{"id":14967,"date":"2024-08-29T14:11:22","date_gmt":"2024-08-29T06:11:22","guid":{"rendered":"http:\/\/192.168.10.115\/?p=14967"},"modified":"2024-08-29T14:11:46","modified_gmt":"2024-08-29T06:11:46","slug":"%e6%b5%99%e5%a4%a7%e5%8d%8e%e4%b8%badrive-occworld%ef%bc%9a%e4%b8%94%e7%9c%8b%e4%b8%96%e7%95%8c%e6%a8%a1%e5%9e%8b%e5%a6%82%e4%bd%95%e6%8b%bf%e4%b8%8b%e7%ab%af%e5%88%b0%e7%ab%af%ef%bc%81","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/08\/29\/14967\/","title":{"rendered":"2024-08-29 \u6d59\u5927&amp;\u534e\u4e3aDrive-OccWorld\uff1a\u4e14\u770b\u4e16\u754c\u6a21\u578b\u5982\u4f55\u62ff\u4e0b\u7aef\u5230\u7aef\uff01"},"content":{"rendered":"\n<p>\u4e16\u754c\u6a21\u578b\u57fa\u4e8e\u5404\u79cd\u81ea\u8f66\u884c\u4e3a\u9884\u6d4b\u6f5c\u5728\u7684\u672a\u6765\u72b6\u6001\u3002\u5b83\u4eec\u5d4c\u5165\u4e86\u5173\u4e8e\u9a7e\u9a76\u73af\u5883\u7684\u5e7f\u6cdb\u77e5\u8bc6\uff0c\u4fc3\u8fdb\u4e86\u5b89\u5168\u548c\u53ef\u6269\u5c55\u7684\u81ea\u52a8\u9a7e\u9a76\u3002\u5927\u591a\u6570\u73b0\u6709\u65b9\u6cd5\u4e3b\u8981\u5173\u6ce8\u6570\u636e\u751f\u6210\u6216\u4e16\u754c\u6a21\u578b\u7684\u9884\u8bad\u7ec3\u8303\u5f0f\u3002\u4e0e\u4e0a\u8ff0\u5148\u524d\u7684\u5de5\u4f5c\u4e0d\u540c\uff0c\u6211\u4eec\u63d0\u51fa\u4e86Drive-OccWorld\uff0c\u5b83\u5c06\u4ee5\u89c6\u89c9\u4e3a\u4e2d\u5fc3\u76844D\u9884\u6d4b\u4e16\u754c\u6a21\u578b\u5e94\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u7684\u7aef\u5230\u7aef\u89c4\u5212\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u9996\u5148\u5728\u5185\u5b58\u6a21\u5757\u4e2d\u5f15\u5165\u8bed\u4e49\u548c\u8fd0\u52a8\u6761\u4ef6\u89c4\u8303\u5316\uff0c\u8be5\u6a21\u5757\u4ece\u5386\u53f2BEV\u5d4c\u5165\u4e2d\u79ef\u7d2f\u8bed\u4e49\u548c\u52a8\u6001\u4fe1\u606f\u3002\u7136\u540e\u5c06\u8fd9\u4e9bBEV\u7279\u5f81\u4f20\u8f93\u5230\u4e16\u754c\u89e3\u7801\u5668\uff0c\u4ee5\u8fdb\u884c\u672a\u6765\u65f6\u523b\u7684OCC\u548cflow\u9884\u6d4b\uff0c\u540c\u65f6\u8003\u8651\u51e0\u4f55\u548c\u65f6\u7a7a\u5efa\u6a21\u3002\u6b64\u5916\u6211\u4eec\u5728\u4e16\u754c\u6a21\u578b\u4e2d\u6ce8\u5165\u7075\u6d3b\u7684\u52a8\u4f5c\u6761\u4ef6\uff0c\u5982\u901f\u5ea6\u3001\u8f6c\u5411\u89d2\u3001\u8f68\u8ff9\u548c\u547d\u4ee4\uff0c\u4ee5\u5b9e\u73b0\u53ef\u63a7\u53d1\u7535\uff0c\u5e76\u4fc3\u8fdb\u66f4\u5e7f\u6cdb\u7684\u4e0b\u6e38\u5e94\u7528\u3002\u6b64\u5916\uff0c\u6211\u4eec\u63a2\u7d22\u5c064D\u4e16\u754c\u6a21\u578b\u7684\u751f\u6210\u80fd\u529b\u4e0e\u7aef\u5230\u7aef\u89c4\u5212\u76f8\u7ed3\u5408\uff0c\u4ece\u800c\u80fd\u591f\u4f7f\u7528\u57fa\u4e8e\u804c\u4e1a\u7684\u6210\u672c\u51fd\u6570\u5bf9\u672a\u6765\u72b6\u6001\u8fdb\u884c\u8fde\u7eed\u9884\u6d4b\u5e76\u9009\u62e9\u6700\u4f73\u8f68\u8ff9\u3002\u5bf9nuScenes\u6570\u636e\u96c6\u7684\u5e7f\u6cdb\u5b9e\u9a8c\u8868\u660e\uff0cDrive-OccWorld\u53ef\u4ee5\u751f\u6210\u5408\u7406\u53ef\u63a7\u76844D\u5360\u7528\uff0c\u4e3a\u63a8\u52a8\u4e16\u754c\u751f\u6210\u548c\u7aef\u5230\u7aef\u89c4\u5212\u5f00\u8f9f\u4e86\u65b0\u9014\u5f84\u3002<\/p>\n\n\n\n<p>\u603b\u7ed3\u6765\u8bf4\uff0c\u672c\u6587\u7684\u4e3b\u8981\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u4e86Drive OccWorld\uff0c\u8fd9\u662f\u4e00\u4e2a\u4ee5\u89c6\u89c9\u4e3a\u4e2d\u5fc3\u7684\u4e16\u754c\u6a21\u578b\uff0c\u65e8\u5728\u9884\u6d4b4D Occ\u548cflow\uff0c\u6211\u4eec\u63a2\u7d22\u4e86\u4e16\u754c\u6a21\u578b\u7684\u672a\u6765\u9884\u6d4b\u80fd\u529b\u4e0e\u7aef\u5230\u7aef\u89c4\u5212\u7684\u6574\u5408\u3002<\/li>\n\n\n\n<li>\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u7b80\u5355\u800c\u9ad8\u6548\u7684\u8bed\u4e49\u548c\u8fd0\u52a8\u6761\u4ef6\u5f52\u4e00\u5316\u6a21\u5757\uff0c\u7528\u4e8e\u8bed\u4e49\u589e\u5f3a\u548c\u8fd0\u52a8\u8865\u507f\uff0c\u63d0\u9ad8\u4e86\u9884\u6d4b\u548c\u89c4\u5212\u6027\u80fd\u3002<\/li>\n\n\n\n<li>\u63d0\u4f9b\u4e86\u4e00\u4e2a\u7edf\u4e00\u7684\u8c03\u8282\u63a5\u53e3\uff0c\u5c06\u7075\u6d3b\u7684\u52a8\u4f5c\u6761\u4ef6\u96c6\u6210\u5230\u540e\u4ee3\u4e2d\uff0c\u589e\u5f3a\u4e86Drive OccWorld\u7684\u53ef\u63a7\u6027\uff0c\u5e76\u4fc3\u8fdb\u4e86\u66f4\u5e7f\u6cdb\u7684\u4e0b\u6e38\u5e94\u7528\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u76f8\u5173\u5de5\u4f5c\u56de\u987e<\/strong><\/p>\n\n\n\n<p><strong>World Models for Autonomous Driving<\/strong><\/p>\n\n\n\n<p>\u57fa\u4e8e\u672a\u6765\u72b6\u6001\u7684\u751f\u6210\u6a21\u5f0f\uff0c\u73b0\u6709\u7684\u81ea\u52a8\u9a7e\u9a76\u4e16\u754c\u6a21\u578b\u4e3b\u8981\u53ef\u5206\u4e3a\u57fa\u4e8e2D\u56fe\u50cf\u7684\u6a21\u578b\u548c\u57fa\u4e8e3D\u4f53\u79ef\u7684\u6a21\u578b\u3002<strong>2D Image-based Models<\/strong>\uff1a\u65e8\u5728\u4f7f\u7528\u53c2\u8003\u56fe\u50cf\u548c\u5176\u4ed6\u6761\u4ef6\uff08\u4f8b\u5982\u52a8\u4f5c\u3001HDMaps\u30013D\u6846\u548c\u6587\u672c\u63d0\u793a\uff09\u9884\u6d4b\u672a\u6765\u7684\u9a7e\u9a76\u89c6\u9891\u3002GAIA-1\u4f7f\u7528\u81ea\u56de\u5f52Transformer\u4f5c\u4e3a\u4e16\u754c\u6a21\u578b\uff0c\u6839\u636e\u8fc7\u53bb\u7684\u56fe\u50cf\u3001\u6587\u672c\u548c\u52a8\u4f5c\u6807\u8bb0\u9884\u6d4b\u672a\u6765\u7684\u56fe\u50cf\u6807\u8bb0\u3002\u5176\u4ed6\u65b9\u6cd5\uff0c\u5982DriveDreamer\u3001ADriver-I\u3001DrivengDiffusion\uff0cGenAD\u3001Vista\u3001Delphi\u548cDrive-WM\uff0c\u4f7f\u7528\u6f5c\u5728\u6269\u6563\u6a21\u578b\uff08LDMs\uff09\u751f\u6210\u56fe\u50cf\u5230\u8f93\u51fa\u89c6\u9891\u3002\u8fd9\u4e9b\u65b9\u6cd5\u4fa7\u91cd\u4e8e\u8bbe\u8ba1\u6a21\u5757\uff0c\u5c06\u52a8\u4f5c\u3001BEV\u5e03\u5c40\u548c\u5176\u4ed6\u5148\u9a8c\u5143\u7d20\u7eb3\u5165\u53bb\u566a\u8fc7\u7a0b\uff0c\u4ece\u800c\u4ea7\u751f\u66f4\u8fde\u8d2f\u3001\u66f4\u5408\u7406\u7684\u672a\u6765\u89c6\u9891\u4ee3\u3002<\/p>\n\n\n\n<p><strong>3D Volume-based Models<\/strong>\uff1a\u4ee5\u70b9\u4e91\u6216\u5360\u9886\u7684\u5f62\u5f0f\u9884\u6d4b\u672a\u6765\u7684\u72b6\u6001\u3002Copilot4D\u4f7f\u7528VQVAE\u5bf9LiDAR\u89c2\u6d4b\u8fdb\u884c\u6807\u8bb0\uff0c\u5e76\u901a\u8fc7\u79bb\u6563\u6269\u6563\u9884\u6d4b\u672a\u6765\u7684\u70b9\u4e91\u3002ViDAR\u5b9e\u73b0\u4e86\u89c6\u89c9\u70b9\u4e91\u9884\u6d4b\u4efb\u52a1\uff0c\u4ee5\u9884\u8bad\u7ec3\u89c6\u89c9\u7f16\u7801\u5668\u3002UnO\u6839\u636e\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\u9884\u6d4b\u4e86\u4e00\u4e2a\u5177\u6709\u81ea\u6211\u76d1\u7763\u529f\u80fd\u7684\u6301\u7eed\u5360\u9886\u533a\u3002OccWorld\u548cOccSora\u4f7f\u7528\u573a\u666f\u6807\u8bb0\u5668\u538b\u7f29\u804c\u4e1a\u8f93\u5165\uff0c\u5e76\u4f7f\u7528\u751f\u6210\u53d8\u6362\u5668\u9884\u6d4b\u672a\u6765\u7684\u804c\u4e1a\u3002UniWorld\u548cDriveWorld\u63d0\u51fa\u901a\u8fc74D\u804c\u4e1a\u91cd\u5efa\u8fdb\u884c4D\u9884\u8bad\u7ec3\u3002<\/p>\n\n\n\n<p>\u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\u901a\u8fc7\u8f93\u5165\u52a8\u4f5c\u6761\u4ef6\u6765\u5b9e\u73b0\u52a8\u4f5c\u53ef\u63a7\u751f\u6210\uff0c\u5e76\u5c06\u8fd9\u79cd\u751f\u6210\u80fd\u529b\u4e0e\u7aef\u5230\u7aef\u7684\u5b89\u5168\u9a7e\u9a76\u89c4\u5212\u8005\u76f8\u7ed3\u5408\uff0c\u4ece\u800c\u7814\u7a76\u4e86\u4e16\u754c\u6a21\u578b\u7684\u6f5c\u5728\u5e94\u7528\u3002<\/p>\n\n\n\n<p><strong>Drive-OccWorld\u65b9\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n<p><strong>\u51c6\u5907\u5de5\u4f5c<\/strong><\/p>\n\n\n\n<p>\u7aef\u5230\u7aef\u7684\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u65e8\u5728\u76f4\u63a5\u57fa\u4e8e\u4f20\u611f\u5668\u8f93\u5165\u548c\u81ea\u6211\u884c\u4e3a\u6765\u63a7\u5236\u8f66\u8f86\uff08\u5373\u89c4\u5212\u8f68\u8ff9\uff09\u3002\u4ece\u5f62\u5f0f\u4e0a\u8bb2\uff0c\u7ed9\u5b9a\u5386\u53f2\u4f20\u611f\u5668\u89c2\u6d4b\u503c\u548ch\u4e2a\u65f6\u95f4\u6233\u4e0a\u7684\u81ea\u6211\u8f68\u8ff9\uff0c\u7aef\u5230\u7aef\u6a21\u578bA\u9884\u6d4b\u4e86\u672a\u6765f\u4e2a\u65f6\u95f4\u6233\u7684\u7406\u60f3\u81ea\u8f66\u8f68\u8ff9\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"328\" height=\"34\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-304.png\" alt=\"\" class=\"wp-image-14968\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-304.png 328w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-304-300x31.png 300w\" sizes=\"(max-width: 328px) 100vw, 328px\" \/><\/figure>\n\n\n\n<p>\u9a7e\u9a76\u4e16\u754c\u6a21\u578bW\u53ef\u4ee5\u88ab\u89c6\u4e3a\u4e00\u79cd\u751f\u6210\u6a21\u578b\uff0c\u5b83\u5c06\u5148\u524d\u7684\u89c2\u5bdf\u548c\u81ea\u8f66\u884c\u4e3a\u4f5c\u4e3a\u8f93\u5165\uff0c\u751f\u6210\u73af\u5883\u7684\u5408\u7406\u672a\u6765\u72b6\u6001\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"332\" height=\"33\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-305.png\" alt=\"\" class=\"wp-image-14969\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-305.png 332w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-305-300x30.png 300w\" sizes=\"(max-width: 332px) 100vw, 332px\" \/><\/figure>\n\n\n\n<p>\u9274\u4e8e\u4e16\u754c\u6a21\u578b\u9884\u6d4b\u672a\u6765\u72b6\u6001\u7684\u80fd\u529b\uff0c\u6211\u4eec\u5efa\u8bae\u5c06\u5176\u4e0e\u89c4\u5212\u5668\u96c6\u6210\uff0c\u4ee5\u5145\u5206\u5229\u7528\u4e16\u754c\u6a21\u578b\u5728\u7aef\u5230\u7aef\u89c4\u5212\u4e2d\u7684\u80fd\u529b\u3002\u5177\u4f53\u6765\u8bf4\u5f15\u5165\u4e86\u4e00\u4e2a\u540d\u4e3aDrive-OccWorld\u7684\u81ea\u56de\u5f52\u6846\u67b6\uff0c\u8be5\u6846\u67b6\u7531\u4e00\u4e2a\u7528\u4e8e\u9884\u6d4b\u672a\u6765\u804c\u4e1a\u548c\u6d41\u52a8\u72b6\u6001\u7684\u751f\u6210\u4e16\u754c\u6a21\u578bW\u548c\u4e00\u4e2a\u57fa\u4e8e\u804c\u4e1a\u7684\u89c4\u5212\u5668P\u7ec4\u6210\uff0c\u8be5\u89c4\u5212\u5668P\u4f7f\u7528\u6210\u672c\u51fd\u6570\u6765\u57fa\u4e8e\u8bc4\u4f30\u672a\u6765\u9884\u6d4b\u6765\u9009\u62e9\u6700\u4f73\u8f68\u8ff9\u3002\u4ece\u5f62\u5f0f\u4e0a\u8bb2\uff0c\u6211\u4eec\u5c06Drive OccWorld\u516c\u5f0f\u5316\u5982\u4e0b\uff0c\u5b83\u81ea\u52a8\u56de\u5f52\u9884\u6d4b\u4e0b\u4e00\u4e2a\u65f6\u95f4\u6233\u7684\u672a\u6765\u72b6\u6001\u548c\u8f68\u8ff9\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"287\" height=\"68\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-306.png\" alt=\"\" class=\"wp-image-14970\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"665\" height=\"173\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/82901.png\" alt=\"\" class=\"wp-image-14971\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/82901.png 665w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/82901-300x78.png 300w\" sizes=\"(max-width: 665px) 100vw, 665px\" \/><\/figure>\n\n\n\n<p><strong>4D Forecasting with World Model<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"681\" height=\"368\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-307.png\" alt=\"\" class=\"wp-image-14972\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-307.png 681w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-307-300x162.png 300w\" sizes=\"(max-width: 681px) 100vw, 681px\" \/><\/figure>\n\n\n\n<p>\u5982\u56fe2\u6240\u793a\uff0cDrive-OccWorld\u5305\u62ec\u4e09\u4e2a\u7ec4\u4ef6\uff1a\uff081\uff09\u5386\u53f2\u7f16\u7801\u5668WE\uff0c\u5b83\u5c06\u5386\u53f2\u76f8\u673a\u56fe\u50cf\u4f5c\u4e3a\u8f93\u5165\uff0c\u63d0\u53d6\u591a\u89c6\u56fe\u51e0\u4f55\u7279\u5f81\uff0c\u5e76\u5c06\u5176\u8f6c\u6362\u4e3aBEV\u5d4c\u5165\u3002\u6839\u636e\u4e4b\u524d\u7684\u5de5\u4f5c\uff0c\u6211\u4eec\u4f7f\u7528\u89c6\u89c9BEV\u7f16\u7801\u5668\u4f5c\u4e3a\u6211\u4eec\u7684\u5386\u53f2\u7f16\u7801\u5668\u3002\uff082\uff09\u5177\u6709\u8bed\u4e49\u548c\u8fd0\u52a8\u6761\u4ef6\u5f52\u4e00\u5316\u7684\u8bb0\u5fc6\u961f\u5217WM\uff0c\u5b83\u5728\u6f5c\u5728\u7a7a\u95f4\u4e2d\u91c7\u7528\u7b80\u5355\u800c\u9ad8\u6548\u7684\u5f52\u4e00\u5316\u64cd\u4f5c\u6765\u805a\u5408\u8bed\u4e49\u4fe1\u606f\u5e76\u8865\u507f\u52a8\u6001\u8fd0\u52a8\uff0c\u4ece\u800c\u79ef\u7d2f\u66f4\u5177\u4ee3\u8868\u6027\u7684BEV\u7279\u5f81\u3002\uff083\uff09\u4e16\u754c\u89e3\u7801\u5668WD\uff0c\u5176\u901a\u8fc7\u5177\u6709\u5386\u53f2\u7279\u5f81\u7684\u65f6\u95f4\u5efa\u6a21\u6765\u63d0\u53d6\u4e16\u754c\u77e5\u8bc6\uff0c\u4ee5\u9884\u6d4b\u672a\u6765\u7684\u8bed\u4e49\u804c\u4e1a\u548c\u6d41\u52a8\u3002\u7075\u6d3b\u7684\u52a8\u4f5c\u6761\u4ef6\u53ef\u4ee5\u6ce8\u5165WD\uff0c\u4ee5\u5b9e\u73b0\u53ef\u63a7\u751f\u6210\u3002\u96c6\u6210\u4e86\u57fa\u4e8eocc\u7684\u89c4\u5212\u5668P\uff0c\u7528\u4e8e\u8fde\u7eed\u9884\u6d4b\u548c\u89c4\u5212\u3002<\/p>\n\n\n\n<p><strong>Semantic- and Motion-Conditional Normalization<\/strong>\u65e8\u5728\u901a\u8fc7\u7ed3\u5408\u8bed\u4e49\u548c\u52a8\u6001\u4fe1\u606f\u6765\u589e\u5f3a\u5386\u53f2BEV\u5d4c\u5165\u3002<\/p>\n\n\n\n<p>\u5982\u56fe3\u6240\u793a\uff0c\u6211\u4eec\u5b9e\u73b0\u4e86\u4e00\u4e2a\u8f7b\u91cf\u7ea7\u7684\u9884\u6d4b\u5934\u6765\u751f\u6210\u4f53\u7d20\u8bed\u4e49\u6982\u7387\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"652\" height=\"342\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-308.png\" alt=\"\" class=\"wp-image-14973\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-308.png 652w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-308-300x157.png 300w\" sizes=\"(max-width: 652px) 100vw, 652px\" \/><\/figure>\n\n\n\n<p>\u5728\u8fd0\u52a8\u6761\u4ef6\u5f52\u4e00\u5316\u4e2d\uff0c\u6211\u4eec\u8865\u507f\u81ea\u8f66\u548c\u5176\u4ed6\u4ee3\u7406\u5728\u4e0d\u540c\u65f6\u95f4\u6233\u4e0a\u7684\u8fd0\u52a8\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u81ea\u8f66\u59ff\u6001\u53d8\u6362\u77e9\u9635\uff08\u8003\u8651\u4e86\u81ea\u6211\u8f7d\u4f53\u4ece\u65f6\u95f4\u6233-t\u5230+t\u7684\u79fb\u52a8\uff09\u88ab\u5c55\u5e73\u5e76\u7f16\u7801\u5230MLP\u5904\u7406\u7684\u5d4c\u5165\u4e2d\uff0c\u4ee5\u751f\u6210\u4eff\u5c04\u53d8\u6362\u53c2\u6570\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"664\" height=\"59\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/82902.png\" alt=\"\" class=\"wp-image-14974\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/82902.png 664w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/82902-300x27.png 300w\" sizes=\"(max-width: 664px) 100vw, 664px\" \/><\/figure>\n\n\n\n<p>\u5177\u4f53\u6765\u8bf4\uff0cWD\u5c06\u53ef\u5b66\u4e60\u7684BEV\u67e5\u8be2\u4f5c\u4e3a\u8f93\u5165\uff0c\u5e76\u6267\u884c\u53ef\u53d8\u5f62\u7684\u81ea\u6ce8\u610f\u3001\u4e0e\u5386\u53f2\u5d4c\u5165\u7684\u65f6\u95f4\u4ea4\u53c9\u6ce8\u610f\u3001\u4e0e\u52a8\u4f5c\u6761\u4ef6\u7684\u6761\u4ef6\u4ea4\u53c9\u6ce8\u610f\u529b\u4ee5\u53ca\u524d\u9988\u7f51\u7edc\u6765\u751f\u6210\u672a\u6765\u7684BEV\u5d4c\u5165\u3002\u6761\u4ef6\u5c42\u5728BEV\u67e5\u8be2\u548c\u52a8\u4f5c\u5d4c\u5165\u4e4b\u95f4\u6267\u884c\u4ea4\u53c9\u6ce8\u610f\u529b\uff0c\u8fd9\u5c06\u5728\u4e0b\u4e00\u8282\u4e2d\u8bf4\u660e\uff0c\u5c06\u52a8\u4f5c\u53ef\u63a7\u4fe1\u606f\u6ce8\u5165\u9884\u6d4b\u8fc7\u7a0b\u3002\u5728\u83b7\u5f97\u4e0b\u4e00\u4e2aBEV\u5d4c\u5165\u540e\uff0c\u9884\u6d4b\u5934\u5229\u7528\u901a\u9053\u5230\u9ad8\u5ea6\u64cd\u4f5c\u6765\u9884\u6d4b\u8bed\u4e49\u5360\u7528\u548c3D backward centripetal flow\u3002<\/p>\n\n\n\n<p><strong>Action-Controllable Generation<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"673\" height=\"377\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/82903.png\" alt=\"\" class=\"wp-image-14975\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/82903.png 673w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/82903-300x168.png 300w\" sizes=\"(max-width: 673px) 100vw, 673px\" \/><\/figure>\n\n\n\n<p><strong>End-to-End Planning with World Model<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"673\" height=\"577\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/82904.png\" alt=\"\" class=\"wp-image-14976\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/82904.png 673w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/82904-300x257.png 300w\" sizes=\"(max-width: 673px) 100vw, 673px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p><strong>Main Results of 4D Occupancy Forecasting<\/strong><\/p>\n\n\n\n<p><strong>Inflated Occupancy and Flow Forecasting<\/strong>\u3002\u88681\u5c55\u793a\u4e86nuScenes\u6570\u636e\u96c6\u4e0aInflated\u7684\u5360\u7528\u7387\u548c\u6d41\u91cf\u9884\u6d4b\u7684\u6bd4\u8f83\u3002\u5c3d\u7ba1Drive OccWorld\u5728\u5f53\u524d\u65f6\u523b\u7684\u7ed3\u679cmIoUc\u4e0a\u8868\u73b0\u7a0d\u5dee\uff0c\u4f46\u5b83\u5728mIoUf\u4e0a\u7684\u8868\u73b0\u6bd4Cam4DOcc\u9ad8\u51fa2.0%\uff0c\u8868\u660e\u5176\u9884\u6d4b\u672a\u6765\u72b6\u6001\u7684\u80fd\u529b\u66f4\u5f3a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"326\" height=\"438\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-309.png\" alt=\"\" class=\"wp-image-14977\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-309.png 326w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-309-223x300.png 223w\" sizes=\"(max-width: 326px) 100vw, 326px\" \/><\/figure>\n\n\n\n<p><strong>Fine-grained Occupancy Forecasting<\/strong>\uff1a\u88682\u5c55\u793a\u4e86nuScenes\u5360\u7528\u7387\u7684\u7ec6\u7c92\u5ea6\u5360\u7528\u9884\u6d4b\u6bd4\u8f83\u3002\u7ed3\u679c\u8868\u660e\uff0c\u4e0e\u6240\u6709\u5176\u4ed6\u65b9\u6cd5\u76f8\u6bd4\uff0cDrive OccWorld\u5b9e\u73b0\u4e86\u6700\u4f73\u6027\u80fd\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u5bf9\u4e8e\u5f53\u524d\u548c\u672a\u6765\u65f6\u95f4\u6233\u7684\u4e00\u822c\u53ef\u79fb\u52a8\u5bf9\u8c61\uff0cDrive OccWorldP\u5728mIoU\u4e0a\u5206\u522b\u6bd4Cam4DOcc\u9ad8\u51fa1.6%\u548c1.1%\uff0c\u8fd9\u8868\u660e\u5b83\u80fd\u591f\u51c6\u786e\u5b9a\u4f4d\u53ef\u79fb\u52a8\u5bf9\u8c61\u4ee5\u8fdb\u884c\u5b89\u5168\u89c4\u5212\u3002\u56fe4\u63d0\u4f9b\u4e86\u8de8\u6846\u67b6\u7684\u804c\u4e1a\u9884\u6d4b\u548c\u6d41\u91cf\u9884\u6d4b\u7684\u5b9a\u6027\u7ed3\u679c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"667\" height=\"419\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-310.png\" alt=\"\" class=\"wp-image-14978\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-310.png 667w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-310-300x188.png 300w\" sizes=\"(max-width: 667px) 100vw, 667px\" \/><\/figure>\n\n\n\n<p>\u53ef\u63a7\u6027\u3002\u5728\u88683\u4e2d\uff0c\u6211\u4eec\u8003\u5bdf\u4e86\u5404\u79cd\u4f5c\u7528\u6761\u4ef6\u4e0b\u7684\u53ef\u63a7\u6027\u3002\u4e0e\u57fa\u7ebf\u53d8\u91cf\u76f8\u6bd4\uff0c\u6ce8\u5165\u4efb\u4f55\u52a8\u4f5c\u6761\u4ef6\u90fd\u4f1a\u4ea7\u751f\u6536\u76ca\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u4f4e\u6c34\u5e73\u6761\u4ef6\uff0c\u5373\u8f68\u8ff9\u548c\u901f\u5ea6\uff0c\u4e3a\u672a\u6765\u7684\u9884\u6d4b\u63d0\u4f9b\u4e86\u66f4\u5927\u7684\u6539\u8fdb\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u6700\u9ad8\u7ea7\u522b\u7684\u547d\u4ee4\u6761\u4ef6\u6539\u5584\u4e86\u5f53\u524d\u65f6\u95f4\u6233\u7684mIoUc\u7ed3\u679c\uff0c\u4f46\u5bf9\u672a\u6765\u7684\u9884\u6d4b\u63d0\u4f9b\u4e86\u6709\u9650\u7684\u589e\u5f3a\u3002\u53ef\u4ee5\u8fd9\u4e48\u7406\u89e3\uff0c\u7ed3\u5408\u66f4\u591a\u7684\u4f4e\u7ea7\u6761\u4ef6\uff0c\u5982\u8f68\u8ff9\uff0c\u53ef\u4ee5\u4e3a\u81ea\u8f66\u63d0\u4f9b\u66f4\u5177\u4f53\u7684\u884c\u52a8\uff0c\u4ee5\u4e86\u89e3\u5176\u4e0e\u4e16\u754c\u7684\u76f8\u4e92\u4f5c\u7528\uff0c\u4ece\u800c\u6709\u6548\u5730\u589e\u5f3a\u672a\u6765\u7684\u9884\u6d4b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"326\" height=\"176\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-311.png\" alt=\"\" class=\"wp-image-14979\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-311.png 326w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-311-300x162.png 300w\" sizes=\"(max-width: 326px) 100vw, 326px\" \/><\/figure>\n\n\n\n<p>\u6709\u8da3\u7684\u662f\uff0c\u5982\u88684\u6240\u793a\uff0c\u4e0e\u4f7f\u7528\u9884\u6d4b\u8f68\u8ff9\u76f8\u6bd4\uff0c\u4f7f\u7528\u5730\u9762\u771f\u5b9e\u8f68\u8ff9\u4f5c\u4e3a\u884c\u52a8\u6761\u4ef6\u53ef\u4ee5\u83b7\u5f97\u66f4\u597d\u7684\u89c4\u5212\u7ed3\u679c\u3002\u76f8\u53cd\uff0c\u5728\u5165\u4f4f\u7387\u548c\u6d41\u91cf\u9884\u6d4b\u8d28\u91cf\u65b9\u9762\u89c2\u5bdf\u5230\u76f8\u53cd\u7684\u8d8b\u52bf\u3002\u88683\u4e2d\u7b2c2\u884c\u548c\u7b2c7\u884c\u7684\u6bd4\u8f83\u8868\u660e\uff0c\u4f7f\u7528\u9884\u6d4b\u8f68\u8ff9\u800c\u4e0d\u662f\u5730\u9762\u771f\u5b9e\u8f68\u8ff9\u53ef\u4ee5\u7565\u5fae\u63d0\u9ad8\u9884\u6d4b\u8d28\u91cf\u3002\u88681\u548c\u88682\u4e2d\u7684\u7ed3\u679c\u8fdb\u4e00\u6b65\u652f\u6301\u4e86\u8fd9\u4e00\u89c2\u5bdf\u7ed3\u679c\uff0c\u5176\u4e2dDrive OccWorldP\u7684\u8868\u73b0\u4f18\u4e8eDrive OccWorldA\u3002\u6211\u4eec\u8ba4\u4e3a\uff0c\u5728\u4f7f\u7528\u9884\u6d4b\u8f68\u8ff9\u65f6\uff0c\u5bf9BEV\u7279\u5f81\u65bd\u52a0\u7684\u8f68\u8ff9\u7ea6\u675f\u53ef\u80fd\u4f1a\u5bfc\u81f4\u5360\u7528\u7387\u548c\u6d41\u91cf\u8d28\u91cf\u7684\u6027\u80fd\u63d0\u9ad8\u3002\u8fd9\u4e00\u53d1\u73b0\u8868\u660e\uff0c\u5e94\u7528\u8f68\u8ff9\u9884\u6d4b\u4e5f\u53ef\u4ee5\u63d0\u9ad8\u611f\u77e5\u6027\u80fd\uff0c\u8fd9\u4e0eUniAD\u7684\u7ed3\u679c\u4e00\u81f4\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"324\" height=\"103\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-312.png\" alt=\"\" class=\"wp-image-14980\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-312.png 324w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-312-300x95.png 300w\" sizes=\"(max-width: 324px) 100vw, 324px\" \/><\/figure>\n\n\n\n<p>\u6b64\u5916\uff0c\u5728\u56fe5\u4e2d\uff0c\u6211\u4eec\u5c55\u793a\u4e86Drive OccWorld\u57fa\u4e8e\u7279\u5b9a\u81ea\u6211\u8fd0\u52a8\u6a21\u62df\u5404\u79cd\u672a\u6765\u804c\u4e1a\u7684\u80fd\u529b\uff0c\u5c55\u793a\u4e86Drive OccWorld\u4f5c\u4e3a\u795e\u7ecf\u4eff\u771f\u4e3a\u81ea\u52a8\u9a7e\u9a76\u751f\u6210\u5408\u7406\u804c\u4e1a\u7684\u6f5c\u529b\u3002<\/p>\n\n\n\n<p><strong>End-to-end Planning with Drive-OccWorld<\/strong><\/p>\n\n\n\n<p>\u88685\u5c55\u793a\u4e86\u4e0e\u73b0\u6709\u7aef\u5230\u7aef\u65b9\u6cd5\u76f8\u6bd4\uff0cL2\u9519\u8bef\u548c\u51b2\u7a81\u7387\u65b9\u9762\u7684\u89c4\u5212\u6027\u80fd\u3002\u6211\u4eec\u63d0\u4f9bST-P3\u548cUniAD\u4e0d\u540c\u8bc4\u4f30\u65b9\u6848\u8bbe\u7f6e\u4e0b\u7684\u7ed3\u679c\u3002\u5177\u4f53\u6765\u8bf4\uff0cNoAvg\u8868\u793a\u76f8\u5e94\u65f6\u95f4\u6233\u7684\u7ed3\u679c\uff0c\u800cTemAvg\u5219\u901a\u8fc70.5\u79d2\u5230\u76f8\u5e94\u65f6\u95f4\u6233\u4e4b\u95f4\u7684\u5e73\u5747\u6027\u80fd\u6765\u8ba1\u7b97\u6307\u6807\u3002<\/p>\n\n\n\n<p>\u5982\u88685\u6240\u793a\uff0c\u4e0e\u73b0\u6709\u65b9\u6cd5\u76f8\u6bd4\uff0cDrive OccWorldP\u5b9e\u73b0\u4e86\u66f4\u4f18\u7684\u89c4\u5212\u6027\u80fd\u3002\u4f8b\u5982\uff0cDrive OccWorldP\u2020\u5728\u4ee5\u4e0b\u65b9\u9762\u5206\u522b\u83b7\u5f97\u4e8633%\u300122%\u548c9.7%\u7684\u76f8\u5bf9\u6539\u5584L2@1s\u3001L2@2s\u548cL2@3s\u4e0eUniAD\u76f8\u6bd4\u2020\u3002\u6211\u4eec\u5c06\u8fd9\u4e00\u6539\u8fdb\u5f52\u56e0\u4e8e\u4e16\u754c\u6a21\u578b\u79ef\u7d2f\u4e16\u754c\u77e5\u8bc6\u548c\u5c55\u671b\u672a\u6765\u72b6\u6001\u7684\u80fd\u529b\u3002\u5b83\u6709\u6548\u5730\u589e\u5f3a\u4e86\u672a\u6765\u65f6\u95f4\u6233\u7684\u89c4\u5212\u7ed3\u679c\uff0c\u5e76\u63d0\u9ad8\u4e86\u7aef\u5230\u7aef\u89c4\u5212\u7684\u5b89\u5168\u6027\u548c\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<p>\u6700\u8fd1\u7684\u7814\u7a76\u8003\u5bdf\u4e86\u5c06\u81ea\u8f66\u72b6\u6001\u7eb3\u5165\u89c4\u5212\u6a21\u5757\u7684\u5f71\u54cd\u3002\u6839\u636e\u8fd9\u9879\u7814\u7a76\uff0c\u6211\u4eec\u8fd8\u5bf9\u6211\u4eec\u7684\u81ea\u6211\u72b6\u6001\u6a21\u578b\u548c\u4e4b\u524d\u7684\u5de5\u4f5c\u8fdb\u884c\u4e86\u516c\u5e73\u7684\u6bd4\u8f83\u3002\u6211\u4eec\u7684\u7814\u7a76\u7ed3\u679c\u8868\u660e\uff0cDrive 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src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-316.png\" alt=\"\" class=\"wp-image-14984\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-316.png 678w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-316-300x231.png 300w\" sizes=\"(max-width: 678px) 100vw, 678px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"686\" height=\"791\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-317.png\" alt=\"\" class=\"wp-image-14985\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-317.png 686w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-317-260x300.png 260w\" sizes=\"(max-width: 686px) 100vw, 686px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"682\" height=\"931\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-318.png\" alt=\"\" class=\"wp-image-14986\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-318.png 682w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-318-220x300.png 220w\" sizes=\"(max-width: 682px) 100vw, 682px\" \/><\/figure>\n\n\n\n<p><strong>\u7ed3\u8bba<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u4e86Drive OccWorld\uff0c\u8fd9\u662f\u4e00\u4e2a\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u76844D 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Driving in the Occupancy World: Vision-Centric 4D Occupancy Forecasting and Planning via World Models for Autonomous Driving<\/p>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4e16\u754c\u6a21\u578b\u57fa\u4e8e\u5404\u79cd\u81ea\u8f66\u884c\u4e3a\u9884\u6d4b\u6f5c\u5728\u7684\u672a\u6765\u72b6\u6001\u3002\u5b83 [&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-14967","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":10,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/14967"}],"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=14967"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/14967\/revisions"}],"predecessor-version":[{"id":14988,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/14967\/revisions\/14988"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=14967"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=14967"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=14967"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}