{"id":14681,"date":"2024-08-20T17:04:56","date_gmt":"2024-08-20T09:04:56","guid":{"rendered":"http:\/\/192.168.10.115\/?p=14681"},"modified":"2024-08-20T17:05:09","modified_gmt":"2024-08-20T09:05:09","slug":"sota%ef%bc%81drama%ef%bc%9a%e9%a6%96%e4%b8%aa%e5%9f%ba%e4%ba%8emamba%e7%9a%84%e7%ab%af%e5%88%b0%e7%ab%af%e8%bf%90%e5%8a%a8%e8%a7%84%e5%88%92%e5%99%a8","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/08\/20\/14681\/","title":{"rendered":"2024-08-20 SOTA\uff01DRAMA\uff1a\u9996\u4e2a\u57fa\u4e8eMamba\u7684\u7aef\u5230\u7aef\u8fd0\u52a8\u89c4\u5212\u5668"},"content":{"rendered":"\n

\u8fd0\u52a8\u89c4\u5212\u662f\u4e00\u9879\u5177\u6709\u6311\u6218\u6027\u7684\u4efb\u52a1\uff0c\u5728\u9ad8\u5ea6\u52a8\u6001\u548c\u590d\u6742\u7684\u73af\u5883\u4e2d\u751f\u6210\u5b89\u5168\u53ef\u884c\u7684\u8f68\u8ff9\uff0c\u5f62\u6210\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7684\u6838\u5fc3\u80fd\u529b\u3002\u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86DRAMA\uff0c\u8fd9\u662f\u7b2c\u4e00\u4e2a\u57fa\u4e8eMamba\u7684\u81ea\u52a8\u9a7e\u9a76\u7aef\u5230\u7aef\u8fd0\u52a8\u89c4\u5212\u5668\u3002DRAMA\u878d\u5408\u4e86\u76f8\u673a\u3001\u7279\u5f81\u7a7a\u95f4\u4e2d\u7684LiDAR\u9e1f\u77b0\u56fe\u56fe\u50cf\u4ee5\u53ca\u81ea\u6211\u72b6\u6001\u4fe1\u606f\uff0c\u4ee5\u751f\u6210\u4e00\u7cfb\u5217\u672a\u6765\u7684\u81ea\u6211\u8f68\u8ff9\u3002\u4e0e\u4f20\u7edf\u7684\u57fa\u4e8e\u53d8\u6362\u5668\u7684\u65b9\u6cd5\u4e0d\u540c\uff0cDRAMA\u80fd\u591f\u5b9e\u73b0\u8ba1\u7b97\u5f3a\u5ea6\u8f83\u4f4e\u7684\u6ce8\u610f\u529b\u590d\u6742\u5ea6\uff0c\u4ece\u800c\u663e\u793a\u51fa\u5904\u7406\u65e5\u76ca\u590d\u6742\u7684\u573a\u666f\u7684\u6f5c\u529b\u3002DRAMA\u5229\u7528\u6211\u4eec\u7684Mamba\u878d\u5408\u6a21\u5757\uff0c\u9ad8\u6548\u5730\u878d\u5408\u4e86\u76f8\u673a\u548c\u6fc0\u5149\u96f7\u8fbe\u7684\u529f\u80fd\u3002\u6b64\u5916\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u4e00\u4e2aMamba Transformer\u89e3\u7801\u5668\uff0c\u53ef\u4ee5\u63d0\u9ad8\u6574\u4f53\u89c4\u5212\u6027\u80fd\u3002\u8be5\u6a21\u5757\u666e\u904d\u9002\u7528\u4e8e\u4efb\u4f55\u57fa\u4e8eTransformer\u7684\u6a21\u578b\uff0c\u7279\u522b\u662f\u5bf9\u4e8e\u5177\u6709\u957f\u5e8f\u5217\u8f93\u5165\u7684\u4efb\u52a1\u3002\u6211\u4eec\u8fd8\u5f15\u5165\u4e86\u4e00\u79cd\u65b0\u7684\u7279\u5f81\u72b6\u6001\u4e22\u5f03\uff0c\u5728\u4e0d\u589e\u52a0\u8bad\u7ec3\u548c\u63a8\u7406\u65f6\u95f4\u7684\u60c5\u51b5\u4e0b\u63d0\u9ad8\u4e86\u89c4\u5212\u5668\u7684\u9c81\u68d2\u6027\u3002\u5927\u91cf\u7684\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u4e0e\u57fa\u7ebfTransfuser\u76f8\u6bd4\uff0cDRAMA\u5728NAVSIM\u6570\u636e\u96c6\u4e0a\u5b9e\u73b0\u4e86\u66f4\u9ad8\u7684\u7cbe\u5ea6\uff0c\u53c2\u6570\u5c11\uff0c\u8ba1\u7b97\u6210\u672c\u4f4e\u3002<\/p>\n\n\n\n

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

\u603b\u7ed3\u6765\u8bf4\uff0c\u672c\u6587\u7684\u4e3b\u8981\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n

    \n
  1. \u6211\u4eec\u4ecb\u7ecd\u4e86\u4e00\u79cd\u540d\u4e3aDRAMA\u7684Mamba\u5d4c\u5165\u5f0f\u7f16\u7801\u5668-\u89e3\u7801\u5668\u67b6\u6784\uff0c\u5176\u4e2d\u5305\u62ec\u4e00\u4e2a\u7f16\u7801\u5668\uff0c\u8be5\u7f16\u7801\u5668\u901a\u8fc7Mamba Fusion\u6a21\u5757\u6709\u6548\u5730\u878d\u5408\u4e86\u76f8\u673a\u548cLiDAR BEV\u56fe\u50cf\u7684\u7279\u5f81\uff0c\u89e3\u7801\u5668\u901a\u8fc7Mamba Transformer\u89e3\u7801\u5668\u751f\u6210\u786e\u5b9a\u6027\u8f68\u8ff9\uff0c\u8be5\u89e3\u7801\u5668\u666e\u904d\u9002\u7528\u4e8e\u4efb\u4f55\u57fa\u4e8eTransformer\u7684\u6a21\u578b\u3002<\/li>\n\n\n\n
  2. \u6211\u4eec\u5728DRAMA\u4e2d\u5f15\u5165\u4e86\u591a\u5c3a\u5ea6\u5377\u79ef\u548c\u7279\u5f81\u72b6\u6001\u4e22\u5f03\u6a21\u5757\uff0c\u5e76\u91c7\u7528\u4e86\u5dee\u5f02\u5316\u7684\u4e22\u5f03\u7b56\u7565\u3002\u8fd9\u4e9b\u6a21\u5757\u901a\u8fc7\u5728\u591a\u4e2a\u5c3a\u5ea6\u4e0a\u63d0\u53d6\u573a\u666f\u4fe1\u606f\u5e76\u51cf\u8f7b\u566a\u58f0\u4f20\u611f\u5668\u8f93\u5165\u548c\u7f3a\u5931\u81ea\u6211\u72b6\u6001\u7684\u5f71\u54cd\uff0c\u63d0\u9ad8\u4e86\u6a21\u578b\u7684\u6709\u6548\u6027\u548c\u9c81\u68d2\u6027\u3002<\/li>\n\n\n\n
  3. \u4f7f\u7528NAVSIM\u89c4\u5212\u57fa\u51c6\u5bf9\u63d0\u51fa\u7684\u6a21\u5757\u548c\u603b\u4f53\u67b6\u6784\u8fdb\u884c\u4e86\u8bc4\u4f30\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u4e0e\u57fa\u7ebf\u76f8\u6bd4\uff0c\u6211\u4eec\u7684\u6a21\u578b\u5728\u4f7f\u7528\u8f83\u5c11\u7684\u6a21\u578b\u53c2\u6570\u548c\u8f83\u4f4e\u7684\u8bad\u7ec3\u6210\u672c\u7684\u60c5\u51b5\u4e0b\u5b9e\u73b0\u4e86\u663e\u8457\u7684\u6027\u80fd\u63d0\u5347\u3002<\/li>\n<\/ol>\n\n\n\n

    \u76f8\u5173\u5de5\u4f5c\u56de\u987e<\/strong><\/p>\n\n\n\n

    Motion Planning for Autonomous Driving<\/strong><\/p>\n\n\n\n

    \u81ea\u52a8\u9a7e\u9a76\u7684\u8fd0\u52a8\u89c4\u5212\u4e00\u76f4\u662f\u673a\u5668\u4eba\u9886\u57df\u7684\u4e00\u4e2a\u957f\u671f\u7814\u7a76\u8bfe\u9898\u3002\u4ece\u4f20\u7edf\u7684\u89d2\u5ea6\u6765\u770b\uff0c\u8fd0\u52a8\u89c4\u5212\u662f\u884c\u4e3a\u89c4\u5212\u6216\u51b3\u7b56\u7684\u4e0b\u6e38\u4efb\u52a1\uff0c\u5b83\u8d1f\u8d23\u751f\u6210\u53ef\u9a7e\u9a76\u548c\u8212\u9002\u7684\u8f68\u8ff9\uff0c\u4fdd\u8bc1\u5b89\u5168\u3002\u4f20\u7edf\u7684\u8fd0\u52a8\u89c4\u5212\u901a\u5e38\u4f9d\u8d56\u4e8e\u51e0\u4f55\u548c\u4f18\u5316\uff0c\u53ef\u5927\u81f4\u5206\u4e3a\u57fa\u4e8e\u56fe\u3001\u57fa\u4e8e\u91c7\u6837\u548c\u57fa\u4e8e\u4f18\u5316\u7684\u65b9\u6cd5\u3002\u57fa\u4e8e\u56fe\u7684\u65b9\u6cd5\uff0c\u5982A*\u548cHybrid A*\uff0c\u5728\u79bb\u6563\u5316\u8f66\u8f86\u914d\u7f6e\u7a7a\u95f4\u540e\u641c\u7d22\u6700\u5c0f\u6210\u672c\u8def\u5f84\u3002\u57fa\u4e8e\u91c7\u6837\u7684\u65b9\u6cd5\u5728\u72b6\u6001\u6216\u52a8\u4f5c\u7a7a\u95f4\u5185\u521b\u5efa\u8f68\u8ff9\u6837\u672c\uff0c\u4ee5\u53d1\u73b0\u53ef\u884c\u7684\u8def\u5f84\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u57fa\u4e8e\u4f18\u5316\u7684\u65b9\u6cd5\u91c7\u7528EM\u7b97\u6cd5\u548c\u51f8\u4f18\u5316\u7b49\u6280\u672f\u6765\u786e\u5b9a\u6ee1\u8db3\u6307\u5b9a\u7ea6\u675f\u7684\u6700\u4f73\u8f68\u8ff9\u3002\u8fd9\u4e9b\u65b9\u6cd5\u901a\u5e38\u6d89\u53ca\u5927\u91cf\u7684\u624b\u52a8\u8bbe\u8ba1\u548c\u4f18\u5316\uff0c\u5e76\u4e14\u901a\u5e38\u5728\u52a8\u6001\u6216\u53d8\u5316\u7684\u73af\u5883\u4e2d\u5177\u6709\u901a\u7528\u6027\u3002<\/p>\n\n\n\n

    \u968f\u7740\u4e13\u95e8\u7528\u4e8e\u8fd0\u52a8\u89c4\u5212\u7684\u516c\u5171\u9a7e\u9a76\u6570\u636e\u96c6\u548c\u57fa\u51c6\u7684\u53d1\u5e03\uff0c\u57fa\u4e8e\u5b66\u4e60\u7684\u8f68\u8ff9\u89c4\u5212\u5f97\u5230\u4e86\u663e\u8457\u52a0\u901f\u3002\u76ee\u524d\uff0cnuPlan\u662f\u8fd0\u52a8\u89c4\u5212\u4e2d\u6700\u5927\u7684\u5e26\u6ce8\u91ca\u89c4\u5212\u6570\u636e\u96c6\u548c\u57fa\u51c6\u3002\u57fa\u4e8enuPlan\u548cOpenScene\u6570\u636e\u96c6\uff0c\u6700\u8fd1\u5f00\u53d1\u4e86\u4e00\u4e2a\u540d\u4e3aNAVSIM\u7684\u6570\u636e\u96c6\uff0c\u4ee5\u89e3\u51b3\u5f00\u73af\u548c\u95ed\u73af\u8bc4\u4f30\u6307\u6807\u4e4b\u95f4\u7684\u4e0d\u4e00\u81f4\u95ee\u9898\uff0c\u5e76\u4f5c\u4e3a\u8fd9\u4e9b\u8bc4\u4f30\u8303\u5f0f\u4e4b\u95f4\u7684\u4e2d\u95f4\u5730\u5e26\u3002<\/p>\n\n\n\n

    \u57fa\u4e8e\u8fd9\u4e9b\u5f00\u6e90\u6570\u636e\u96c6\uff0c[7]\u5206\u6790\u4e86\u6570\u636e\u9a71\u52a8\u7684\u8fd0\u52a8\u89c4\u5212\u65b9\u6cd5\u4e2d\u7684\u8bef\u89e3\uff0c\u5e76\u63d0\u51fa\u4e86\u4e00\u79cd\u7b80\u5355\u800c\u9ad8\u6548\u7684\u89c4\u5212\u5668\uff0c\u8be5\u89c4\u5212\u5668\u5728nuPlan\u6392\u884c\u699c\u4e0a\u6392\u540d\u7b2c\u4e00\u3002\u7136\u800c\u8be5\u89c4\u5212\u5668\u9488\u5bf9nuPlan\u6307\u6807\u8fdb\u884c\u4e86\u9ad8\u5ea6\u4f18\u5316\uff0c\u5f53\u8f6c\u79fb\u5230\u5176\u4ed6\u573a\u666f\u65f6\uff0c\u5176\u6027\u80fd\u4f1a\u4e0b\u964d\u3002\u8fd9\u4e9b\u73b0\u6709\u7684\u57fa\u4e8e\u5b66\u4e60\u7684\u65b9\u6cd5\u5f80\u5f80\u8fc7\u5ea6\u5f3a\u8c03\u5ea6\u91cf\u6027\u80fd\uff0c\u5f80\u5f80\u4ee5\u727a\u7272\u8ba1\u7b97\u6548\u7387\u4e3a\u4ee3\u4ef7\u3002\u7531\u4e8e\u590d\u6742\u7684\u67b6\u6784\u8bbe\u8ba1\u6216\u7528\u4e8e\u8f68\u8ff9\u8bc4\u5206\u548c\u7ec6\u5316\u7684\u5728\u7ebf\u6a21\u62df\uff0c\u5176\u4e2d\u8bb8\u591a\u65b9\u6cd5\u7531\u4e8e\u65e0\u6cd5\u5b9e\u73b0\u7684\u8ba1\u7b97\u8d1f\u62c5\u800c\u53d8\u5f97\u67af\u71e5\u4e4f\u5473\u3002\u4e3a\u4e86\u63d0\u9ad8\u8ba1\u7b97\u5f3a\u5ea6\u548c\u6027\u80fd\uff0c\u6211\u4eec\u63d0\u51fa\u4e86DRAMA\uff0c\u8fd9\u662f\u4e00\u79cdMamba\u5d4c\u5165\u5f0f\u7f16\u89e3\u7801\u5668\u6d41\u6c34\u7ebf\uff0c\u65e8\u5728\u5b9e\u73b0\u9ad8\u6548\u548c\u5353\u8d8a\u7684\u89c4\u5212\u6027\u80fd\u3002<\/p>\n\n\n\n

    State Space Models<\/strong><\/p>\n\n\n\n

    \u4e3a\u4e86\u51cf\u8f7b\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\uff08SSM\uff09\u5728\u5efa\u6a21\u957f\u671f\u4f9d\u8d56\u5173\u7cfb\u65f6\u7684\u5927\u91cf\u8ba1\u7b97\u548c\u5185\u5b58\u9700\u6c42\uff0c[10]\u63d0\u51fa\u4e86\u7ed3\u6784\u5316\u72b6\u6001\u7a7a\u95f4\u5e8f\u5217\u6a21\u578b\uff08S4\uff09\uff0c\u8be5\u6a21\u578b\u5c06SSM\u4e2d\u7684A\u77e9\u9635\u4fee\u6539\u4e3a\u5177\u6709\u4f4e\u79e9\u6821\u6b63\u7684\u6761\u4ef6\u77e9\u9635\u3002\u8fd9\u79cd\u589e\u5f3a\u7684\u6a21\u578bMamba\u5728\u56fe\u50cf\u5904\u7406\u3001\u8bed\u8a00\u5904\u7406\u548c\u5176\u4ed6\u9886\u57df\u663e\u793a\u51fa\u5de8\u5927\u7684\u5e94\u7528\u6f5c\u529b\u3002[6] \u4ece\u7406\u8bba\u4e0a\u8bc1\u660e\u4e86SSM\u4e0e\u534a\u53ef\u5206\u77e9\u9635\u7684\u7b49\u4ef7\u6027\u3002\u6b64\u5916\uff0c\u5f15\u5165\u4e86\u72b6\u6001\u7a7a\u95f4\u4e8c\u5143\u6027\uff08SSD\uff09\u6765\u589e\u5f3a\u539f\u59cb\u7684Mamba\uff0c\u8be5\u8bbe\u8ba1\u5c06\u591a\u5934\u6ce8\u610f\u529b\uff08MHA\uff09\u878d\u5165SSM\u4ee5\u4f18\u5316\u6846\u67b6\uff0c\u4ece\u800c\u4f7f\u6539\u8fdb\u7248\u672c\uff08Mamba-2\uff09\u8868\u73b0\u51fa\u66f4\u5927\u7684\u7a33\u5b9a\u6027\u548c\u66f4\u9ad8\u7684\u6027\u80fd\u3002\u53d7\u5230Mamba\u5bb6\u65cf\u5148\u524d\u6210\u529f\u7684\u542f\u53d1\uff0c\u6211\u4eec\u5c06\u6700\u65b0\u7684\u67b6\u6784Mamba-2\u5e94\u7528\u4e8e\u7aef\u5230\u7aef\u7684\u8fd0\u52a8\u89c4\u5212\u3002\u636e\u6211\u4eec\u6240\u77e5\uff0c\u8fd9\u662fMamba-2\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u9996\u6b21\u5e94\u7528\u3002\u4e3a\u6e05\u695a\u548c\u7b80\u6d01\u8d77\u89c1\uff0c\u9664\u975e\u53e6\u6709\u8bf4\u660e\uff0c\u5426\u5219\u6240\u6709\u540e\u7eed\u63d0\u53ca\u66fc\u5df4\u7684\u5185\u5bb9\u5747\u9002\u7528\u4e8eMamba-2\u3002<\/p>\n\n\n\n

    DRAMA\u65b9\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n

    \u6211\u4eec\u4ecb\u7ecd\u4e86\u57fa\u4e8eMamba\u7684\u7aef\u5230\u7aef\u8fd0\u52a8\u89c4\u5212\u6846\u67b6DRAMA\uff0c\u8be5\u6846\u67b6\u4f7f\u7528\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\uff08CNN\uff09\u548cMamba\u5bf9\u76f8\u673a\u548cLiDAR BEV\u56fe\u50cf\u7684\u7279\u5f81\u8fdb\u884c\u7f16\u7801\u548c\u878d\u5408\u3002\u89e3\u7801\u5668\u91c7\u7528\u6211\u4eec\u63d0\u51fa\u7684Mamba Transformer\u89e3\u7801\u5668\u5c42\u5bf9\u6700\u7ec8\u8f68\u8ff9\u8fdb\u884c\u89e3\u7801\u3002\u5728\u63a5\u4e0b\u6765\u7684\u90e8\u5206\u4e2d\uff0c\u6211\u4eec\u5c06\u8be6\u7ec6\u63a2\u8ba8\u6211\u4eec\u8bbe\u8ba1\u7684\u56db\u4e2a\u6a21\u5757\uff1aMamba\u878d\u5408\u5757\u3001Mamba Transformer\u89e3\u7801\u5668\u5c42\u3001\u591a\u5c3a\u5ea6\u5377\u79ef\u548c\u7279\u5f81\u72b6\u6001dropout\u3002<\/p>\n\n\n\n

    Mamba Fusion Block and Mamba-Transformer<\/strong><\/p>\n\n\n\n

    Mamba Preliminaries\uff1a\u4ece\u8fde\u7eed\u7cfb\u7edf\u5bfc\u51fa\u7684\u7ed3\u6784\u5316\u72b6\u6001\u7a7a\u95f4\u5e8f\u5217\u6a21\u578b\uff08S4\uff09\u5229\u75281-D\u8f93\u5165\u5e8f\u5217\u6216\u51fd\u6570x\uff08t\uff09\u548c\u4e2d\u95f4\u9690\u85cf\u72b6\u6001h\uff08t\uff09\u6765\u4ea7\u751f\u6700\u7ec8\u8f93\u51fay\uff08t\uff09\u3002\u4e2d\u95f4\u9690\u85cf\u72b6\u6001h\uff08t\uff09\u548c\u8f93\u5165x\uff08t\uff09\u7528\u4e8e\u901a\u8fc7\u6295\u5f71\u77e9\u9635A\u3001B\u548cC\u8ba1\u7b97y\uff08t\uff09\u3002<\/p>\n\n\n\n

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

    \u8be5\u7cfb\u7edf\u5e94\u7528\u53ef\u5b66\u4e60\u6b65\u957f\u548c\u96f6\u9636\u4fdd\u6301\u5c06\u8fde\u7eed\u7cfb\u7edf\u8f6c\u6362\u4e3a\u79bb\u6563\u7cfb\u7edf\u3002\u56e0\u6b64\uff0c\u65b9\u7a0b\u5f0f\uff081\uff09\u53ef\u4ee5\u91cd\u65b0\u8868\u8ff0\u5982\u4e0b\uff1a<\/p>\n\n\n\n

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

    \u901a\u8fc7\u6570\u5b66\u5f52\u7eb3\uff0c\u65b9\u7a0b\u5f0f\uff082\uff09\u7684\u6700\u7ec8\u8f93\u51fa\u53ef\u4ee5\u6539\u5199\u5982\u4e0b\uff1a<\/p>\n\n\n\n

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

    \u77e9\u9635M\u5b9a\u4e49\u5982\u4e0b\uff1a<\/p>\n\n\n\n

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

    \u5728\u6211\u4eec\u7684\u66fc\u5df4\u878d\u5408\u6a21\u5757\u4e2d\uff0c\u6211\u4eec\u8bbe\u7f6e\u4e86T E320\u548cP E16\uff0c\u7406\u8bba\u4e0a\u4e0e\u81ea\u6211\u5173\u6ce8\u76f8\u6bd4\uff0c\u5728\u878d\u5408\u8fc7\u7a0b\u4e2d\u8bad\u7ec3\u6210\u672c\u964d\u4f4e\u4e86\u7ea620\u500d\u3002<\/p>\n\n\n\n

    Mamba Transformer\u89e3\u7801\u5668\uff1a\u5982\u56fe\uff083\uff09\u6240\u793a\uff0c\u6211\u4eec\u5c06Mamba\u548cTransformer\u67b6\u6784\u76f8\u7ed3\u5408\uff0c\u5f00\u53d1\u4e86\u65b0\u9896\u7684Mamba Transformers\uff08MT\uff09\u89e3\u7801\u5668\u3002\u6700\u521d\uff0c\u53ef\u5b66\u4e60\u7684\u67e5\u8be2\u88ab\u4f20\u9012\u5230\u673a\u5668\u7ffb\u8bd1\u7684Mamba\u7ec4\u4ef6\u4e2d\uff0c\u8be5\u7ec4\u4ef6\u7684\u529f\u80fd\u7c7b\u4f3c\u4e8eself-att\u3002\u7531\u4e8e\u4e0eMamba\u7684\u4ea4\u53c9\u6ce8\u610f\u529b\u4ecd\u5728\u63a2\u7d22\u4e2d\uff0c\u6211\u4eec\u91c7\u7528Transformer\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\u6765\u5904\u7406\u6765\u81eaMamba\u7684\u67e5\u8be2\u4ee5\u53ca\u6765\u81eaFSD\u6a21\u5757\u7684\u952e\u548c\u503c\u3002<\/p>\n\n\n\n

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

    Multi-scale Convolution<\/strong><\/p>\n\n\n\n

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

    \u4e3a\u4e86\u6355\u83b7\u591a\u5c3a\u5ea6\u56fe\u50cf\u7279\u5f81\uff0c\u6211\u4eec\u91c7\u7528\u4e86\u591a\u5377\u79ef\u8bbe\u8ba1\uff0c\u5982\u56fe\uff084\uff09\u6240\u793a\uff0c\u5176\u4e2d\u56fe\u50cf\u901a\u8fc7\u4e09\u4e2a\u4e0d\u540c\u6838\u5927\u5c0f\u7684\u5377\u79ef\u5c42\u8fdb\u884c\u5904\u7406\uff0c\u5206\u522b\u4e3a-5\u30017\u548c9\u3002\u8fd9\u4e9b\u5377\u79ef\u5c42\u7684\u8f93\u51fa\u88ab\u7ec4\u5408\u5728\u4e00\u8d77\uff0c\u5e76\u7531\u591a\u5c42\u611f\u77e5\u5668\uff08MLP\uff09\u5c42\u8fdb\u4e00\u6b65\u7f16\u7801\uff0c\u4ee5\u589e\u5f3a\u6a21\u578b\u7684\u611f\u77e5\u80fd\u529b\u3002<\/p>\n\n\n\n

    Feature State Dropout<\/strong><\/p>\n\n\n\n

    \u7531\u4e8e\u786c\u4ef6\u9650\u5236\u548c\u673a\u8f7d\u4f20\u611f\u5668\u4e2d\u7684\u566a\u58f0\uff0c\u5bf9\u5468\u56f4\u73af\u5883\u7684\u89c2\u5bdf\u548c\u611f\u77e5\uff08\u4f8b\u5982\u4f4d\u7f6e\u6216\u901f\u5ea6\uff09\u53ef\u80fd\u4e0d\u51c6\u786e\uff0c\u53ef\u80fd\u65e0\u6cd5\u5b8c\u5168\u53cd\u6620\u771f\u5b9e\u60c5\u51b5\u3002\u6b64\u5916\uff0c\u5f53\u5bfc\u822a\u6a21\u5757\u7684\u9a7e\u9a76\u547d\u4ee4\u7f3a\u5931\u65f6\uff0c\u6216\u8005\u5728\u590d\u6742\u7684\u4ea4\u901a\u6761\u4ef6\u4e0b\u5bfc\u822a\u65f6\uff0c\u5373\u4f7f\u5728\u6ca1\u6709\u660e\u786e\u6307\u5bfc\u7684\u60c5\u51b5\u4e0b\uff0c\u6a21\u578b\u4e5f\u5fc5\u987b\u6df1\u5165\u7406\u89e3\u548c\u63a8\u7406\u573a\u666f\u548c\u5468\u56f4\u7684\u4ee3\u7406\uff0c\u8fd9\u4e00\u70b9\u81f3\u5173\u91cd\u8981\u3002\u5148\u524d\u7684\u7814\u7a76\u8868\u660e\uff0c\u5c4f\u853d\u67d0\u4e9b\u56fe\u50cf\u548c\u8f66\u8f86\u72b6\u6001\u7279\u5f81\u53ef\u4ee5\u63d0\u9ad8\u81ea\u6211\u76d1\u7763\u4efb\u52a1\u548c\u8fd0\u52a8\u89c4\u5212\u7684\u6574\u4f53\u6027\u80fd\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\u5e76\u57fa\u4e8e\u8fd9\u4e9b\u89c1\u89e3\uff0c\u6211\u4eec\u4ece\u4e24\u79cd\u6a21\u6001\u548c\u81ea\u6211\u72b6\u6001\u5b9e\u73b0\u4e86\u56fe\u50cf\u7279\u5f81\u878d\u5408\u7684\u7279\u5f81\u72b6\u6001\u4e22\u5f03\uff0c\u5982\u56fe5\u6240\u793a\u3002\u6700\u521d\uff0c\u8981\u7f16\u7801\u7684\u7279\u5f81\u88ab\u6dfb\u52a0\u4e86\u4e00\u4e2a\u53ef\u5b66\u4e60\u7684\u4f4d\u7f6e\u5d4c\u5165\uff0c\u7136\u540e\u662f\u5dee\u5f02\u5316\u7684dropout\u6765\u63a9\u76d6\u4e00\u4e9b\u7279\u5f81\u3002<\/p>\n\n\n\n

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

    \u6211\u4eec\u5728DRAMA\u4e2d\u91c7\u7528\u4e86\u4e00\u79cd\u5dee\u5f02\u5316\u7684\u8f8d\u5b66\u7b56\u7565\uff0c\u8be5\u7b56\u7565\u5bf9\u878d\u5408\u548c\u81ea\u6211\u72b6\u6001\u7279\u5f81\u5e94\u7528\u4e86\u4e0d\u540c\u7684\u8f8d\u5b66\u7387\u3002\u4e3a\u878d\u5408\u7279\u5f81\u5206\u914d\u76f8\u5bf9\u8f83\u4f4e\u7684\u4e22\u5931\u7387\uff0c\u4ee5\u4fdd\u6301\u5176\u5b8c\u6574\u6027\u3002\u8be5\u63aa\u65bd\u65e8\u5728\u907f\u514d\u878d\u5408\u611f\u77e5\u4fe1\u606f\u7684\u8fc7\u5ea6\u4e22\u5931\uff0c\u4ece\u800c\u964d\u4f4e\u6574\u4f53\u6027\u80fd\u3002<\/p>\n\n\n\n

    \u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n

    \u5b9a\u91cf\u7ed3\u679c<\/strong><\/p>\n\n\n\n

    \u5982\u88681\u6240\u793a\uff0c\u6839\u636eTransfuser\uff08T\uff09\u57fa\u7ebf\u5bf9\u62df\u8bae\u6a21\u5757\u7684\u8bc4\u4f30\u663e\u793a\uff0c\u5404\u79cd\u6307\u6807\u90fd\u6709\u663e\u8457\u6539\u5584\u3002\u6574\u5408\u591a\u5c3a\u5ea6\u5377\u79ef\uff08MSC\uff09\u53ef\u4ee5\u63d0\u9ad8PDM\u5f97\u5206\uff0c\u4ece0.835\u589e\u52a0\u52300.843\uff0c\u7a81\u51fa\u4e86\u5176\u5728\u6355\u83b7\u591a\u5c3a\u5ea6\u7279\u5f81\u4ee5\u63d0\u9ad8\u6574\u4f53\u6a21\u578b\u6027\u80fd\u65b9\u9762\u7684\u6709\u6548\u6027\u3002\u66fc\u5df4\u878d\u5408\uff08MF\uff09\u7684\u52a0\u5165\u8fdb\u4e00\u6b65\u5c06PDM\u8bc4\u5206\u63d0\u9ad8\u52300.848\uff0c\u81ea\u6211\u8fdb\u6b65\uff08EP\uff09\u4ece0.782\u663e\u8457\u63d0\u9ad8\u52300.798\uff0c\u8868\u660e\u878d\u5408\u65b9\u5f0f\u4f18\u8d8a\u3002\u7279\u5f81\u72b6\u6001\u4e22\u5931\uff08FSD\uff09\u663e\u793a\u4e86EP\u7684\u6700\u9ad8\u5355\u4e2a\u6a21\u5757\u589e\u5f3a\uff0c\u8fbe\u52300.802\uff0cPDM\u5f97\u5206\u4e3a0.848\uff0c\u8bc1\u660e\u4e86\u5176\u5728\u51cf\u8f7b\u4f20\u611f\u5668\u8f93\u5165\u4e0d\u826f\u65b9\u9762\u7684\u4f5c\u7528\u3002\u6b64\u5916\uff0cMamba Transformer\uff08MT\uff09\u6a21\u5757\u7684PDM\u5f97\u5206\u4e3a0.844\uff0c\u78b0\u649e\u65f6\u95f4\uff08TTC\uff09\u6709\u4e86\u663e\u8457\u6539\u5584\uff0c\u7a81\u663e\u4e86\u5176\u5f3a\u5927\u7684\u81ea\u6211\u5173\u6ce8\u673a\u5236\u3002\u5728\u6ca1\u6709MSC\u7684DRAMA\u4e2d\uff0c\u8fd9\u4e9b\u6a21\u5757\u7684\u7ec4\u5408\uff0c\u5373T+MF+FSD+MT\uff0c\u5bfc\u81f4PDM\u5f97\u5206\u4e3a0.853\uff0c\u5728\u6240\u6709\u6307\u6807\u4e0a\u90fd\u6709\u6301\u7eed\u7684\u6539\u8fdb\uff0c\u6574\u4e2aDRAMA\u6a21\u578b\u8fbe\u5230\u4e86\u6700\u9ad8\u7684PDM\u5f97\u52060.855\uff0c\u8bc1\u5b9e\u4e86\u7efc\u5408\u65b9\u6cd5\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n

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

    \u88682\u663e\u793a\u4e86\u4e0d\u540c\u7279\u5f81\u72b6\u6001\u4e22\u5931\u7387\u5bf9\u6a21\u578b\u6027\u80fd\u7684\u5f71\u54cd\uff0c\u8868\u660e\u6539\u53d8\u72b6\u6001\u548c\u878d\u5408\u7279\u5f81\u7684\u4e22\u5931\u7387\u53ef\u4ee5\u63d0\u9ad8\u6a21\u578b\u7684\u9c81\u68d2\u6027\u548c\u51c6\u786e\u6027\u3002\u57fa\u7ebfTransfuser\uff08T\uff09\u5f97\u5206\u4e3a0.835\u3002\u5f15\u5165\u878d\u5408\u4e22\u5931\u7387\u4e3a0.1\u7684FSD\u5c06\u5f97\u5206\u63d0\u9ad8\u52300.842\uff0c\u72b6\u6001\u4e22\u5931\u7387\u4e3a0.5\u7684FSD\u5f97\u5206\u66f4\u9ad8\uff0c\u4e3a0.844\uff0c\u8fd9\u8868\u660e\u8be5\u6a21\u578b\u53d7\u76ca\u4e8e\u5904\u7406\u7f3a\u5931\u7684\u72b6\u6001\u7279\u5f81\u3002\u72b6\u6001\u4e22\u5931\u7387\u4e3a0.5\u548c\u878d\u5408\u4e22\u5931\u7387\u4e3a0.1\u7684\u7ec4\u5408\u8fbe\u5230\u4e86\u6700\u9ad8\u5f97\u52060.848\uff0c\u8868\u660e\u8fd9\u4e24\u79cd\u7279\u5f81\u7c7b\u578b\u4e4b\u95f4\u7684\u5e73\u8861\u4e22\u5931\u7387\u4f18\u5316\u4e86\u6a21\u578b\u6027\u80fd\u3002<\/p>\n\n\n\n

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

    \u88683\u5168\u9762\u6bd4\u8f83\u4e86\u5404\u79cd\u65b9\u6cd5\u7684\u57f9\u8bad\u548c\u9a8c\u8bc1\u6027\u80fd\uff0c\u5f3a\u8c03\u4e86\u62df\u8bae\u6a21\u5757\u7684\u6548\u7387\u3002\u57fa\u7ebfTransfuser\uff08T\uff09\u7684\u603b\u53c2\u6570\u5927\u5c0f\u4e3a56 MB\uff0c\u8bad\u7ec3\u548c\u9a8c\u8bc1\u901f\u5ea6\u5206\u522b\u4e3a\u6bcf\u79d24.61\u6b21\u8fed\u4ee3\uff08it\/s\uff09\u548c9.73\u6b21\u8fed\u4ee3\/\u79d2\u3002\u5f15\u5165\u591a\u5c3a\u5ea6\u5377\u79ef\uff08MSC\uff09\u6a21\u5757\u5c06\u8bad\u7ec3\u901f\u5ea6\u7565\u5fae\u964d\u4f4e\u52303.77it\/s\uff0c\u540c\u65f6\u4fdd\u6301\u7c7b\u4f3c\u7684\u9a8c\u8bc1\u901f\u5ea6\uff0c\u8fd9\u8868\u660e\u5728\u589e\u5f3a\u7684\u7279\u5f81\u63d0\u53d6\u548c\u8ba1\u7b97\u6210\u672c\u4e4b\u95f4\u8fdb\u884c\u4e86\u6743\u8861\u3002\u76f8\u53cd\uff0cMamba Fusion\uff08MF\uff09\u6a21\u5757\u5c06\u603b\u53c2\u6570\u5927\u5c0f\u663e\u8457\u51cf\u5c0f\u523049.9 MB\uff0c\u5e76\u5c06\u8bad\u7ec3\u901f\u5ea6\u63d0\u9ad8\u52304.92 it\/s\uff0c\u9a8c\u8bc1\u901f\u5ea6\u63d0\u9ad8\u52309.94 it\/s\uff0c\u5c55\u793a\u4e86\u5176\u5728\u6a21\u6001\u878d\u5408\u65b9\u9762\u7684\u5353\u8d8a\u6548\u7387\u3002<\/p>\n\n\n\n

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

    \u5b9a\u6027\u7ed3\u679c<\/strong><\/p>\n\n\n\n

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    [1] DRAMA: An Efficient End-to-end Motion Planner for Autonomous Driving with Mamba<\/p>\n","protected":false},"excerpt":{"rendered":"

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