{"id":12446,"date":"2024-07-08T17:19:24","date_gmt":"2024-07-08T09:19:24","guid":{"rendered":"http:\/\/192.168.10.115\/?p=12446"},"modified":"2024-07-08T17:19:24","modified_gmt":"2024-07-08T09:19:24","slug":"2024-07-08-%e6%80%a7%e8%83%bdsota%ef%bc%81%e6%97%a0%e9%9c%80%e6%98%82%e8%b4%b5%e6%a0%87%e7%ad%be-carllava%ef%bc%9a%e7%ba%af%e8%a7%86%e8%a7%89%e9%97%ad%e7%8e%af%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/07\/08\/12446\/","title":{"rendered":"2024-07-08 \u6027\u80fdSOTA\uff01\u65e0\u9700\u6602\u8d35\u6807\u7b7e | CarLLaVA\uff1a\u7eaf\u89c6\u89c9\u95ed\u73af\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\uff08Wayve\uff09"},"content":{"rendered":"\n<p>\u539f\u6807\u9898\uff1aCarLLaVA: Vision language models for camera-only closed-loop driving<\/p>\n\n\n\n<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2406.10165<\/p>\n\n\n\n<p>\u5c55\u793a\u89c6\u9891\uff1ahttps:\/\/www.youtube.com\/watch?v=E1nsEgcHRuc&amp;feature=youtu.be<\/p>\n\n\n\n<p>\u4f5c\u8005\u5355\u4f4d\uff1aWayve \u56fe\u5bbe\u6839\u5927\u5b66 \u56fe\u5bbe\u6839\u4eba\u5de5\u667a\u80fd\u4e2d\u5fc3<\/p>\n\n\n\n<p>Outstanding Champion &amp; Innovation Award @ CARLA Autonomous Driving Challenge 2024<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"224\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-44-1024x224.png\" alt=\"\" class=\"wp-image-12447\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-44-1024x224.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-44-300x66.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-44-768x168.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-44.png 1052w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u8bba\u6587\u601d\u8def\uff1a<\/strong><\/p>\n\n\n\n<p>\u5728\u8fd9\u4efd\u6280\u672f\u62a5\u544a\u4e2d\u4ecb\u7ecd\u4e86CarLLaVA\uff0c\u8fd9\u662f\u4e00\u79cd\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u7684\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\uff0c\u4e13\u4e3aCARLA Autonomous Driving Challenge 2.0\u5f00\u53d1\u3002CarLLaVA\u4f7f\u7528LLaVA VLM\u7684\u89c6\u89c9\u7f16\u7801\u5668\u548cLLaMA\u67b6\u6784\u4f5c\u4e3a\u9aa8\u5e72\uff0c\u4ec5\u4f9d\u9760\u76f8\u673a\u8f93\u5165\uff0c\u65e0\u9700\u590d\u6742\u6216\u6602\u8d35\u7684\u6807\u7b7e\uff0c\u5373\u53ef\u5b9e\u73b0\u6700\u5148\u8fdb\u7684\u95ed\u73af\u9a7e\u9a76\u6027\u80fd\u3002\u6b64\u5916\uff0c\u672c\u6587\u8fd8\u5c55\u793a\u4e86\u9884\u6d4b\u9a7e\u9a76\u8f93\u51fa\u65f6\u7684\u8bed\u8a00\u8bc4\u8bba\u7684\u521d\u6b65\u7ed3\u679c\u3002CarLLaVA\u91c7\u7528\u4e86\u4e00\u79cd\u534a\u89e3\u8026\u7684\u8f93\u51fa\u8868\u793a\u65b9\u5f0f\uff0c\u65e2\u5305\u542b\u8def\u5f84\u9884\u6d4b(path predictions)\u4e5f\u5305\u542b\u822a\u70b9(waypoints)\uff0c\u4ece\u800c\u5728\u6a2a\u5411\u63a7\u5236\u4e0a\u5229\u7528\u8def\u5f84\u7684\u4f18\u52bf\uff0c\u5728\u7eb5\u5411\u63a7\u5236\u4e0a\u5229\u7528\u822a\u70b9\u7684\u4f18\u52bf\u3002\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u9ad8\u6548\u7684\u8bad\u7ec3\u65b9\u6cd5\uff0c\u53ef\u4ee5\u5728\u5927\u89c4\u6a21\u9a7e\u9a76\u6570\u636e\u96c6\u4e0a\u8bad\u7ec3\uff0c\u800c\u4e0d\u4f1a\u5728\u7b80\u5355\u3001\u7410\u788e\u7684\u6570\u636e\u4e0a\u6d6a\u8d39\u8ba1\u7b97\u8d44\u6e90\u3002CarLLaVA\u5728CARLA Autonomous Driving Challenge 2.0\u7684\u4f20\u611f\u5668\u8d5b\u9053\u4e0a\u540d\u5217\u7b2c\u4e00\uff0c\u8868\u73b0\u8d85\u8fc7\u4e4b\u524d\u7684\u6700\u5148\u8fdb\u65b9\u6cd5458%\uff0c\u5e76\u4e14\u6bd4\u6700\u4f73\u7684\u540c\u671f\u63d0\u4ea4\u9ad8\u51fa32.6%\u3002<\/p>\n\n\n\n<p><strong>\u8bba\u6587\u8bbe\u8ba1\uff1a<\/strong><\/p>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u8d8b\u52bf\u6b63\u5728\u8f6c\u5411\u7aef\u5230\u7aef\u89e3\u51b3\u65b9\u6848\uff0c\u8fd9\u4e00\u70b9\u5728\u6700\u8fd1\u7684\u5de5\u4e1a\u8fdb\u5c55\u548cCARLA Leaderboard 1.0\u4e0a\u7684\u6700\u5148\u8fdb\u6027\u80fd\u4e2d\u5f97\u5230\u4e86\u4f53\u73b0\u3002CARLA Leaderboard 1.0\u4e0a\u5927\u591a\u6570\u8868\u73b0\u4f18\u5f02\u7684\u6761\u76ee\u4f9d\u8d56\u4e8e\u6602\u8d35\u7684LiDAR\u4f20\u611f\u5668\uff0c\u552f\u4e00\u7684\u4f8b\u5916\u662fTCP\uff0c\u5b83\u91c7\u7528\u7684\u662f\u4ec5\u4f9d\u9760\u76f8\u673a\u7684\u65b9\u6cd5\u3002\u6b64\u5916\uff0c\u591a\u4efb\u52a1\u5b66\u4e60\u5df2\u7ecf\u6210\u4e3a\u63d0\u9ad8\u6027\u80fd\u7684\u5e38\u89c1\u7b56\u7565\u3002\u7136\u800c\uff0c\u8fd9\u9700\u8981\u83b7\u53d6\u8bf8\u5982\u9e1f\u77b0\u56fe\u8bed\u4e49\u3001\u6df1\u5ea6\u6216\u8bed\u4e49\u5206\u5272\u7b49\u6807\u7b7e\uff0c\u8fd9\u4e9b\u5728\u73b0\u5b9e\u4e16\u754c\u4e2d\u83b7\u53d6\u6210\u672c\u9ad8\u6602\u3002\u8fd9\u4f7f\u5f97\u4ece\u4f7f\u7528\u6a21\u62df\u5668\u7684\u7814\u7a76\u4e2d\u83b7\u5f97\u7684\u6d1e\u5bdf\u96be\u4ee5\u4ee5\u53ef\u6269\u5c55\u548c\u7ecf\u6d4e\u9ad8\u6548\u7684\u65b9\u5f0f\u8fc1\u79fb\u5230\u771f\u5b9e\u4e16\u754c\u7684\u9a7e\u9a76\u4e2d\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0cCarLLaVA\u4ec5\u4f9d\u8d56\u4e8e\u5e38\u89c1\u4e14\u6613\u4e8e\u83b7\u53d6\u7684\u9a7e\u9a76\u6570\u636e\uff0c\u5982\u76f8\u673a\u56fe\u50cf\u548c\u9a7e\u9a76\u8f68\u8ff9\uff0c\u662f\u4e00\u79cd\u4ec5\u4f9d\u9760\u76f8\u673a\u7684\u65b9\u6cd5\u3002<\/p>\n\n\n\n<p>\u6b64\u5916\uff0c\u5927\u591a\u6570\u6700\u5148\u8fdb\u7684CARLA\u65b9\u6cd5\u4f7f\u7528\u7684\u662f\u5728ImageNet\u4e0a\u9884\u8bad\u7ec3\u7684ResNet\u98ce\u683c\u7684\u9aa8\u5e72\u7f51\u7edc\u3002\u7136\u800c\uff0c\u6700\u8fd1\u5728\u9884\u8bad\u7ec3\u6280\u672f\u65b9\u9762\u7684\u8fdb\u5c55\uff0c\u5982CLIP\u3001MAE\u548cDINO\uff0c\u5df2\u7ecf\u5c55\u793a\u4e86\u4f7f\u7528Vision Transformers (ViTs) \u76f8\u8f83\u4e8e\u4f20\u7edf\u7684CNN\u7f16\u7801\u5668\u5728\u7279\u5f81\u5b66\u4e60\u65b9\u9762\u7684\u4f18\u52bf\u3002\u6b64\u5916\uff0c\u6700\u5148\u8fdb\u7684\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09\u901a\u8fc7\u5fae\u8c03CLIP\u7f16\u7801\u5668\uff0c\u5c55\u793a\u4e86\u7ec6\u81f4\u7684\u56fe\u50cf\u7406\u89e3\u80fd\u529b\uff0c\u8868\u660e\u5b58\u5728\u5f3a\u5927\u7684\u89c6\u89c9\u7279\u5f81\u3002CarLLaVA\u5229\u7528\u4e86\u8fd9\u4e00\u70b9\uff0c\u4f7f\u7528\u4e86LLaVA-NeXT\u7684\u89c6\u89c9\u7f16\u7801\u5668\uff0c\u8be5\u7f16\u7801\u5668\u5728\u4e92\u8054\u7f51\u89c4\u6a21\u7684\u89c6\u89c9\u8bed\u8a00\u6570\u636e\u4e0a\u8fdb\u884c\u4e86\u9884\u8bad\u7ec3\u3002\u5c3d\u7ba1\u73b0\u4ee3VLMs\u7684\u89c4\u6a21\u5728\u90e8\u7f72\u5230\u5b9e\u9645\u8f66\u8f86\u65f6\u53ef\u80fd\u88ab\u89c6\u4e3a\u63a8\u7406\u65f6\u95f4\u7684\u4e00\u4e2a\u95ee\u9898\uff0c\u4f46\u6700\u8fd1\u7684\u51e0\u9879\u5de5\u4f5c\u8868\u660e\u8fd9\u662f\u4e00\u4e2a\u53ef\u4ee5\u89e3\u51b3\u7684\u5de5\u7a0b\u95ee\u9898\u3002<\/p>\n\n\n\n<p>\u5728\u8fd9\u4efd\u6280\u672f\u62a5\u544a\u4e2d\uff0c\u672c\u6587\u8be6\u7ec6\u63cf\u8ff0\u4e86\u672c\u6587\u7684\u9a7e\u9a76\u6a21\u578bCarLLaVA\uff0c\u5305\u62ec\u4ee5\u4e0b\u7279\u6027\u548c\u4f18\u52bf\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u4ec5\u4f7f\u7528\u76f8\u673a\u4e14\u65e0\u9700\u6602\u8d35\u7684\u6807\u7b7e<\/strong>\uff1a\u672c\u6587\u7684\u65b9\u6cd5\u4ec5\u4f7f\u7528\u76f8\u673a\u8f93\u5165\uff0c\u6d88\u9664\u4e86\u5bf9\u9e1f\u77b0\u56fe\uff08BEV\uff09\u3001\u6df1\u5ea6\u6216\u8bed\u4e49\u5206\u5272\u7b49\u989d\u5916\u6602\u8d35\u6807\u7b7e\u7684\u9700\u6c42\u3002\u8fd9\u79cd\u65e0\u9700\u6807\u7b7e\u7684\u65b9\u6cd5\u51cf\u5c11\u4e86\u5bf9\u5927\u91cf\u6807\u6ce8\u6570\u636e\u96c6\u7684\u4f9d\u8d56\uff0c\u4f7f\u5176\u66f4\u5bb9\u6613\u5728\u5b9e\u9645\u8f66\u8f86\u4e0a\u90e8\u7f72\u3002<\/li>\n\n\n\n<li><strong>\u89c6\u89c9\u8bed\u8a00\u9884\u8bad\u7ec3<\/strong>\uff1a\u672c\u6587\u7684\u65b9\u6cd5\u5229\u7528\u4e86\u5728\u4e92\u8054\u7f51\u89c4\u6a21\u7684\u89c6\u89c9\u8bed\u8a00\u6570\u636e\u4e0a\u9884\u8bad\u7ec3\u7684\u89c6\u89c9\u7f16\u7801\u5668\u3002\u672c\u6587\u8bc1\u660e\u4e86\u8fd9\u79cd\u9884\u8bad\u7ec3\u53ef\u4ee5\u6709\u6548\u5730\u8f6c\u79fb\u5230\u9a7e\u9a76\u4efb\u52a1\u4e0a\uff0c\u4e0e\u4ece\u9a7e\u9a76\u6570\u636e\u4e2d\u4ece\u5934\u5f00\u59cb\u8bad\u7ec3\u76f8\u6bd4\uff0c\u9a7e\u9a76\u6027\u80fd\u5f97\u5230\u4e86\u663e\u8457\u63d0\u5347\u3002<\/li>\n\n\n\n<li><strong>\u9ad8\u5206\u8fa8\u7387\u8f93\u5165<\/strong>\uff1a\u672c\u6587\u6ce8\u610f\u5230\uff0cCLIP\u89c6\u89c9\u7f16\u7801\u5668\u7684\u9ed8\u8ba4\u5206\u8fa8\u7387\u4e0d\u8db3\u4ee5\u652f\u6301\u9ad8\u8d28\u91cf\u9a7e\u9a76\u3002\u7c7b\u4f3c\u4e8eLLaVA\uff0c\u672c\u6587\u5c06\u8f93\u5165\u56fe\u50cf\u5206\u5272\u6210\u5c0f\u5757\uff0c\u4f7fVLM\u80fd\u591f\u8bbf\u95ee\u9a7e\u9a76\u56fe\u50cf\u4e2d\u7684\u7ec6\u8282\uff0c\u5982\u8fdc\u5904\u7684\u4ea4\u901a\u4fe1\u53f7\u706f\u548c\u884c\u4eba\u3002\u4e0eLLaVA\u4e0d\u540c\u7684\u662f\uff0c\u672c\u6587\u4e0d\u4f7f\u7528\u5c0f\u5206\u8fa8\u7387\u7684\u5168\u5c40\u5757\uff0c\u4ee5\u51cf\u5c11token\u7684\u6570\u91cf\u3002<\/li>\n\n\n\n<li><strong>\u9ad8\u6548\u7684\u8bad\u7ec3\u65b9\u6cd5<\/strong>\uff1a\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u9ad8\u6548\u7684\u8bad\u7ec3\u65b9\u6cd5\uff0c\u66f4\u5145\u5206\u5730\u5229\u7528\u6709\u8da3\u7684\u8bad\u7ec3\u6837\u672c\uff0c\u663e\u8457\u51cf\u5c11\u4e86\u8bad\u7ec3\u65f6\u95f4\u3002<\/li>\n\n\n\n<li><strong>\u534a\u89e3\u8026\u7684\u8f93\u51fa\u8868\u793a<\/strong>\uff1a\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u534a\u89e3\u8026\u7684(Semi-Disentangled)\u8868\u793a\u65b9\u5f0f\uff0c\u5305\u542b\u65f6\u95f4\u6761\u4ef6\u7684\u822a\u70b9(waypoints)\u548c\u7a7a\u95f4\u6761\u4ef6\u7684\u8def\u5f84\u822a\u70b9(path waypoints)\uff0c\u4ece\u800c\u5b9e\u73b0\u66f4\u597d\u7684\u63a7\u5236\u3002<\/li>\n<\/ol>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"549\" height=\"601\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-45.png\" alt=\"\" class=\"wp-image-12448\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-45.png 549w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-45-274x300.png 274w\" sizes=\"(max-width: 549px) 100vw, 549px\" \/><\/figure>\n\n\n\n<p>\u56fe1. CarLLaVA\u57fa\u7840\u6a21\u578b\u67b6\u6784\u3002\uff08C1T1\uff09\u56fe\u50cf\u88ab\u5206\u5272\u6210\u4e24\u90e8\u5206\uff0c\u6bcf\u90e8\u5206\u72ec\u7acb\u7f16\u7801\u540e\u518d\u62fc\u63a5\uff0c\u964d\u91c7\u6837\u5e76\u6295\u5c04\u5230\u4e00\u4e2a\u9884\u8bad\u7ec3\u7684\u5927\u578b\u8bed\u8a00\u6a21\u578b\u4e2d\u3002\u8f93\u51fa\u91c7\u7528\u4e86\u4e00\u79cd\u534a\u89e3\u8026\u7684\u8868\u793a\u65b9\u5f0f\uff0c\u5305\u542b\u65f6\u95f4\u6761\u4ef6\u7684\u822a\u70b9\u548c\u7a7a\u95f4\u6761\u4ef6\u7684\u8def\u5f84\u822a\u70b9\uff0c\u4ee5\u5b9e\u73b0\u66f4\u597d\u7684\u6a2a\u5411\u63a7\u5236\u3002<\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c\uff1a<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"434\" height=\"622\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-46.png\" alt=\"\" class=\"wp-image-12449\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-46.png 434w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-46-209x300.png 209w\" sizes=\"(max-width: 434px) 100vw, 434px\" \/><\/figure>\n\n\n\n<p>\u56fe2. \u751f\u6210\u8bed\u8a00\u7684\u5b9a\u6027\u793a\u4f8b\u3002\u7ea2\u8272\uff1a\u9884\u6d4b\u8def\u5f84\uff0c\u7eff\u8272\uff1a\u9884\u6d4b\u822a\u70b9\uff0c\u84dd\u8272\uff1a\u76ee\u6807\u70b9\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"440\" height=\"297\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-47.png\" alt=\"\" class=\"wp-image-12450\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-47.png 440w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-47-300x203.png 300w\" sizes=\"(max-width: 440px) 100vw, 440px\" \/><\/figure>\n\n\n\n<p>\u88681. Leaderboard 2.0\u7ed3\u679c\u3002CarLLaVA\u5728\u6392\u884c\u699c\u4e0a\u53d6\u5f97\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\u3002\u56fe\u4f8b\uff1aL: LiDAR\uff0cC: \u76f8\u673a\uff0cR: \u96f7\u8fbe\uff0cM: \u5730\u56fe\uff0cpriv: privileged\uff0cOD: \u76ee\u6807\u68c0\u6d4b\uff083D\u4f4d\u7f6e\u548c\u59ff\u6001\uff09\uff0cIS: \u5b9e\u4f8b\u5206\u5272\uff0cSS: \u8bed\u4e49\u5206\u5272\uff0cD: \u6df1\u5ea6\uff0cBS: \u9e1f\u77b0\u56fe\u8bed\u4e49\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"867\" height=\"202\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-48.png\" alt=\"\" class=\"wp-image-12451\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-48.png 867w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-48-300x70.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-48-768x179.png 768w\" sizes=\"(max-width: 867px) 100vw, 867px\" \/><\/figure>\n\n\n\n<p>\u88682. \u672c\u6587\u6a21\u578b\u4e0d\u540c\u90e8\u5206\u7684\u6d88\u878d\u5b9e\u9a8c\uff0c\u5c55\u793a\u4e86\u534a\u89e3\u8026\u8f93\u51fa\u8868\u793a\u7684\u4f18\u8d8a\u6027\u4ee5\u53ca\u6b63\u786e\u7684\u65e9\u505c\u9608\u503c\u5bf9\u7ed3\u679c\u7684\u91cd\u5927\u5f71\u54cd\u3002\u9ed8\u8ba4\u914d\u7f6e\u7684\u5f97\u5206\u4ee5\u7070\u8272\u7a81\u51fa\u663e\u793a\u3002\u6240\u6709\u6570\u5b57\u5747\u4e3a\u5b98\u65b9\u6392\u884c\u699c\u5f97\u5206\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"432\" height=\"218\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-49.png\" alt=\"\" class=\"wp-image-12452\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-49.png 432w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-49-300x151.png 300w\" sizes=\"(max-width: 432px) 100vw, 432px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"630\" height=\"56\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/70803.png\" alt=\"\" class=\"wp-image-12453\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/70803.png 630w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/70803-300x27.png 300w\" sizes=\"(max-width: 630px) 100vw, 630px\" \/><\/figure>\n\n\n\n<p><strong>\u603b\u7ed3\uff1a<\/strong><\/p>\n\n\n\n<p>\u5728\u8fd9\u4efd\u62a5\u544a\u4e2d\uff0c\u672c\u6587\u4ecb\u7ecd\u4e86CarLLaVA\uff0c\u5b83\u662f2024\u5e74CARLA Autonomous Driving Challenge 2.0\u7684\u83b7\u80dc\u4f5c\u54c1\u3002CarLLaVA\u5229\u7528\u4e86\u89c6\u89c9\u8bed\u8a00\u9884\u8bad\u7ec3\uff0c\u4ec5\u4f7f\u7528\u76f8\u673a\u56fe\u50cf\u4f5c\u4e3a\u8f93\u5165\u3002\u901a\u8fc7\u91c7\u7528\u534a\u89e3\u8026\u7684\u8f93\u51fa\u8868\u793a\u548c\u9ad8\u6548\u7684\u8bad\u7ec3\u65b9\u6cd5\uff0cCarLLaVA\u5728\u6a2a\u5411\u548c\u7eb5\u5411\u63a7\u5236\u65b9\u9762\u5c55\u793a\u4e86\u5353\u8d8a\u7684\u6027\u80fd\u3002\u5176\u65e0\u9700\u6602\u8d35\u6807\u7b7e\u6216\u4f20\u611f\u5668\u5373\u53ef\u8fd0\u884c\u7684\u80fd\u529b\uff0c\u4f7f\u5176\u6210\u4e3a\u4e00\u79cd\u53ef\u6269\u5c55\u4e14\u6210\u672c\u6548\u76ca\u9ad8\u7684\u89e3\u51b3\u65b9\u6848\u3002\u7ed3\u679c\u8868\u660e\uff0c\u76f8\u8f83\u4e8e\u4ee5\u524d\u7684\u65b9\u6cd5\u6709\u4e86\u663e\u8457\u7684\u6539\u8fdb\uff0c\u5c55\u793a\u4e86\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u5728\u73b0\u5b9e\u4e16\u754c\u81ea\u52a8\u9a7e\u9a76\u5e94\u7528\u4e2d\u7684\u6f5c\u529b\u3002<\/p>\n\n\n\n<p><strong>\u5f15\u7528\uff1a<\/strong><\/p>\n\n\n\n<p>Renz K, Chen L, Marcu A M, et al. CarLLaVA: Vision language models for camera-only closed-loop driving[J]. arXiv preprint arXiv:2406.10165, 2024.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6807\u9898\uff1aCarLLaVA: Vision la [&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-12446","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":11,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/12446"}],"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=12446"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/12446\/revisions"}],"predecessor-version":[{"id":12454,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/12446\/revisions\/12454"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=12446"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=12446"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=12446"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}