{"id":14317,"date":"2024-08-13T15:46:29","date_gmt":"2024-08-13T07:46:29","guid":{"rendered":"http:\/\/192.168.10.115\/?p=14317"},"modified":"2024-08-13T15:46:29","modified_gmt":"2024-08-13T07:46:29","slug":"2024-08-13-simplellm4ad%e6%94%bb%e5%85%8b%e5%a4%8d%e6%9d%82%e9%a9%be%e9%a9%b6%e5%9c%ba%e6%99%af%ef%bc%81%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e7%ab%af%e5%88%b0%e7%ab%af%e8%a7%86%e8%a7%89%e8%af%ad","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/08\/13\/14317\/","title":{"rendered":"2024-08-13 SimpleLLM4AD\u653b\u514b\u590d\u6742\u9a7e\u9a76\u573a\u666f\uff01\u81ea\u52a8\u9a7e\u9a76\u7aef\u5230\u7aef\u89c6\u89c9\u8bed\u8a00\u6a21\u578b"},"content":{"rendered":"\n

\u8bba\u6587\u4fe1\u606f<\/strong><\/p>\n\n\n\n

\u9898\u76ee\uff1aSimpleLLM4AD: An End-to-End Vision-Language Model with Graph Visual Question Answering for Autonomous Driving<\/p>\n\n\n\n

\u4f5c\u8005\uff1aPeiru Zheng, Yun Zhao, Zhan Gong, Hong Zhu, Shaohua Wu<\/p>\n\n\n\n

\u673a\u6784\uff1aIEIT Systems<\/p>\n\n\n\n

\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/html\/2407.21293v1<\/p>\n\n\n\n

\u5185\u5bb9\u901f\u89c8<\/strong><\/p>\n\n\n\n

    \n
  1. \u4f5c\u8005\u5229\u7528GVQA\u7684\u903b\u8f91\u4f9d\u8d56\u6027<\/strong>\uff0c\u4f7f\u7528\u76f8\u5173\u95ee\u9898\u7684\u7b54\u6848\u4f5c\u4e3a\u5f53\u524d\u95ee\u9898\u7684\u4e0a\u4e0b\u6587\u4fe1\u606f\uff0c\u663e\u8457\u63d0\u9ad8\u4e86LLMs\u5728\u51c6\u786e\u6027\uff08ACC\uff09\u548c\u8bed\u8a00\u5f97\u5206\u65b9\u9762\u7684\u80fd\u529b<\/strong>\u3002<\/li>\n\n\n\n
  2. \u4f5c\u8005\u4f18\u5316\u4e86\u63d0\u793a\u8bed\uff0c\u4ee5\u8fdb\u4e00\u6b65\u63d0\u9ad8LLMs\u7684\u6027\u80fd\u3002\u4f5c\u8005\u7b80\u5316\u4e86\u4e0a\u4e0b\u6587\u7684\u7b80\u5355\u95ee\u7b54\uff08Q+A\uff09\u683c\u5f0f<\/strong>\uff0c\u4f7fLLMs\u66f4\u5bb9\u6613\u3001\u66f4\u9ad8\u6548\u5730\u5229\u7528\u5148\u524d\u7684\u77e5\u8bc6\u3002<\/li>\n\n\n\n
  3. \u4f5c\u8005\u5c06\u76ee\u6807\u68c0\u6d4b\u5206\u652f<\/strong>\u5f15\u5165\u5230LLM\u4f18\u5316\u8fc7\u7a0b\u4e2d\uff0c\u5305\u62ec\u76ee\u6807\u5b9a\u4f4d\u3001\u989c\u8272\u8bc6\u522b\u548c\u5206\u7c7b\u3002\u8fd9\u4e9b\u989d\u5916\u7684\u5206\u652f\u4e3aLLMs\u63d0\u4f9b\u4e86\u66f4\u4e30\u5bcc\u7684\u4e0a\u4e0b\u6587\u7ebf\u7d22\uff0c\u8fdb\u4e00\u6b65\u63d0\u9ad8\u4e86\u5b83\u4eec\u7684\u6027\u80fd\u3002<\/li>\n<\/ol>\n\n\n\n

    \u6458\u8981<\/strong><\/p>\n\n\n\n

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    1. \u5f15\u8a00<\/strong><\/p>\n\n\n\n

    \u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u8fd1\u5341\u5e74\u6765\u53d7\u5230\u4e86\u5b66\u672f\u754c\u548c\u5de5\u4e1a\u754c\u7684\u5e7f\u6cdb\u5173\u6ce8\u3002\u4e00\u4e2a\u5145\u6ee1\u5b89\u5168\u7684\u9053\u8def\u3001\u7f13\u89e3\u4ea4\u901a\u62e5\u5835\u4ee5\u53ca\u4e3a\u66f4\u591a\u4eba\u63d0\u4f9b\u51fa\u884c\u4fbf\u5229\u7684\u672a\u6765\u613f\u666f\uff0c\u6b63\u63a8\u52a8\u7740\u8fd9\u4e00\u9886\u57df\u6280\u672f\u7684\u8fc5\u731b\u53d1\u5c55\u3002\u4f20\u7edf\u4e0a\uff0c\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u4f9d\u8d56\u4e8e\u611f\u77e5\u3001\u9884\u6d4b\u3001\u89c4\u5212\u548c\u63a7\u5236\u7b49\u591a\u4e2a\u6a21\u5757\u7684\u4e32\u8054\u5904\u7406\u6d41\u7a0b\u3002\u4f46\u8fd9\u79cd\u4e32\u8054\u7684\u6a21\u5757\u5316\u65b9\u6cd5\u53ef\u80fd\u4f1a\u5bfc\u81f4\u5728\u590d\u6742\u591a\u53d8\u7684\u4ea4\u901a\u73af\u5883\u4e2d\u6027\u80fd\u4e0d\u4f73\uff0c\u56e0\u4e3a\u6a21\u5757\u95f4\u7684\u8bef\u5dee\u53ef\u80fd\u4f1a\u7d2f\u79ef\u653e\u5927\u3002<\/p>\n\n\n\n

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    \u5728SimpleLLM4AD\u7684\u611f\u77e5\u9636\u6bb5\uff0cViT\u6a21\u578b\u88ab\u7528\u6765\u5904\u7406\u539f\u59cb\u7684\u89c6\u89c9\u6570\u636e\uff0c\u63d0\u53d6\u6709\u610f\u4e49\u7684\u7279\u5f81\u5e76\u8bc6\u522b\u9a7e\u9a76\u73af\u5883\u4e2d\u7684\u7269\u4f53\u3002\u8fd9\u4e9b\u89c6\u89c9\u6d1e\u5bdf\u968f\u540e\u88ab\u8f6c\u5316\u4e3a\u8bed\u8a00\u6a21\u578b\u80fd\u591f\u7406\u89e3\u7684\u683c\u5f0f\uff0c\u5141\u8bb8\u5bf9\u573a\u666f\u8fdb\u884c\u66f4\u7cbe\u7ec6\u7684\u5206\u6790\u3002\u9884\u6d4b\u9636\u6bb5\u4e2d\uff0c\u7cfb\u7edf\u5c06\u9884\u6d4b\u5df2\u8bc6\u522b\u7269\u4f53\u7684\u672a\u6765\u72b6\u6001\uff0c\u8003\u8651\u5b83\u4eec\u53ef\u80fd\u7684\u8fd0\u52a8\u548c\u76f8\u4e92\u4f5c\u7528\u3002\u8fd9\u79cd\u9884\u6d4b\u80fd\u529b\u5bf9\u4e8e\u9884\u89c1\u6f5c\u5728\u7684\u5371\u9669\u548c\u89c4\u5212\u5b89\u5168\u7684\u9a7e\u9a76\u7b56\u7565\u81f3\u5173\u91cd\u8981\u3002\u89c4\u5212\u9636\u6bb5\u6d89\u53ca\u5c06\u524d\u51e0\u4e2a\u9636\u6bb5\u6536\u96c6\u7684\u4fe1\u606f\u7efc\u5408\u8d77\u6765\uff0c\u5236\u5b9a\u4e00\u4e2a\u65e8\u5728\u4f18\u5316\u5b89\u5168\u6027\u548c\u6548\u7387\u7684\u9a7e\u9a76\u7b56\u7565\uff0c\u540c\u65f6\u8003\u8651\u5230\u9a7e\u9a76\u73af\u5883\u7684\u52a8\u6001\u6027\u3002\u6700\u7ec8\uff0c\u5728\u884c\u4e3a\u9636\u6bb5\uff0c\u8ba1\u5212\u4e2d\u7684\u884c\u52a8\u88ab\u8f6c\u5316\u4e3a\u8f66\u8f86\u53ef\u6267\u884c\u7684\u547d\u4ee4\uff0c\u786e\u4fdd\u7cbe\u786e\u7684\u63a7\u5236\u548c\u54cd\u5e94\u3002<\/p>\n\n\n\n

    \u4f5c\u8005\u7684\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0cSimpleLLM4AD\u5728\u9a7e\u9a76\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u4e0d\u4ec5\u5c55\u73b0\u51fa\u4e86\u7ade\u4e89\u6027\u7684\u6027\u80fd\uff0c\u800c\u4e14\u5728\u590d\u6742\u573a\u666f\u4e2d\u4e5f\u663e\u793a\u51fa\u4e86\u589e\u5f3a\u7684\u9c81\u68d2\u6027\u3002\u901a\u8fc7\u6574\u5408VLMs\uff0c\u7cfb\u7edf\u80fd\u591f\u505a\u51fa\u66f4\u52a0\u4e0a\u4e0b\u6587\u611f\u77e5\u7684\u51b3\u7b56\uff0c\u663e\u8457\u63d0\u5347\u4e86\u5176\u53ef\u9760\u6027\u548c\u5b89\u5168\u6027\u3002\u4f5c\u8005\u7684\u4e3b\u8981\u8d21\u732e\u53ef\u4ee5\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n

      \n
    • \u4f5c\u8005\u5229\u7528GVQA\u7684\u903b\u8f91\u4f9d\u8d56\u6027\uff0c\u5c06\u76f8\u5173\u95ee\u9898\u7684\u7b54\u6848\u4f5c\u4e3a\u5f53\u524d\u95ee\u9898\u7684\u4e0a\u4e0b\u6587\u4fe1\u606f\uff0c\u8fd9\u79cd\u65b9\u6cd5\u5df2\u88ab\u8bc1\u660e\u53ef\u4ee5\u663e\u8457\u63d0\u9ad8LLMs\u5728\u51c6\u786e\u6027\u548c\u8bed\u8a00\u5f97\u5206\u65b9\u9762\u7684\u8868\u73b0\u3002<\/li>\n\n\n\n
    • \u4f5c\u8005\u6539\u8fdb\u4e86\u63d0\u793a\u8bed\uff0c\u4ee5\u8fdb\u4e00\u6b65\u63d0\u5347LLMs\u7684\u6027\u80fd\u3002\u4f5c\u8005\u4f18\u5316\u4e86\u7b80\u5355\u7684\u95ee\u7b54\u683c\u5f0f\uff0c\u7b80\u5316\u4e86\u4e0a\u4e0b\u6587\u4fe1\u606f\uff0c\u4f7fLLMs\u66f4\u5bb9\u6613\u3001\u66f4\u9ad8\u6548\u5730\u5229\u7528\u5148\u524d\u7684\u77e5\u8bc6\u3002<\/li>\n\n\n\n
    • \u6700\u540e\uff0c\u4f5c\u8005\u5f15\u5165\u4e86\u76ee\u6807\u68c0\u6d4b\u5206\u652f\u5230LLM\u4f18\u5316\u8fc7\u7a0b\u4e2d\uff0c\u5305\u62ec\u76ee\u6807\u5b9a\u4f4d\u3001\u989c\u8272\u8bc6\u522b\u548c\u5206\u7c7b\u3002\u8fd9\u4e9b\u989d\u5916\u7684\u5206\u652f\u4e3aLLMs\u63d0\u4f9b\u4e86\u66f4\u4e30\u5bcc\u7684\u4e0a\u4e0b\u6587\u7ebf\u7d22\uff0c\u4ece\u800c\u8fdb\u4e00\u6b65\u63d0\u9ad8\u4e86\u5b83\u4eec\u7684\u6027\u80fd\u3002<\/li>\n<\/ul>\n\n\n\n

      3. \u65b9\u6cd5<\/strong><\/p>\n\n\n\n

      3.1 \u603b\u4f53\u67b6\u6784<\/strong><\/p>\n\n\n\n

      \u4f5c\u8005\u7684\u65b9\u6cd5\u6d41\u7a0b\u8be6\u89c1\u56fe1\u3002\u6574\u4e2a\u7cfb\u7edf\u7531\u4e24\u5927\u6838\u5fc3\u6a21\u5757\u6784\u6210\uff1a\u4e00\u4e2a\u8d1f\u8d23\u56fe\u50cf\u5904\u7406\u7684\u89c6\u89c9\u7f16\u7801\u5668\uff0c\u4ee5\u53ca\u4e00\u4e2a\u4e13\u95e8\u5904\u7406\u95ee\u9898\u7684LLM\u89e3\u7801\u5668\u3002<\/p>\n\n\n\n

      \"\"<\/figure>\n\n\n\n

      Figure 1. \u6574\u4f53\u67b6\u6784\u56fe\u3002\u5c55\u793a\u4e86\u4f5c\u8005\u65b9\u6cd5\u7684\u6d41\u7a0b\u56fe\uff0c\u5305\u62ec\u89c6\u89c9\u7f16\u7801\u5668\u5904\u7406\u56fe\u50cf\u548c\u8bed\u8a00\u6a21\u578b\u89e3\u7801\u5668\u5904\u7406\u95ee\u9898\u7684\u4e24\u4e2a\u4e3b\u8981\u6a21\u5757\u3002<\/p>\n\n\n\n

      \u89c6\u89c9\u7f16\u7801\u5668<\/strong>\uff1a\u4f5c\u8005\u9009\u7528\u4e86InternViT-6B\u4f5c\u4e3a\u89c6\u89c9\u7f16\u7801\u5668\u3002\u8fd9\u6b3e\u5177\u670960\u4ebf\u53c2\u6570\u7684\u89c6\u89c9\u53d8\u6362\u5668\u7531Chen\u7b49\u4eba\u9996\u6b21\u63d0\u51fa\uff0c\u5e76\u5229\u7528\u6765\u81ea\u4e92\u8054\u7f51\u7684\u6d77\u91cf\u56fe\u50cf-\u6587\u672c\u6570\u636e\u8fdb\u884c\u4e86\u9884\u8bad\u7ec3\uff0c\u4ee5\u4e0e\u5927\u578b\u8bed\u8a00\u6a21\u578b\u76f8\u5339\u914d\u3002\u67e5\u8be2\u6a21\u578b\u5145\u5f53\u89c6\u89c9\u7f16\u7801\u5668\u4e0eLLM\u89e3\u7801\u5668\u4e4b\u95f4\u7684\u6865\u6881\uff0c\u8d1f\u8d23\u5bf9\u9f50\u89c6\u89c9\u4e0e\u6587\u672c\u4e24\u79cd\u6a21\u6001\u3002\u8be5\u89c6\u89c9-\u6587\u672c\u5bf9\u9f50\u7ec4\u4ef6\u521d\u59cb\u5316\u65f6\u91c7\u7528\u4e86\u589e\u5f3a\u591a\u8bed\u8a00\u80fd\u529b\u7684LLaMA\u6a21\u578b\u3002<\/p>\n\n\n\n

      LLM\u89e3\u7801\u5668<\/strong>\uff1a\u4f5c\u8005\u91c7\u7528\u4e86Vicuna-13B\u4f5c\u4e3aLLM\u89e3\u7801\u5668\uff0c\u8fd9\u662f\u4e00\u4e2a\u5f00\u6e90\u7684\u5927\u578b\u8bed\u8a00\u6a21\u578b\uff0c\u57fa\u4e8e\u4eceShareGPT\u6536\u96c6\u7684\u7528\u6237\u5171\u4eab\u5bf9\u8bdd\u6570\u636e\u5bf9LLaMA\u6a21\u578b\u8fdb\u884c\u4e86\u5fae\u8c03\u3002\u5c3d\u7ba1\u4e0d\u540c\u95ee\u9898\u5171\u7528\u540c\u4e00LLM\u89e3\u7801\u5668\u6a21\u578b\uff0c\u4f5c\u8005\u8bbe\u8ba1\u4e86\u4e00\u79cdGVQA\u7b56\u7565\u6765\u589e\u5f3a\u8bed\u8a00\u6a21\u578b\u7684\u80fd\u529b\uff0c\u5e76\u6839\u636e\u4e0d\u540c\u95ee\u9898\u7c7b\u578b\u5b9a\u5236\u4e86\u4e13\u95e8\u7684\u63d0\u793a\u3002<\/p>\n\n\n\n

      \u5728\u672c\u65b9\u6cd5\u4e2d\uff0cnuScenes\u6570\u636e\u96c6\u4e2d\u7684\u6bcf\u4e00\u5e27\u5173\u952e\u56fe\u50cf\u90fd\u4f1a\u7ecf\u5386\u4e00\u7cfb\u5217\u95ee\u7b54\u5bf9\u7684\u5904\u7406\u3002\u9996\u5148\uff0c\u5229\u7528InternViT-6B\u5c06\u5173\u952e\u5e27\u4e2d\u7684\u516d\u5f20\u56fe\u50cf\u7f16\u7801\u6210\u7279\u5f81\u56fe\u3002\u7136\u540e\uff0c\u5728\u67e5\u8be2\u6a21\u5757\u4e2d\uff0c\u8fd9\u4e9b\u56fe\u50cf\u7279\u5f81\u4e0e\u95ee\u7b54\u5bf9\u4e2d\u7684\u95ee\u9898\u6587\u672c\u4ee5\u53ca96\u4e2a\u53ef\u5b66\u4e60\u67e5\u8be2\u8fdb\u884c\u4e92\u52a8\u3002\u67e5\u8be2\u6a21\u5757\u5c06InternViT-6B\u751f\u6210\u7684\u56fe\u50cf\u6807\u8bb0\u8f6c\u6362\u6210\u4e0eLLMs\u5bf9\u9f50\u7684\u8868\u793a\u5f62\u5f0f\u3002\u6700\u7ec8\uff0c\u67e5\u8be2\u6a21\u5757\u7684\u8f93\u51fa\u88ab\u9001\u5165Vicuna-13B\u4ee5\u751f\u6210\u7b54\u6848\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u524d\u4e00\u6b65\u751f\u6210\u7684\u7b54\u6848\u4f1a\u4e0e\u4e0b\u4e00\u4e2a\u95ee\u9898\u7ed3\u5408\uff0c\u5f62\u6210\u4e00\u4e2a\u4fe1\u606f\u4e30\u5bcc\u7684\u65b0\u95ee\u9898\u3002\u901a\u8fc7\u8fd9\u79cd\u65b9\u5f0f\u8fed\u4ee3\uff0c\u9010\u6b65\u5b8c\u6210\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u3002<\/p>\n\n\n\n

      \u8fd9\u79cd\u6a21\u5757\u5316\u7684\u8bbe\u8ba1\u786e\u4fdd\u4e86\u4ece\u89c6\u89c9\u7f16\u7801\u5230\u89c6\u89c9-\u6587\u672c\u5bf9\u9f50\uff0c\u518d\u5230\u8bed\u8a00\u751f\u6210\u7684\u6bcf\u4e2a\u5904\u7406\u9636\u6bb5\u90fd\u9488\u5bf9\u5176\u7279\u5b9a\u529f\u80fd\u8fdb\u884c\u4e86\u4f18\u5316\uff0c\u540c\u65f6\u5728\u6574\u4e2a\u6d41\u7a0b\u4e2d\u4fdd\u6301\u4e86\u65e0\u7f1d\u96c6\u6210\u3002\u8fd9\u79cd\u67b6\u6784\u4e0d\u4ec5\u63d0\u5347\u4e86\u7cfb\u7edf\u5904\u7406\u590d\u6742\u89c6\u89c9\u548c\u8bed\u8a00\u8f93\u5165\u7684\u80fd\u529b\uff0c\u8fd8\u786e\u4fdd\u4e86\u4fe1\u606f\u7684\u8fde\u8d2f\u6d41\u52a8\uff0c\u4f7f\u5f97\u5728\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u51b3\u7b56\u66f4\u4e3a\u7cbe\u786e\u548c\u5177\u6709\u4e0a\u4e0b\u6587\u611f\u77e5\u3002<\/p>\n\n\n\n

      3.2 GVQA\u903b\u8f91\u4f9d\u8d56\u6027<\/strong><\/p>\n\n\n\n

      SimpleLLM4AD\u65b9\u6cd5\u6db5\u76d6\u4e86\u56db\u4e2a\u9636\u6bb5\u7684\u5e8f\u5217\uff0c\u6bcf\u4e2a\u9636\u6bb5\u90fd\u7531\u5b83\u4eec\u5305\u542b\u7684\u95ee\u7b54\u5bf9\u7684\u903b\u8f91\u4f9d\u8d56\u6027\u7d27\u5bc6\u76f8\u8fde\u3002\u5982\u56fe2\u6240\u793a\uff0cGVQA\u7684\u903b\u8f91\u4f9d\u8d56\u6027\u4ee5\u56fe\u5f62\u5316\u7684\u65b9\u5f0f\u5448\u73b0\uff0c\u63ed\u793a\u4e86\u6574\u4e2a\u8fc7\u7a0b\u4e2d\u95ee\u7b54\u5bf9\u4e4b\u95f4\u76f8\u4e92\u8fde\u63a5\u7684\u672c\u8d28\u3002\u56fe\u4e2d\u5305\u542b\u4e24\u4e2a\u4e3b\u8981\u5143\u7d20\uff1a\u8282\u70b9\uff08N\uff09\u548c\u8fb9\uff08E\uff09\u3002\u8282\u70b9\uff08N\uff09\u4ee3\u8868\u5355\u72ec\u7684\u95ee\u7b54\u5bf9\uff0c\u800c\u8fde\u63a5\u5b83\u4eec\u7684\u8fb9\uff08E\uff09\u5219\u8868\u793a\u5b83\u4eec\u4e4b\u95f4\u7684\u903b\u8f91\u4f9d\u8d56\u6027\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u524d\u4e00\u4e2a\u8282\u70b9\uff08NP\uff09\u7684\u7b54\u6848\u4f5c\u4e3a\u540e\u7eed\u8282\u70b9\uff08NS\uff09\u7684\u4e0a\u4e0b\u6587\u4fe1\u606f\u3002<\/p>\n\n\n\n

      \"\"<\/figure>\n\n\n\n

      Figure 2. GVQA\u903b\u8f91\u4f9d\u8d56\u56fe\u3002\u5c55\u793a\u4e86\u81ea\u52a8\u9a7e\u9a76\u8fc7\u7a0b\u4e2d\u5404\u4e2a\u95ee\u7b54\u5bf9\uff08QA pairs\uff09\u4e4b\u95f4\u7684\u903b\u8f91\u4f9d\u8d56\u5173\u7cfb\uff0c\u5176\u4e2d\u8282\u70b9\uff08N\uff09\u4ee3\u8868\u5355\u72ec\u7684\u95ee\u7b54\u5bf9\uff0c\u8fb9\uff08E\uff09\u8868\u793a\u5b83\u4eec\u4e4b\u95f4\u7684\u903b\u8f91\u8054\u7cfb\u3002<\/p>\n\n\n\n

      \u5728\u81ea\u52a8\u9a7e\u9a76\u7684\u80cc\u666f\u4e0b\uff0c\u7406\u89e3\u8fd9\u4e9b\u903b\u8f91\u4f9d\u8d56\u6027\u5bf9\u4e8e\u7cfb\u7edf\u7684\u51b3\u7b56\u8fc7\u7a0b\u81f3\u5173\u91cd\u8981\u3002\u4f8b\u5982\uff0c\u5728\u611f\u77e5\u9636\u6bb5\uff0c\u7cfb\u7edf\u5fc5\u987b\u8bc6\u522b\u5f53\u524d\u573a\u666f\u4e2d\u7684\u5173\u952e\u76ee\u6807\uff0c\u8fd9\u4e9b\u76ee\u6807\u5c06\u4f5c\u4e3a\u672a\u6765\u63a8\u7406\u548c\u9a7e\u9a76\u51b3\u7b56\u7684\u4f9d\u636e\u3002\u8fd9\u4e00\u521d\u6b65\u8bc6\u522b\u4e3a\u9884\u6d4b\u9636\u6bb5\u5960\u5b9a\u4e86\u57fa\u7840\uff0c\u7cfb\u7edf\u5728\u8be5\u9636\u6bb5\u8bc4\u4f30\u76ee\u6807\u7684\u8fd0\u52a8\u72b6\u6001\uff0c\u5e76\u9884\u6d4b\u5b83\u4eec\u53ef\u80fd\u7684\u672a\u6765\u72b6\u6001\u3002<\/p>\n\n\n\n

      \u89c4\u5212\u9636\u6bb5\u63a5\u7740\u5229\u7528\u611f\u77e5\u548c\u9884\u6d4b\u9636\u6bb5\u6536\u96c6\u7684\u4fe1\u606f\uff0c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u5236\u5b9a\u4e00\u4e2a\u5b89\u5168\u9ad8\u6548\u7684\u884c\u52a8\u65b9\u6848\u3002\u8fd9\u5305\u62ec\u8003\u8651\u5bf9\u5df2\u8bc6\u522b\u76ee\u6807\u53ef\u80fd\u91c7\u53d6\u7684\u884c\u52a8\uff0c\u5e76\u9884\u6d4b\u8fd9\u4e9b\u884c\u52a8\u7684\u7ed3\u679c\uff0c\u5982\u78b0\u649e\u7684\u53ef\u80fd\u6027\u548c\u6240\u63d0\u8bae\u673a\u52a8\u7684\u5b89\u5168\u6027\u3002<\/p>\n\n\n\n

      \u56fe2\u6e05\u6670\u5730\u5c55\u793a\u4e86\u4ece\u4e00\u4e2a\u9636\u6bb5\u5230\u4e0b\u4e00\u4e2a\u9636\u6bb5\u7684\u903b\u8f91\u6d41\u7a0b\uff0c\u6bcf\u4e2a\u8282\u70b9\u4ee3\u8868\u4e00\u4e2a\u5173\u952e\u7684\u51b3\u7b56\u70b9\u6216\u4fe1\u606f\u91cc\u7a0b\u7891\u3002\u4f8b\u5982\uff0c\u8282\u70b9(c1,CAM_FRONT,714.3,503.6)\u4ee3\u8868\u4e86\u7531\u524d\u6444\u50cf\u5934\u6355\u83b7\u7684\u76ee\u6807\u7684\u8bc6\u522b\u548c\u521d\u6b65\u8bc4\u4f30\u3002\u968f\u540e\u7684\u8282\u70b9\u5219\u57fa\u4e8e\u8fd9\u4e00\u4fe1\u606f\u8fdb\u4e00\u6b65\u63d0\u95ee\uff0c\u8be2\u95ee\u76ee\u6807\u7684\u8fd0\u52a8\u72b6\u6001\u4ee5\u53ca\u5b83\u53ef\u80fd\u5982\u4f55\u4e0e\u573a\u666f\u4e2d\u7684\u5176\u4ed6\u76ee\u6807\uff0c\u5982\u8282\u70b9(c3,CAM_FRONT,1300.8,531.7)\u6240\u4ee3\u8868\u7684\u53e6\u4e00\u8f86\u8f66\u6216\u663e\u8457\u969c\u788d\u7269\uff0c\u8fdb\u884c\u4ea4\u4e92\u3002<\/p>\n\n\n\n

      \u8fde\u63a5\u8fd9\u4e9b\u8282\u70b9\u7684\u8fb9\u6307\u793a\u4e86\u903b\u8f91\u6d41\u7a0b\u548c\u7cfb\u7edf\u601d\u7ef4\u8fc7\u7a0b\u7684\u8fdb\u5c55\u3002\u4f8b\u5982\uff0c\u5173\u4e8e\u76ee\u6807’c1’\u662f\u5426\u4f1a\u8fdb\u5165\u76ee\u6807’c3’\u8fd0\u52a8\u65b9\u5411\u7684\u95ee\u9898\uff0c\u662f\u57fa\u4e8e\u524d\u4e00\u8282\u70b9\u5f97\u51fa\u7684\u7b54\u6848\u3002\u540c\u6837\uff0c\u5173\u4e8e\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u884c\u52a8\u7684\u51b3\u7b56\u8fc7\u7a0b\u4e5f\u53d6\u51b3\u4e8e\u524d\u51e0\u4e2a\u9636\u6bb5\u7684\u9884\u6d4b\u548c\u8bc4\u4f30\u3002<\/p>\n\n\n\n

      \u901a\u8fc7\u660e\u786e\u8fd9\u4e9b\u903b\u8f91\u4f9d\u8d56\u6027\uff0cSimpleLLM4AD\u65b9\u6cd5\u786e\u4fdd\u4e86\u81ea\u52a8\u9a7e\u9a76\u51b3\u7b56\u5236\u5b9a\u7684\u8fde\u8d2f\u6027\u548c\u7cfb\u7edf\u5316\uff0c\u8fd9\u4e0d\u4ec5\u6709\u52a9\u4e8e\u5f00\u53d1\u66f4\u590d\u6742\u7684AI\u7cfb\u7edf\uff0c\u8fd8\u63d0\u9ad8\u4e86\u8fd9\u4e9b\u7cfb\u7edf\u51b3\u7b56\u7684\u900f\u660e\u5ea6\u548c\u53ef\u9760\u6027\u3002<\/p>\n\n\n\n

      4 \u5b9e\u9a8c<\/strong><\/p>\n\n\n\n

      4.1 \u6570\u636e\u96c6\u4e0e\u8bc4\u4f30\u6307\u6807<\/strong><\/p>\n\n\n\n

      \u5728\u672c\u9879\u7814\u7a76\u4e2d\uff0c\u4f5c\u8005\u91c7\u7528\u4e86\u4e13\u4e3a\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u91cf\u8eab\u5b9a\u5236\u7684DriveLM-nuScenes\u6570\u636e\u96c6\uff0c\u8fdb\u884c\u6a21\u578b\u7684\u5fae\u8c03\u548c\u6027\u80fd\u8bc4\u4f30\u3002\u8be5\u6570\u636e\u96c6\u5305\u542b4072\u5e27\u7684\u8bad\u7ec3\u96c6\u548c799\u5e27\u7684\u9a8c\u8bc1\u96c6\uff0c\u4e3a\u6a21\u578b\u7684\u6df1\u5165\u5b66\u4e60\u548c\u7cbe\u51c6\u8bc4\u4f30\u63d0\u4f9b\u4e86\u575a\u5b9e\u7684\u6570\u636e\u652f\u6491\u3002\u6570\u636e\u96c6\u7cbe\u5fc3\u8bbe\u8ba1\uff0c\u6db5\u76d6\u4e86\u4ece\u7b80\u5355\u5230\u590d\u6742\u7684\u5404\u7c7b\u9a7e\u9a76\u573a\u666f\uff0c\u5305\u62ec\u573a\u666f\u63cf\u8ff0\u548c\u7ec6\u81f4\u7684\u5e27\u7ea7\u95ee\u7b54\u5bf9\uff0c\u8fd9\u4e9b\u95ee\u7b54\u5bf9\u88ab\u5212\u5206\u4e3a\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u4e09\u4e2a\u5173\u952e\u9886\u57df\uff0c\u4ee5\u786e\u4fdd\u5bf9\u9a7e\u9a76\u73af\u5883\u7684\u5168\u9762\u548c\u6df1\u5165\u7406\u89e3\u3002<\/p>\n\n\n\n

      \u611f\u77e5\u9886\u57df<\/strong>\u7684\u95ee\u9898\u65e8\u5728\u5bf9\u6574\u4e2a\u9a7e\u9a76\u573a\u666f\u8fdb\u884c\u7ec6\u81f4\u7684\u5ba1\u89c6\uff0c\u5305\u62ec\u5bf9\u573a\u666f\u4e2d\u5404\u76ee\u6807\u7684\u8bc6\u522b\u4e0e\u5206\u7c7b\u3002\u8fd9\u4e9b\u95ee\u9898\u90e8\u5206\u7531\u4eba\u5de5\u7cbe\u786e\u6807\u6ce8\uff0c\u90e8\u5206\u5219\u57fa\u4e8e\u573a\u666f\u4e2d\u76ee\u6807\u7684\u7279\u6027\uff0c\u81ea\u52a8\u751f\u6210\u95ee\u9898\uff0c\u540c\u65f6\u501f\u52a9nuScenes\u548cOpenLane-V2\u6570\u636e\u96c6\u7684\u771f\u5b9e\u4fe1\u606f\u8fdb\u884c\u8f85\u52a9\u3002<\/p>\n\n\n\n

      \u9884\u6d4b\u9886\u57df<\/strong>\u7684\u95ee\u9898\u4e13\u6ce8\u4e8e\u5bf9\u5173\u952e\u76ee\u6807\u5728\u672a\u6765\u5e27\u4e2d\u7684\u72b6\u6001\u8fdb\u884c\u9884\u6d4b\uff0c\u5305\u62ec\u5b83\u4eec\u53ef\u80fd\u7684\u8fd0\u52a8\u8f68\u8ff9\u548c\u884c\u4e3a\u53d8\u5316\u3002\u9274\u4e8e\u9884\u6d4b\u4efb\u52a1\u7684\u590d\u6742\u6027\uff0c\u6240\u6709\u76f8\u5173\u95ee\u9898\u7684\u7b54\u6848\u5747\u7ecf\u8fc7\u4eba\u5de5\u7ec6\u81f4\u6807\u6ce8\uff0c\u4ee5\u786e\u4fdd\u9884\u6d4b\u7684\u51c6\u786e\u6027\u548c\u53ef\u9760\u6027\u3002<\/p>\n\n\n\n

      \u89c4\u5212\u9886\u57df<\/strong>\u7684\u95ee\u9898\u5219\u6d89\u53ca\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u5728\u5f53\u524d\u573a\u666f\u4e2d\u7684\u884c\u52a8\u7b56\u7565\uff0c\u5305\u62ec\u5bf9\u8f66\u8f86\u63a5\u4e0b\u6765\u5e94\u91c7\u53d6\u7684\u884c\u52a8\u8fdb\u884c\u89c4\u5212\u548c\u51b3\u7b56\u3002\u8fd9\u4e9b\u95ee\u9898\u540c\u6837\u9700\u8981\u4eba\u5de5\u6807\u6ce8\uff0c\u4ee5\u786e\u4fdd\u5bf9\u89c4\u5212\u8fc7\u7a0b\u7684\u6df1\u5165\u7406\u89e3\u548c\u51c6\u786e\u8868\u8fbe\u3002<\/p>\n\n\n\n

      \u5728\u6570\u636e\u96c6\u4e2d\uff0c\u6bcf\u4e2a\u5173\u952e\u76ee\u6807\u90fd\u901a\u8fc7\u4e00\u4e2a\u7f16\u7801\u6807\u7b7e<c, CAM, x, y>\u6765\u660e\u786e\u6807\u8bc6\uff0c\u5176\u4e2dc\u4ee3\u8868\u76ee\u6807\u7684\u552f\u4e00\u6807\u8bc6\u7b26\uff0cCAM\u6307\u4ee3\u6444\u50cf\u5934\u7684\u89c6\u89d2\uff0c\u800c(x, y)\u5219\u662f\u76ee\u6807\u5728\u6444\u50cf\u5934\u89c6\u91ce\u4e2d\u76842D\u8fb9\u754c\u6846\u5750\u6807\u3002\u6b64\u5916\uff0c\u6570\u636e\u96c6\u4e3a\u6bcf\u4e2a\u5173\u952e\u5e27\u914d\u5907\u4e86\u4e00\u4e2a\u5b57\u5178\uff0c\u8be6\u7ec6\u8bb0\u5f55\u4e86\u5404\u5173\u952e\u76ee\u6807\u7684\u57fa\u672c\u4fe1\u606f\uff0c\u5305\u62ec\u8fb9\u754c\u6846\u7684\u5c3a\u5bf8\u3001\u7c7b\u522b\u3001\u8fd0\u52a8\u72b6\u6001\u548c\u89c6\u89c9\u63cf\u8ff0\u7b49\u3002<\/p>\n\n\n\n

      \u4e3a\u4e86\u5168\u9762\u8bc4\u4f30\u6a21\u578b\u5728\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u4e2d\u7684\u8868\u73b0\uff0c\u4f5c\u8005\u9009\u7528\u4e86\u4ee5\u4e0b\u8bc4\u4f30\u6307\u6807\uff1a<\/p>\n\n\n\n

        \n
      • VQA\u8bc4\u4f30\u6307\u6807<\/strong>\uff1a\u5305\u62ecBLEU\u3001ROUGE_L\u3001METEOR\u3001CIDEr\u548cSPICE\u7b49\uff0c\u8fd9\u4e9b\u6307\u6807\u7efc\u5408\u8003\u91cf\u4e86\u6a21\u578b\u5728\u89c6\u89c9\u95ee\u7b54\u4efb\u52a1\u4e2d\u7684\u51c6\u786e\u6027\u548c\u8bed\u8a00\u751f\u6210\u7684\u8d28\u91cf\u3002\n
          \n
        • BLEU\uff1a\u8861\u91cf\u751f\u6210\u6587\u672c\u4e0e\u53c2\u8003\u6587\u672c\u4e4b\u95f4n-gram\u91cd\u53e0\u7684\u7a0b\u5ea6\u3002<\/li>\n\n\n\n
        • ROUGE_L\uff1a\u901a\u8fc7\u6700\u957f\u516c\u5171\u5b50\u5e8f\u5217\u8ba1\u7b97\u6a21\u578b\u8f93\u51fa\u548c\u53c2\u8003\u7b54\u6848\u4e4b\u95f4\u7684\u76f8\u4f3c\u5ea6\u3002<\/li>\n\n\n\n
        • METEOR\uff1a\u8003\u8651\u540c\u4e49\u8bcd\u548c\u53e5\u6cd5\u7ed3\u6784\uff0c\u63d0\u4f9b\u6a21\u578b\u8f93\u51fa\u548c\u53c2\u8003\u4e4b\u95f4\u7684\u5bf9\u9f50\u3002<\/li>\n\n\n\n
        • CIDEr\uff1a\u901a\u8fc7n-gram TF-IDF\u5411\u91cf\u7684\u4f59\u5f26\u76f8\u4f3c\u6027\u8ba1\u7b97\u8bed\u4e49\u4e00\u81f4\u6027\u3002<\/li>\n\n\n\n
        • SPICE\uff1a\u901a\u8fc7\u573a\u666f\u56fe\u7684F-scores\u8bc4\u4f30\u9884\u6d4b\u548c\u53c2\u8003\u573a\u666f\u56fe\u4e4b\u95f4\u7684\u5bf9\u9f50\u3002<\/li>\n\n\n\n
        • GPT\u5f97\u5206\uff1a\u7531ChatGPT\u63d0\u4f9b\uff0c\u6839\u636e\u6a21\u578b\u7684\u63a8\u7406\u80fd\u529b\uff0c\u5bf9\u9884\u6d4b\u7684\u8d28\u91cf\u8fdb\u884c0\u5230100\u5206\u7684\u8bc4\u5206\uff0c\u4ee5\u66f4\u7ec6\u81f4\u5730\u8bc4\u4f30\u8bed\u4e49\u7684\u51c6\u786e\u6027\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n
        • \u884c\u4e3a\u4efb\u52a1\u6307\u6807<\/strong>\uff1a\u4e13\u6ce8\u4e8e\u8bc4\u4f30\u6a21\u578b\u5bf9\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u884c\u4e3a\u9884\u6d4b\u7684\u51c6\u786e\u6027\uff0c\u5305\u62ec\u884c\u4e3a\u5206\u7c7b\u7684\u51c6\u786e\u5ea6\u3001\u884c\u4e3a\u901f\u5ea6\u548c\u8f6c\u5411\u7684\u51c6\u786e\u6027\u3002\n
            \n
          • \u5206\u7c7b\u51c6\u786e\u6027\uff1a\u8bc4\u4f30\u884c\u4e3a\u9884\u6d4b\u7684\u51c6\u786e\u6027\uff0c\u901a\u8fc7\u6bd4\u8f83\u9884\u6d4b\u884c\u4e3a\u4e0e\u771f\u5b9e\u60c5\u51b5\u7684\u4e00\u81f4\u6027\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n

            \u8fd9\u4e9b\u8bc4\u4f30\u6307\u6807\u5171\u540c\u6784\u6210\u4e86\u4e00\u4e2a\u5168\u9762\u7684\u8bc4\u4f30\u4f53\u7cfb\uff0c\u4f7f\u4f5c\u8005\u80fd\u591f\u4ece\u591a\u4e2a\u7ef4\u5ea6\u7ec6\u81f4\u5730\u8bc4\u4f30\u548c\u7406\u89e3\u6a21\u578b\u7684\u6027\u80fd\uff0c\u786e\u4fdd\u8bc4\u4f30\u7ed3\u679c\u7684\u51c6\u786e\u6027\u548c\u5168\u9762\u6027\u3002<\/p>\n\n\n\n

            4.2 \u5b9e\u65bd\u7ec6\u8282<\/strong><\/p>\n\n\n\n

            \u5728\u672c\u9879\u7814\u7a76\u4e2d\uff0c\u4f5c\u8005\u5bf9SimpleLLM4AD\u6a21\u578b\u8fdb\u884c\u4e86\u7cbe\u7ec6\u7684\u5fae\u8c03\uff0c\u4f7f\u7528\u4e86DriveLM-nuScenes\u6570\u636e\u96c6\u6765\u4f18\u5316\u6a21\u578b\u8868\u73b0\u3002\u4f5c\u8005\u6cbf\u7528\u4e86InternViT-6B\u6a21\u578b\u7684\u9884\u8bad\u7ec3\u6743\u91cd\uff0c\u5e76\u4e14\u5728\u5fae\u8c03\u8fc7\u7a0b\u4e2d\u5c06\u5176\u56fa\u5b9a\uff0c\u4ee5\u4fdd\u7559\u5176\u5728\u5927\u89c4\u6a21\u56fe\u50cf-\u6587\u672c\u6570\u636e\u9884\u8bad\u7ec3\u4e2d\u83b7\u5f97\u7684\u77e5\u8bc6\u3002\u8fdb\u4e00\u6b65\u5730\uff0c\u4f5c\u8005\u7684\u6a21\u578b\u4e2dQLLaMA\u548c96\u4e2a\u53ef\u8bad\u7ec3\u7684\u67e5\u8be2\u7ec4\u4ef6\u5728\u5fae\u8c03\u4e2d\u88ab\u7279\u522b\u4f18\u5316\uff0c\u4ee5\u63d0\u5347\u6a21\u578b\u5bf9\u95ee\u9898\u7684\u7406\u89e3\u548c\u56de\u7b54\u80fd\u529b\u3002\u81f3\u4e8eVicuna13B\u8fd9\u4e00\u5927\u578b\u8bed\u8a00\u6a21\u578b\uff0c\u4f5c\u8005\u91c7\u53d6\u4e86\u4e24\u79cd\u7b56\u7565\uff1a\u4e00\u662f\u5b8c\u5168\u51bb\u7ed3\u5176\u53c2\u6570\uff0c\u4fdd\u6301\u5176\u539f\u59cb\u7684\u901a\u7528\u8bed\u8a00\u7406\u89e3\u80fd\u529b\uff1b\u4e8c\u662f\u901a\u8fc7\u53c2\u6570\u9ad8\u6548\u5fae\u8c03\uff08PEFT\uff09\u6280\u672f\u5982LoRA\u5bf9\u5176\u8fdb\u884c\u5fae\u8c03\uff0c\u4ee5\u9002\u5e94\u7279\u5b9a\u7684\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u3002\u5728\u6a21\u578b\u8f93\u5165\u65b9\u9762\uff0c\u4f5c\u8005\u5c06\u56fe\u50cf\u5206\u8fa8\u7387\u7edf\u4e00\u8bbe\u7f6e\u4e3a224\u00d7224\u50cf\u7d20\uff0c\u4ee5\u786e\u4fdd\u6570\u636e\u7684\u4e00\u81f4\u6027\u5e76\u9002\u914d\u6a21\u578b\u7684\u8f93\u5165\u9700\u6c42\u3002\u5fae\u8c03\u64cd\u4f5c\u662f\u5728NVIDIA GPU\u4e0a\u6267\u884c\u7684\uff0c\u4f5c\u8005\u9009\u62e9\u4e861e-4\u7684\u5b66\u4e60\u7387\u548c16\u7684\u5168\u5c40\u6279\u91cf\u5927\u5c0f\uff0c\u8fd9\u6837\u7684\u53c2\u6570\u914d\u7f6e\u65e8\u5728\u5b9e\u73b0\u6a21\u578b\u7684\u7a33\u5b9a\u5b66\u4e60\u4e0e\u6709\u6548\u6536\u655b\u3002<\/p>\n\n\n\n

            4.3 \u5728DriveLM-nuScenes\u4e0a\u7684\u6d4b\u8bd5\u6210\u679c<\/strong><\/p>\n\n\n\n

            \u5728DriveLM-nuScenes\u6570\u636e\u96c6\u4e0a\u7684\u6d4b\u8bd5\u8868\u660e\uff0c\u7ecf\u8fc7\u7cbe\u5fc3\u5fae\u8c03\u7684SimpleLLM4AD\u6a21\u578b\u5728\u81ea\u52a8\u9a7e\u9a76\u7684\u591a\u9879\u4efb\u52a1\u4e2d\u5747\u5c55\u73b0\u51fa\u4e86\u5353\u8d8a\u7684\u6027\u80fd\u3002\u4f5c\u8005\u7684\u6a21\u578b\u4e0d\u4ec5\u5728\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u7b49\u5173\u952e\u73af\u8282\u4e0a\u8868\u73b0\u7a81\u51fa\uff0c\u66f4\u5728\u590d\u6742\u591a\u53d8\u7684\u4ea4\u901a\u573a\u666f\u4e2d\u8bc1\u660e\u4e86\u5176\u5f3a\u5927\u7684\u5e94\u7528\u6f5c\u529b\u3002<\/p>\n\n\n\n

            \"\"<\/figure>\n\n\n\n

            Table 1. DriveLM-nuScenes\u57fa\u51c6\u6d4b\u8bd5\u7ed3\u679c\uff08\u6d4b\u8bd5\u96c6\uff09\u3002\u5217\u51fa\u4e86\u4e0d\u540c\u65b9\u6cd5\u5728DriveLM-nuScenes\u6570\u636e\u96c6\u6d4b\u8bd5\u96c6\u4e0a\u7684\u8868\u73b0\uff0c\u5305\u62ec\u51c6\u786e\u5ea6\u3001ChatGPT\u5339\u914d\u5ea6\u3001BLEU1\u3001ROUGEL\u3001CIDEr\u5f97\u5206\u548c\u6700\u7ec8\u5f97\u5206\u3002<\/p>\n\n\n\n

            \u5728\u4e0e\u73b0\u6709\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u7684\u5bf9\u6bd4\u6d4b\u8bd5\u4e2d\uff0cSimpleLLM4AD\u5728\u591a\u4e2a\u8bc4\u4f30\u7ef4\u5ea6\u4e0a\u5747\u53d6\u5f97\u4e86\u663e\u8457\u7684\u4f18\u52bf\u3002\u76f8\u8f83\u4e8eDriveLM baseline\u57fa\u7ebf\u6a21\u578b\uff0cSimpleLLM4AD\u5728\u51c6\u786e\u6027\u548c\u8bed\u8a00\u5f97\u5206\u4e0a\u7684\u5de8\u5927\u63d0\u5347\uff0c\u4f7f\u5f97\u5176\u5728\u6d4b\u8bd5\u96c6\u4e0a\u7684\u7efc\u5408\u5f97\u5206\u9ad8\u8fbe52.7\u5206\uff0c\u8fd9\u4e00\u5206\u6570\u7684\u663e\u8457\u63d0\u9ad8\u5145\u5206\u5c55\u73b0\u4e86SimpleLLM4AD\u5904\u7406\u590d\u6742\u9a7e\u9a76\u60c5\u5883\u7684\u4f18\u8d8a\u80fd\u529b\u3002<\/p>\n\n\n\n

            \"\"<\/figure>\n\n\n\n

            Figure 3. \u7ed3\u679c\u5c55\u793a\u3002\u5c55\u793a\u4e86SimpleLLM4AD\u65b9\u6cd5\u5728DriveLM-nuScenes\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u7684\u90e8\u5206\u7ed3\u679c<\/p>\n\n\n\n

            4.4 \u6d88\u878d\u7814\u7a76\u5206\u6790<\/strong><\/p>\n\n\n\n

            \u5728\u672c\u7814\u7a76\u7684\u63a2\u7d22\u9636\u6bb5\uff0c\u4f5c\u8005\u5bf9SimpleLLM4AD\u6a21\u578b\u5728\u591a\u79cd\u4e0d\u540c\u914d\u7f6e\u4e0b\u8fdb\u884c\u4e86\u8bad\u7ec3\u4e0e\u63a8\u7406\u3002\u8fd9\u4e9b\u4e0d\u540c\u65b9\u6848\u7684\u4e3b\u8981\u533a\u522b\u5728\u4e8e\u63d0\u793a\uff08prompt\uff09\u7684\u5904\u7406\u65b9\u5f0f\u548c\u5173\u952e\u76ee\u6807\u7684\u68c0\u6d4b\u65b9\u6cd5\u3002\u88681\u6240\u5c55\u793a\u7684\u57fa\u7ebf\u6027\u80fd\u662f\u57fa\u4e8e\u4f5c\u8005\u81ea\u884c\u521b\u5efa\u7684\u9a8c\u8bc1\u96c6\uff0c\u4f7f\u7528LLaMA-Adapter-V2\u6a21\u578b\u8fdb\u884c\u8bc4\u4f30\u5f97\u51fa\u7684\u3002\u8be5\u9a8c\u8bc1\u96c6\u662f\u901a\u8fc7\u4ece\u539f\u59cb\u8bad\u7ec3\u96c6\u4e2d\u6bcf\u516d\u4e2a\u573a\u666f\u4e2d\u9009\u53d6\u4e00\u4e2a\u573a\u666f\u6765\u6784\u6210\u7684\u3002<\/p>\n\n\n\n

            \"\"<\/figure>\n\n\n\n

            Table 2. DriveLM-nuScenes\u4e0d\u540c\u8bbe\u7f6e\u7684\u7ed3\u679c\uff08\u4f5c\u8005\u81ea\u884c\u5212\u5206\u7684\u9a8c\u8bc1\u96c6\uff09\u3002\u5c55\u793a\u4e86SimpleLLM4AD\u5728\u4e0d\u540c\u914d\u7f6e\u4e0b\u7684\u6027\u80fd\uff0c\u5305\u62ec\u51c6\u786e\u5ea6\u3001\u5339\u914d\u5ea6\u3001BLEU1\u3001ROUGEL\u548cCIDEr\u5f97\u5206\u3002<\/p>\n\n\n\n

            \u6ce8\u610f\uff1a\u88682\u4e2d\u7684\u201c\u5339\u914d\u5ea6\u201d\u4ec5\u6307\u4ee3\u8fb9\u754c\u6846\u5750\u6807\u7684\u5339\u914d\u7a0b\u5ea6\uff1b\u4e0e\u88681\u4e0d\u540c\uff0c\u88681\u4e2d\u7684\u201c\u5339\u914d\u5ea6\u201d\u65e2\u5305\u62ec\u8fb9\u754c\u6846\u5750\u6807\u5339\u914d\u4e5f\u5305\u62ecChatGPT\u5f97\u5206\u3002<\/p>\n\n\n\n

            \u601d\u7ef4\u94fe\uff08Chain of Thought, CoT\uff09\u7684\u5e94\u7528<\/strong><\/p>\n\n\n\n

            \u601d\u7ef4\u94fe\u662f\u4e00\u79cd\u5728\u63d0\u793a\u4e2d\u5305\u542b\u63a8\u7406\u4e2d\u95f4\u6b65\u9aa4\u7684\u65b9\u6cd5\uff0c\u5b83\u4e0d\u4ec5\u5305\u62ec\u4efb\u52a1\u7684\u8f93\u5165\u548c\u8f93\u51fa\u3002\u6587\u732e\u663e\u793a\uff0c\u8fd9\u79cd\u65b9\u6cd5\u80fd\u663e\u8457\u63d0\u5347\u5927\u578b\u8bed\u8a00\u6a21\u578b\u89e3\u51b3\u95ee\u9898\u7684\u80fd\u529b\uff0c\u800c\u65e0\u9700\u5bf9\u6a21\u578b\u8fdb\u884c\u4efb\u4f55\u66f4\u65b0\u3002<\/p>\n\n\n\n

            \u5728SimpleLLM4AD\u6a21\u578b\u4e2d\uff0c\u4f5c\u8005\u91c7\u7528\u601d\u7ef4\u94fe\u7684\u65b9\u5f0f\uff0c\u4f7f\u7528\u524d\u4e00\u4e2a\u95ee\u9898\u7684\u7b54\u6848\uff08NP\uff09\u4f5c\u4e3a\u540e\u4e00\u4e2a\u95ee\u9898\uff08NS\uff09\u7684\u4e0a\u4e0b\u6587\u4fe1\u606f\u3002NS\u59cb\u7ec8\u662f\u6570\u636e\u96c6\u4e2d\u7d27\u968fNP\u4e4b\u540e\u7684QA\u5bf9\u3002\u4e0eDriveLM\u57fa\u7ebf\u76f8\u6bd4\uff0c\u91c7\u7528CoT\u7684\u7248\u672cA\u5728\u51c6\u786e\u5ea6\u548c\u8bed\u8a00\u5f97\u5206\u4e0a\u5747\u6709\u663e\u8457\u63d0\u5347\u3002<\/p>\n\n\n\n

            DriveLM-nuScenes\u6570\u636e\u96c6\u4e2d\u7684\u6bcf\u4e2a\u5e27\u90fd\u4ee5\u201c\u5f53\u524d\u573a\u666f\u4e2d\u7684\u91cd\u8981\u76ee\u6807\u662f\u4ec0\u4e48\uff1f\u201d\u8fd9\u4e2a\u95ee\u9898\u5f00\u59cb\uff0c\u4f5c\u8005\u79f0\u4e4b\u4e3aN0\u3002\u5728\u7248\u672cB\u4e2d\uff0c\u4f5c\u8005\u5c06N0\u548cNP\u7684\u7b54\u6848\u7ed3\u5408\u8d77\u6765\uff0c\u4f5c\u4e3a\u6bcf\u4e2aNS\u7684\u4e0a\u4e0b\u6587\u3002<\/p>\n\n\n\n

            \u601d\u7ef4\u56fe\u8c31\uff08Graph of Thought, GoT\uff09\u7684\u63a2\u7d22<\/strong><\/h2>\n\n\n\n

            \u4e0e\u601d\u7ef4\u94fe\u4e0d\u540c\uff0c\u601d\u7ef4\u56fe\u8c31\u5141\u8bb8\u5f53\u524d\u4efb\u52a1\u5229\u7528\u4efb\u4f55\u5148\u524d\u7684QA\u5bf9\u4f5c\u4e3a\u4e0a\u4e0b\u6587\uff0c\u5e76\u5141\u8bb8\u4efb\u4f55\u540e\u7eed\u95ee\u9898\u5f15\u7528\u5f53\u524d\u4efb\u52a1\u7684\u7ed3\u679c\u3002\u7ecf\u8fc7\u591a\u79cd\u903b\u8f91\u4f9d\u8d56\u56fe\u7684\u5c1d\u8bd5\uff0c\u4f5c\u8005\u53d1\u73b0\u56fe2\u6240\u793a\u7684\u7ed3\u6784\u6700\u4e3a\u6709\u6548\u3002\u91c7\u7528GoT\u5b89\u6392\u4e0a\u4e0b\u6587\u7684\u65b9\u5f0f\uff0c\u4f7f\u5f97\u7248\u672cC\u5728\u6027\u80fd\u4e0a\u53d6\u5f97\u4e86\u663e\u8457\u63d0\u5347\u3002<\/p>\n\n\n\n

            \u63d0\u793a\u7684\u4f18\u5316<\/strong><\/h2>\n\n\n\n

            \u7cbe\u5fc3\u8bbe\u8ba1\u7684\u63d0\u793a\u5bf9\u4e8e\u63d0\u5347\u5927\u578b\u8bed\u8a00\u6a21\u578b\u7684\u6027\u80fd\u81f3\u5173\u91cd\u8981\u3002\u5728DriveLM\u57fa\u7ebf\u7684\u89e3\u51b3\u65b9\u6848\u4e2d\uff0c\u4f20\u9012\u7ed9\u540e\u7eed\u95ee\u9898\u7684\u4e0a\u4e0b\u6587\u662f\u524d\u4e00\u4e2a\u95ee\u9898\u548c\u7b54\u6848\u7684\u7ec4\u5408\uff0c\u8fd9\u53ef\u80fd\u5bfc\u81f4\u4e0a\u4e0b\u6587\u5197\u4f59\u4e14\u96be\u4ee5\u7406\u89e3\u3002\u56e0\u6b64\uff0c\u4f5c\u8005\u4f18\u5316\u4e86\u63d0\u793a\u7684\u683c\u5f0f\uff0c\u7b80\u5316\u4e86\u4e0a\u4e0b\u6587\u4fe1\u606f\uff0c\u4f7f\u5176\u66f4\u52a0\u6613\u4e8eLLMs\u5904\u7406\u548c\u5229\u7528\u3002<\/p>\n\n\n\n

            \u4f8b\u5982\uff0c\u539f\u59cb\u7684N0\u7b54\u6848\u53ef\u80fd\u4f1a\u8fd9\u6837\u63cf\u8ff0\uff1a\u201c\u81ea\u6211\u8f66\u524d\u6709\u4e00\u8f86\u7ea2\u8272\u6c7d\u8f66\u3001\u4e00\u8f86\u767d\u8272SUV\u3001\u4e00\u8f86\u767d\u8272\u8f7f\u8f66\u3001\u4e00\u8f86\u9ed1\u8272\u8f7f\u8f66\uff0c\u4ee5\u53ca\u524d\u65b9\u7684\u4e00\u4e2a\u7ea2\u8272\u4fe1\u53f7\u706f\u3002\u8fd9\u4e9b\u76ee\u6807\u7684ID\u5206\u522b\u662f…\u201d\u3002\u4e3a\u4e86\u7b80\u5316\uff0c\u4f5c\u8005\u5c06\u5176\u6539\u5199\u4e3a\uff1a\u201c\u76ee\u6807<c1,CAM_FRONT,714.3,503.6>\u662f\u81ea\u6211\u8f66\u524d\u90e8\u7684\u4e00\u8f86\u7ea2\u8272\u6c7d\u8f66\u3002\u201d<\/p>\n\n\n\n

            \u5982\u60a8\u6240\u89c1\uff0c\u540c\u4e00\u76ee\u6807\u7684\u989c\u8272\/\u7c7b\u522b\u4fe1\u606f\u548c\u5750\u6807\u4fe1\u606f\u5728\u4e24\u4e2a\u53e5\u5b50\u4e2d\u5206\u522b\u63cf\u8ff0\uff0c\u8fd9\u53ef\u80fd\u4f1a\u4f7fLLMs\u611f\u5230\u56f0\u60d1\u3002\u56e0\u6b64\uff0c\u5f53\u5c06\u5176\u7528\u4f5c\u540e\u7eed\u95ee\u9898\u7684\u4e0a\u4e0b\u6587\u65f6\uff0c\u4f5c\u8005\u5c06\u7b54\u6848\u683c\u5f0f\u5316\u4e3a\uff1a\u201c<c1,CAM_FRONT,714.3,503.6>\u662f\u81ea\u6211\u8f66\u524d\u90e8\u7684\u4e00\u8f86\u7ea2\u8272\u6c7d\u8f66\u3002\u201d<\/p>\n\n\n\n

            \u4f5c\u8005\u53ea\u63d0\u4f9b\u5f53\u524d\u95ee\u9898\u4e2d\u63d0\u5230\u7684\u76ee\u6807\u7684\u4fe1\u606f\uff0c\u800c\u4e0d\u662fN0\u4e2d\u68c0\u6d4b\u5230\u7684\u6240\u6709\u76ee\u6807\u3002<\/p>\n\n\n\n

            \u6b64\u5916\uff0c\u4f5c\u8005\u5c06\u5176\u4ed6QA\u5bf9\u4fee\u6539\u4e3a\u9648\u8ff0\u53e5\uff0c\u5f53\u7528\u4f5c\u4e0a\u4e0b\u6587\u65f6\u3002\u4f8b\u5982\uff0c\u50cf\u201c<c1,CAM_FRONT,714.3,503.6>\u662f\u5426\u4f1a\u5728\u81ea\u6211\u8f66\u7684\u79fb\u52a8\u65b9\u5411\u4e0a\uff1f\u5426\u3002\u201d\u8fd9\u6837\u7684QA\u5bf9\u5728\u7528\u4f5c\u4e0a\u4e0b\u6587\u65f6\u5c06\u88ab\u4fee\u6539\u4e3a\u201c<c1,CAM_FRONT,714.3,503.6>\u4e0d\u4f1a\u5728\u81ea\u6211\u8f66\u7684\u79fb\u52a8\u65b9\u5411\u4e0a\u3002\u201d<\/p>\n\n\n\n

            \u901a\u8fc7\u91cd\u65b0\u683c\u5f0f\u5316QA\u5bf9\uff0c\u7b80\u6d01\u4e14\u4fe1\u606f\u4e30\u5bcc\u7684\u4e0a\u4e0b\u6587\u5728\u7248\u672cD\u4e2d\u63d0\u4f9b\u4e86\u8bed\u8a00\u5f97\u5206\u7684\u63d0\u9ad8\u3002<\/p>\n\n\n\n

            \u5173\u952e\u76ee\u6807\u68c0\u6d4b\u7684\u6539\u8fdb<\/strong><\/h2>\n\n\n\n

            \u683c\u5f0f\u6307\u4ee4\u4e3a\u201c\u4f9d\u6b21\u8f93\u5165\u516d\u5f20\u56fe\u7247\u3002\u524d\u516d\u5f20\u56fe\u7247\u4e2d\u7684\u7b2c\u4e00\u5f20\u662f <CAM_FRONT>\uff0c\u4f4d\u4e8e\u81ea\u6211\u8f66\u524d\u90e8\u3002\u7b2c\u4e8c\u5f20\u662f<CAM_FRONT_LEFT>\uff0c\u4f4d\u4e8e\u81ea\u6211\u8f66\u524d\u90e8\u5de6\u4fa7\u3002\u7b2c\u4e09\u5f20\u662f<CAM_FRONT_RIGHT>\uff0c\u4f4d\u4e8e\u81ea\u6211\u8f66\u524d\u90e8\u53f3\u4fa7\u3002\u7b2c\u56db\u5f20\u662f<CAM_BACK>\uff0c\u4f4d\u4e8e\u81ea\u6211\u8f66\u540e\u90e8\u3002\u7b2c\u4e94\u5f20\u662f<CAM_BACK_LEFT>\uff0c\u4f4d\u4e8e\u81ea\u6211\u8f66\u540e\u90e8\u5de6\u4fa7\u3002\u7b2c\u516d\u5f20\u662f<CAM_BACK_RIGHT>\uff0c\u4f4d\u4e8e\u81ea\u6211\u8f66\u540e\u90e8\u53f3\u4fa7\u3002<\u6570\u5b57\uff0c\u6570\u5b57>\u662f\u56fe\u7247\u4e2d\u76ee\u6807\u6846\u4e2d\u5fc3\u7684\u5750\u6807\uff081600*900\uff09\u3002\u201d<\/p>\n\n\n\n

            \u4e3a\u4e86\u63d0\u9ad8\u6a21\u578b\u6027\u80fd\uff0c\u4f5c\u8005\u96c6\u6210\u4e86\u683c\u5f0f\u6307\u4ee4\u6765\u5f15\u5bfcLLMs\u3002\u5229\u7528\u73b0\u6709\u7684\u6210\u719f\u68c0\u6d4b\u7f51\u7edc\uff0c\u4f8b\u5982dino v2\uff0c\u4f5c\u8005\u83b7\u5f97\u4e86\u5f3a\u5927\u7684\u76ee\u6807\u68c0\u6d4b\u8f93\u51fa\u3002\u6b64\u5916\uff0c\u4f5c\u8005\u8fd8\u8bad\u7ec3\u4e86\u4e00\u4e2a\u4e13\u95e8\u7684\u68c0\u6d4b\u5206\u7c7b\u7f51\u7edc\uff0c\u5b83\u4e0d\u4ec5\u80fd\u591f\u68c0\u6d4b\u76ee\u6807\uff0c\u8fd8\u80fd\u8bc6\u522b\u76ee\u6807\u7684\u989c\u8272\u3001\u7cbe\u786e\u4f4d\u7f6e\u751a\u81f3\u65b9\u5411\u7b49\u5173\u952e\u5c5e\u6027\u3002\u8fd9\u4f7f\u4f5c\u8005\u80fd\u591f\u751f\u6210\u8be6\u7ec6\u7684\u63cf\u8ff0\uff0c\u5982\uff1a\u201c\u81ea\u6211\u8f66\u524d\u6709\u4e00\u8f86\u7ea2\u8272\u6c7d\u8f66\uff0c\u5176\u6846\u4e2d\u5fc3\u5750\u6807\u4e3a[714.3,503.6]\u3002\u201d<\/p>\n\n\n\n

            \u901a\u8fc7\u5c06\u81ea\u6211\u8f66\u73af\u5883\u4e2d\u76ee\u6807\u7684\u4f4d\u7f6e\u3001\u989c\u8272\u548c\u7c7b\u522b\u7b49\u8be6\u7ec6\u4fe1\u606f\u6574\u5408\u8d77\u6765\uff0c\u4f5c\u8005\u5728\u7248\u672cE\u4e2d\u7684\u5339\u914d\u5f97\u5206\u6709\u4e86\u663e\u8457\u63d0\u5347\u3002\u7279\u522b\u662f\uff0c\u76ee\u6807\u6846\u4e2d\u5fc3\u7684\u4f4d\u7f6e\u7cbe\u5ea6\u63d0\u9ad8\u5230\u4e8624.6%\u3002<\/p>\n\n\n\n

            5. \u7ed3\u8bba<\/strong><\/h2>\n\n\n\n

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