al. Multi-Camera Unified Pre-Training Via 3D Scene Reconstruction[J]. IEEE Robotics and Automation Letters, 2024.<\/p>\n<p id=\"2ONKK85O\">[2]Chen Min, et al. Occupancy-mae: Self-supervised pre-training large-scale lidar point clouds with masked occupancy autoencoders[J]. IEEE Transactions on Intelligent Vehicles, 2023.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5317\u4eac\u5927\u5b66\u4e0eEVOL\u521b\u65b0\u56e2\u961f\u5171\u540c\u63d0\u51fa\u9762\u5411\u81ea\u52a8\u9a7e\u9a76 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-11050","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/11050"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=11050"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/11050\/revisions"}],"predecessor-version":[{"id":11051,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/11050\/revisions\/11051"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=11050"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=11050"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=11050"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}