{"id":14229,"date":"2024-08-12T13:23:11","date_gmt":"2024-08-12T05:23:11","guid":{"rendered":"http:\/\/192.168.10.115\/?p=14229"},"modified":"2024-08-12T13:23:11","modified_gmt":"2024-08-12T05:23:11","slug":"2024-08-12%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e6%9e%b6%e6%9e%84%e8%bf%9b%e5%8c%96%e5%8f%b2%ef%bc%9a%e7%ab%af%e5%88%b0%e7%ab%af%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e6%bc%94%e5%8f%98","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/08\/12\/14229\/","title":{"rendered":"2024-08-12\u81ea\u52a8\u9a7e\u9a76\u67b6\u6784\u8fdb\u5316\u53f2\uff1a\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6f14\u53d8"},"content":{"rendered":"\n<p>2023\u5e74\u4ee5\u6765\uff0c\u5728\u884c\u4e1a\u9f99\u5934\u7279\u65af\u62c9\u7684\u6807\u6746\u4f5c\u7528\u3001\u5927\u6a21\u578b\u4ee3\u8868\u7684AGI\u6280\u672f\u8303\u5f0f\u3001\u4ee5\u53ca\u81ea\u52a8\u9a7e\u9a76\u62df\u4eba\u5316\u548c\u5b89\u5168\u6027\u9700\u6c42\u7684\u5171\u540c\u63a8\u52a8\u4e0b\uff0c\u81ea\u52a8\u9a7e\u9a76\u884c\u4e1a\u5bf9\u4e8e\u7aef\u5230\u7aef\u7684\u5173\u6ce8\u5ea6\u4e00\u8def\u5347\u6e29\u3002\u4ea7\u4e1a\u754c\u3001\u5b66\u672f\u754c\u548c\u8d44\u672c\u5e02\u573a\u5728\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u90fd\u6709\u91cc\u7a0b\u7891\u4e8b\u4ef6\u53d1\u751f\u3002<\/p>\n\n\n\n<p>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u5df2\u7ecf\u6210\u4e3a\u660e\u786e\u7684\u884c\u4e1a\u5171\u8bc6\u3002<\/p>\n\n\n\n<h5 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class=\"wp-block-heading\">\u5b9a\u4f4d\u6a21\u5757\uff08Localization\uff09<\/h5>\n\n\n\n<p>\u5b9a\u4f4d\u6a21\u5757\u7684\u4efb\u52a1\u662f\u786e\u5b9a\u8f66\u8f86\u5728\u73af\u5883\u4e2d\u7684\u7cbe\u786e\u4f4d\u7f6e\u3002\u8fd9\u901a\u5e38\u6d89\u53ca\u5230\u4f7f\u7528\u5168\u7403\u5b9a\u4f4d\u7cfb\u7edf\uff08GPS\uff09\u3001\u60ef\u6027\u6d4b\u91cf\u5355\u5143\uff08IMU\uff09\u548c\u4f20\u611f\u5668\u6570\u636e\u6765\u4f30\u8ba1\u8f66\u8f86\u7684\u5168\u5c40\u4f4d\u7f6e\u3002\u6b64\u5916\uff0c\u8fd8\u53ef\u4ee5\u4f7f\u7528\u57fa\u4e8e\u5730\u56fe\u7684\u5b9a\u4f4d\u6280\u672f\uff0c\u5982\u5c06\u8f66\u8f86\u7684\u4f20\u611f\u5668\u6570\u636e\u4e0e\u9884\u5148\u5236\u4f5c\u7684\u8be6\u7ec6\u5730\u56fe\u8fdb\u884c\u5339\u914d\u3002<\/p>\n\n\n\n<h5 class=\"wp-block-heading\">\u9884\u6d4b\u6a21\u5757\uff08Prediction\uff09<\/h5>\n\n\n\n<p>\u9884\u6d4b\u6a21\u5757\u7528\u4e8e\u9884\u6d4b\u5176\u4ed6\u9053\u8def\u4f7f\u7528\u8005\u7684\u884c\u4e3a\u548c\u610f\u56fe\uff0c\u4f8b\u5982\u9884\u6d4b\u5176\u4ed6\u8f66\u8f86\u7684\u884c\u9a76\u8f68\u8ff9\u548c\u884c\u4eba\u7684\u79fb\u52a8\u3002\u8fd9\u6709\u52a9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u63d0\u524d\u505a\u51fa\u51b3\u7b56\uff0c\u4ee5\u907f\u514d\u6f5c\u5728\u7684\u78b0\u649e\u548c\u51b2\u7a81\u3002<\/p>\n\n\n\n<h5 class=\"wp-block-heading\">\u51b3\u7b56\u4e0e\u89c4\u5212\u6a21\u5757\uff08Decision and 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class=\"wp-block-heading\">2\u3001\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u67b6\u6784\u7684\u6f14\u53d8<\/h5>\n\n\n\n<p>\u76ee\u524d\uff0c\u81ea\u52a8\u9a7e\u9a76\u67b6\u6784\u7684\u6f14\u8fdb\u53ef\u4ee5\u5206\u4e3a\u56db\u4e2a\u4e3b\u8981\u9636\u6bb5\uff1a<br>\u7b2c\u4e00\u9636\u6bb5\uff1a\u611f\u77e5\u201c\u7aef\u5230\u7aef\u201d<br>\u8fd9\u4e00\u9636\u6bb5\uff0c\u6574\u4e2a\u81ea\u52a8\u9a7e\u9a76\u67b6\u6784\u88ab\u62c6\u5206\u6210\u4e86\u611f\u77e5\u548c\u9884\u6d4b\u51b3\u7b56\u89c4\u5212\u4e24\u4e2a\u4e3b\u8981\u6a21\u5757\uff0c\u5176\u4e2d\uff0c\u611f\u77e5\u6a21\u5757\u5df2\u7ecf\u901a\u8fc7\u57fa\u4e8e\u591a\u4f20\u611f\u5668\u878d\u5408\u7684BEV\uff08Bird Eye View\uff0c\u9e1f\u77b0\u56fe\u89c6\u89d2\u878d\u5408\uff09\u6280\u672f\u5b9e\u73b0\u4e86\u6a21\u5757\u7ea7\u522b\u7684\u201c\u7aef\u5230\u7aef\u201d\u3002\u901a\u8fc7\u5f15\u5165transformer\u4ee5\u53ca\u8de8\u4f20\u611f\u5668\u7684cross 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class=\"wp-block-heading\">\u7b2c\u56db\u9636\u6bb5\uff1aOne Model\/\u5355\u4e00\u6a21\u578b\u7aef\u5230\u7aef<\/h5>\n\n\n\n<p>\u5728\u8fd9\u4e00\u9636\u6bb5\uff0c\u5c31\u4e0d\u518d\u6709\u611f\u77e5\u3001\u51b3\u7b56\u89c4\u5212\u7b49\u529f\u80fd\u7684\u786e\u5212\u5206\u3002\u4ece\u539f\u59cb\u4fe1\u53f7\u8f93\u5165\u5230\u6700\u7ec8\u89c4\u5212\u8f68\u8ff9\u7684\u8f93\u51fa\u76f4\u63a5\u91c7\u7528\u540c\u4e00\u4e2a\u6df1\u5ea6\u5b66\u4e60\u6a21\u578b\u3002\u57fa\u4e8e\u5b9e\u73b0\u65b9\u6848\u7684\u4e0d\u540c\uff0c\u8fd9\u4e00\u9636\u6bb5\u7684 One Model \u53ef\u4ee5\u662f\u57fa\u4e8e\u5f3a\u5316\u5b66\u4e60\uff08Reinforcement Learning, RL\uff09\u6216\u6a21\u4eff\u5b66\u4e60\uff08Imitation Learning, IL\uff09\u7684\u7aef\u5230\u7aef\u6a21\u578b\uff0c\u4e5f\u53ef\u4ee5\u901a\u8fc7\u4e16\u754c\u6a21\u578b\u8fd9\u7c7b\u751f\u6210\u5f0f\u6a21\u578b\u884d\u751f\u800c\u6765\u3002<\/p>\n\n\n\n<h5 class=\"wp-block-heading\">\u6a21\u5757\u5316\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76<\/h5>\n\n\n\n<p>\u7b2c\u4e8c\u9636\u6bb5\u7684\u51b3\u7b56\u89c4\u5212\u6a21\u5757\u5316\u76f8\u8f83\u4e8eRule-based\u65b9\u6848\uff0c\u663e\u8457\u589e\u5f3a\u4e86\u7cfb\u7edf\u5904\u7406\u590d\u6742\u573a\u666f\u7684\u80fd\u529b\uff0c\u901a\u8fc7\u57fa\u4e8e\u6a21\u578b\u7684\u65b9\u6cd5\u5145\u5206\u5229\u7528\u6570\u636e\u5e76\u7b80\u5316\u4e86\u6a21\u578b\u5347\u7ea7\u8fc7\u7a0b\u3002\u7136\u800c\uff0c\u6a21\u5757\u5316\u8bbe\u8ba1\u8981\u6c42\u63a5\u53e3\u6807\u51c6\u5316\uff0c\u8fd9\u53ef\u80fd\u9020\u6210\u4fe1\u606f\u635f\u5931\uff0c\u5c24\u5176\u662f\u4e0e\u4eba\u7c7b\u8ba4\u77e5\u7684\u4e0d\u4e00\u81f4\u53ef\u80fd\u5bfc\u81f4\u6027\u80fd\u964d\u4f4e\u3002\u6a21\u5757\u95f4\u7684\u660e\u663e\u754c\u9650\u4e5f\u9650\u5236\u4e86\u7cfb\u7edf\u7684\u9c81\u68d2\u6027\u548c\u6cdb\u5316\u80fd\u529b\uff0c\u7279\u522b\u662f\u5728\u672a\u77e5\u6216\u6781\u7aef\u73af\u5883\u4e0b\uff0c\u6a21\u5757\u63a5\u5408\u70b9\u6613\u6210\u5f31\u70b9\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"1049\" height=\"349\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/image-25.png\" alt=\"\" class=\"wp-image-14231\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/image-25.png 1049w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/image-25-300x100.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/image-25-1024x341.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/image-25-768x256.png 768w\" sizes=\"(max-width: 1049px) 100vw, 1049px\" \/><\/figure>\n\n\n\n<h5 class=\"wp-block-heading\">One Model\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76<\/h5>\n\n\n\n<p>\u867d\u7136OneModel\u5c5e\u4e8e\u7b2c\u56db\u9636\u6bb5\u7684\u65b9\u6848\uff0c\u4f46\u662f\u8fd9\u4e2a\u6982\u5ff5\u88ab\u63d0\u51fa\u7684\u65f6\u95f4\u6bd4\u6a21\u5757\u5316\u7aef\u5230\u7aef\u66f4\u65e9\u3002\u5728\u81ea\u52a8\u9a7e\u9a76\u4ea7\u4e1a\u521a\u521a\u5f00\u59cb\u8d77\u6b65\u76842016\u5e74\uff0c\u82f1\u4f1f\u8fbe\u5c31\u63d0\u51fa\u91c7\u7528\u5355\u4e2a\u795e\u7ecf\u7f51\u7edc\uff08\u5377\u79ef+\u5168\u8fde\u7684\u7b80\u5355\u67b6\u6784\uff09\u6765\u5b9e\u73b0\u7aef\u5230\u7aef\u7684\u81ea\u52a8\u9a7e\u9a76\uff0c\u8f93\u5165\u548c\u8f93\u51fa\u5c31\u662f\u6700\u539f\u59cb\u7684\u4f20\u611f\u5668\u4fe1\u53f7\u3001\u65b9\u5411\u76d8\u89d2\u5ea6\u53ca\u6cb9\u95e8\u5f00\u5ea6\u3002<\/p>\n\n\n\n<h5 class=\"wp-block-heading\">3\u3001\u7aef\u5230\u7aef\u76f8\u5173\u6982\u5ff5\u7684\u8054\u7cfb\u4e0e\u533a\u522b<\/h5>\n\n\n\n<h5 class=\"wp-block-heading\">\u7aef\u5230\u7aef\u4e0e\u51b3\u7b56\u89c4\u5212\u6a21\u578b\u5316<\/h5>\n\n\n\n<p>\u884c\u4e1a\u91cc\u4e00\u79cd\u5e38\u89c1\u7684\u8bef\u89e3\u662f\u201c\u901a\u8fc7\u6a21\u578b\u800c\u975e\u89c4\u5219\u5b9e\u73b0\u51b3\u7b56\u89c4\u5212\u6a21\u5757\u5373\u4e3a\u7aef\u5230\u7aef\u65b9\u6848\u201d\uff0c\u5373\u5c06\u4e0a\u9762\u63d0\u5230\u7684\u7b2c\u4e8c\u9636\u6bb5\u4e5f\u5f52\u7c7b\u4e3a\u7aef\u5230\u7aef\u3002\u6839\u636e\u6211\u4eec\u4e4b\u524d\u7684\u5206\u6790\uff0c\u51b3\u7b56\u89c4\u5212\u6a21\u578b\u5316\u5e94\u8be5\u88ab\u7406\u89e3\u4e3a\u7aef\u5230\u7aef\u7684\u5fc5\u8981\u800c\u975e\u5145\u5206\u6761\u4ef6\u3002<\/p>\n\n\n\n<p>\u89c4\u5212\u6a21\u578b\u5316\u5e94\u8be5\u88ab\u7406\u89e3\u4e3a\u7aef\u5230\u7aef\u7684\u5fc5\u8981\u800c\u975e\u5145\u5206\u6761\u4ef6\uff0c\u505a\u51fa\u8fd9\u79cd\u5224\u65ad\u7684\u6839\u636e\u662f\uff0c\u7b2c\u4e8c\u9636\u6bb5\u7684\u51b3\u7b56\u89c4\u5212\u6a21\u578b\u5316\u4e0e\u7b2c\u4e09\u9636\u6bb5\u7684\u6a21\u5757\u5316\u7aef\u5230\u7aef\u5728\u4ee5\u4e0b\u4e24\u70b9\u4e0a\u4f53\u73b0\u51fa\u660e\u663e\u533a\u522b\uff1a1\uff09\u5b83\u4e0e\u611f\u77e5\u6a21\u5757\u7684\u63a5\u53e3\u662f\u901a\u8fc7\u4eba\u4e3a\u5b9a\u4e49\u7684\u81ea\u6807\u800c\u975e\u5e95\u5c42\u7279\u5f81\uff0c\u5bfc\u81f4\u65b9\u6848\u4e0d\u652f\u6301\u68af\u5ea6\u8de8\u6a21\u5757\u4f20\u5bfc\uff1b2\uff09\u5404\u6a21\u5757\u7684\u8bad\u7ec3\u53ca\u4f18\u5316\u53ea\u5c40\u9650\u5728\u5c40\u90e8\u800c\u65e0\u6cd5\u6269\u5c55\u5230\u5168\u5c40\u3002<\/p>\n\n\n\n<h5 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