{"id":15270,"date":"2024-09-04T14:12:44","date_gmt":"2024-09-04T06:12:44","guid":{"rendered":"http:\/\/192.168.10.115\/?p=15270"},"modified":"2024-09-04T14:12:44","modified_gmt":"2024-09-04T06:12:44","slug":"2024-09-04-drivegenvlm%ef%bc%9a%e9%a6%96%e4%b8%aa%e5%9f%ba%e4%ba%8e%e8%a7%86%e8%a7%89%e8%af%ad%e8%a8%80%e6%a8%a1%e5%9e%8b%e7%9a%84%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e7%9c%9f%e5%ae%9e%e4%b8%96","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/09\/04\/15270\/","title":{"rendered":"2024-09-04 DriveGenVLM\uff1a\u9996\u4e2a\u57fa\u4e8e\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u7684\u81ea\u52a8\u9a7e\u9a76\u771f\u5b9e\u4e16\u754c\u89c6\u9891\u751f\u6210"},"content":{"rendered":"\n

\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u7684\u8fdb\u6b65\u9700\u8981\u8d8a\u6765\u8d8a\u590d\u6742\u7684\u65b9\u6cd5\u6765\u7406\u89e3\u548c\u9884\u6d4b\u73b0\u5b9e\u4e16\u754c\u573a\u666f\u3002\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09\u6b63\u4f5c\u4e3a\u5177\u6709\u663e\u8457\u6f5c\u529b\u5f71\u54cd\u81ea\u52a8\u9a7e\u9a76\u7684\u9769\u547d\u6027\u5de5\u5177\u800c\u5d2d\u9732\u5934\u89d2\u3002\u672c\u6587\u63d0\u51fa\u4e86DriveGenVLM\u6846\u67b6\uff0c\u7528\u4e8e\u751f\u6210\u9a7e\u9a76\u89c6\u9891\u5e76\u5229\u7528VLMs\u8fdb\u884c\u7406\u89e3\u3002\u4e3a\u5b9e\u73b0\u8fd9\u4e00\u76ee\u6807\uff0c\u91c7\u7528\u4e86\u4e00\u79cd\u57fa\u4e8e\u53bb\u566a\u6269\u6563\u6982\u7387\u6a21\u578b<\/a>\uff08DDPM\uff09\u7684\u89c6\u9891\u751f\u6210\u6846\u67b6\uff0c\u65e8\u5728\u9884\u6d4b\u73b0\u5b9e\u4e16\u754c\u4e2d\u7684\u89c6\u9891\u5e8f\u5217\u3002\u968f\u540e\uff0c\u5229\u7528\u4e00\u79cd\u79f0\u4e3a\u201c\u57fa\u4e8e\u7b2c\u4e00\u4eba\u79f0\u89c6\u9891\u7684\u9ad8\u6548\u4e0a\u4e0b\u6587\u5b66\u4e60\u201d\uff08EILEV\uff09\u7684\u9884\u8bad\u7ec3\u6a21\u578b\uff0c\u63a2\u7d22\u4e86\u751f\u6210\u7684\u89c6\u9891\u5728VLMs\u4e2d\u4f7f\u7528\u7684\u5145\u5206\u6027\u3002\u8be5\u6269\u6563\u6a21\u578b<\/a>\u4f7f\u7528Waymo\u5f00\u653e\u6570\u636e\u96c6\u8fdb\u884c\u8bad\u7ec3\uff0c\u5e76\u901a\u8fc7FVD\u8bc4\u5206\u8fdb\u884c\u8bc4\u4f30\uff0c\u4ee5\u786e\u4fdd\u751f\u6210\u89c6\u9891\u7684\u8d28\u91cf\u548c\u771f\u5b9e\u6027\u3002EILEV\u4e3a\u8fd9\u4e9b\u751f\u6210\u7684\u89c6\u9891\u63d0\u4f9b\u4e86\u76f8\u5e94\u7684\u53d9\u8ff0\uff0c\u8fd9\u53ef\u80fd\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u5e26\u6765\u76ca\u5904\u3002\u8fd9\u4e9b\u53d9\u8ff0\u53ef\u4ee5\u589e\u5f3a\u5bf9\u4ea4\u901a\u573a\u666f\u7684\u7406\u89e3\uff0c\u8f85\u52a9\u5bfc\u822a\uff0c\u5e76\u63d0\u9ad8\u89c4\u5212\u80fd\u529b\u3002DriveGenVLM\u6846\u67b6\u4e2d\u5c06\u89c6\u9891\u751f\u6210\u4e0eVLMs\u76f8\u7ed3\u5408\uff0c\u6807\u5fd7\u7740\u5728\u5229\u7528\u5148\u8fdbAI\u6a21\u578b\u89e3\u51b3\u81ea\u52a8\u9a7e\u9a76\u590d\u6742\u6311\u6218\u65b9\u9762\u8fc8\u51fa\u4e86\u91cd\u8981\u4e00\u6b65\u3002<\/p>\n\n\n\n

\u5f53\u524d\u9886\u57df\u80cc\u666f\u6982\u8ff0<\/p>\n\n\n\n

\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u4e2d\u5c06\u5148\u8fdb\u7684\u9884\u6d4b\u6a21\u578b\u96c6\u6210\u5230\u8f66\u8f86\u7cfb\u7edf\u6216\u4ea4\u901a\u7cfb\u7edf\u4e2d\uff0c\u5bf9\u4e8e\u63d0\u9ad8\u5b89\u5168\u6027\u548c\u6548\u7387\u53d8\u5f97\u8d8a\u6765\u8d8a\u5173\u952e\u3002\u5728\u4f17\u591a\u7684\u4f20\u611f\u6280\u672f\u4e2d\uff0c\u57fa\u4e8ecamera\u7684\u89c6\u9891\u9884\u6d4b\u8131\u9896\u800c\u51fa\uff0c\u6210\u4e3a\u4e86\u4e00\u4e2a\u6838\u5fc3\u7ec4\u6210\u90e8\u5206\uff0c\u5b83\u63d0\u4f9b\u4e86\u52a8\u6001\u4e14\u4e30\u5bcc\u7684\u73b0\u5b9e\u4e16\u754c\u6570\u636e\u6e90\u3002\u901a\u8fc7\u91c7\u7528\u524d\u6cbf\u7684\u6269\u6563\u6a21\u578b\u65b9\u6cd5\uff0c\u672c\u7814\u7a76\u4e0d\u4ec5\u4fc3\u8fdb\u4e86\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u7684\u53d1\u5c55\uff0c\u8fd8\u4e3a\u5728\u63d0\u5347\u8f66\u8f86\u5b89\u5168\u6027\u548c\u5bfc\u822a\u7cbe\u5ea6\u65b9\u9762\u5e94\u7528\u9884\u6d4b\u6a21\u578b\u8bbe\u7acb\u4e86\u65b0\u7684\u57fa\u51c6\u3002<\/p>\n\n\n\n

\u76ee\u524d\uff0cAI\u751f\u6210\u7684\u5185\u5bb9\u662f\u8ba1\u7b97\u673a\u89c6\u89c9\u548c\u4eba\u5de5\u667a\u80fd\u9886\u57df\u7684\u4e3b\u8981\u7814\u7a76\u65b9\u5411\u4e4b\u4e00\u3002\u7531\u4e8e\u5185\u5b58\u548c\u8ba1\u7b97\u65f6\u95f4\u7684\u9650\u5236\uff0c\u751f\u6210\u903c\u771f\u4e14\u8fde\u8d2f\u7684\u89c6\u9891\u662f\u4e00\u4e2a\u5177\u6709\u6311\u6218\u6027\u7684\u9886\u57df\u3002\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\uff0c\u4ece\u8f66\u8f86\u524d\u7f6ecamera\u9884\u6d4b\u89c6\u9891\u5c24\u4e3a\u91cd\u8981\uff0c\u8fd9\u5728\u81ea\u52a8\u9a7e\u9a76\u548c\u9ad8\u7ea7\u9a7e\u9a76\u8f85\u52a9\u7cfb\u7edf\uff08ADAS\uff09\u7684\u4e0a\u4e0b\u6587\u4e2d\u5c24\u4e3a\u5173\u952e\uff0c\u672c\u6587\u5229\u7528\u8f66\u8f86\u5468\u56f4camera\u7684\u89c6\u9891\u6765\u9884\u6d4b\u672a\u6765\u7684\u5e27\u3002<\/p>\n\n\n\n

\u751f\u6210\u6a21\u578b<\/a><\/p>\n\n\n\n

\u4e5f\u5df2\u88ab\u5e94\u7528\u4e8e\u4ea4\u901a\u548c\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\uff0c\u8fd9\u4e9b\u6a21\u578b\u56e0\u5176\u7406\u89e3\u9a7e\u9a76\u73af\u5883\u7684\u80fd\u529b\u800c\u8d8a\u6765\u8d8a\u53d7\u5230\u8ba4\u53ef\u3002\u76ee\u524d\uff0c\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09\u6b63\u88ab\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u5e94\u7528\u3002\u4e3a\u4e86\u63d0\u9ad8VLMs\u7684\u5b9e\u7528\u6027\u5e76\u63a2\u7d22\u751f\u6210\u6a21\u578b\u5728VLMs\u4e2d\u89c6\u9891\u5185\u5bb9\u7684\u5e94\u7528\uff0c\u9a8c\u8bc1\u751f\u6210\u6a21\u578b\u7684\u9884\u6d4b\u4ee5\u786e\u8ba4\u5176\u5728\u73b0\u5b9e\u573a\u666f\u4e2d\u7684\u76f8\u5173\u6027\u548c\u51c6\u786e\u6027\u81f3\u5173\u91cd\u8981\u3002DriveGenVLM\u5f15\u5165\u4e86\u4e0a\u4e0b\u6587\u4e2d\u7684VLM\u4f5c\u4e3a\u4e00\u79cd\u65b9\u6cd5\uff0c\u901a\u8fc7\u63d0\u4f9b\u9a7e\u9a76\u573a\u666f\u7684\u6587\u672c\u63cf\u8ff0\u6765\u9a8c\u8bc1\u57fa\u4e8e\u6269\u6563\u7684\u751f\u6210\u6a21\u578b\u9884\u6d4b\u7684\u89c6\u9891\u3002<\/p>\n\n\n\n

\u6269\u6563\u6a21\u578b\u662f\u4e00\u7c7b\u6df1\u5ea6\u751f\u6210\u6a21\u578b<\/a><\/p>\n\n\n\n

\uff0c\u5176\u7279\u70b9\u4e3b\u8981\u5305\u62ec\u4e24\u4e2a\u9636\u6bb5\uff1a\uff08i\uff09\u524d\u5411\u6269\u6563\u9636\u6bb5\uff0c\u5176\u4e2d\u521d\u59cb\u6570\u636e\u901a\u8fc7\u5728\u591a\u4e2a\u6b65\u9aa4\u4e2d\u6dfb\u52a0\u9ad8\u65af\u566a\u58f0\u800c\u9010\u6e10\u88ab\u7834\u574f\uff1b\uff08ii\uff09\u53cd\u5411\u6269\u6563\u9636\u6bb5\uff0c\u5176\u4e2d\u751f\u6210\u6a21\u578b\u65e8\u5728\u901a\u8fc7\u9010\u6b65\u5b66\u4e60\u53cd\u8f6c\u6269\u6563\u8fc7\u7a0b\u6765\u4ece\u6dfb\u52a0\u566a\u58f0\u7684\u7248\u672c\u4e2d\u91cd\u5efa\u539f\u59cb\u6570\u636e\uff0c\u9010\u6b65\u8fdb\u884c\u3002\u53bb\u566a\u6269\u6563\u6982\u7387\u6a21\u578b\uff08DDPM\uff09\u662f\u4e00\u79cd\u5e38\u89c1\u7684\u751f\u6210\u6a21\u578b\u7c7b\u578b\uff0c\u65e8\u5728\u901a\u8fc7\u6269\u6563\u8fc7\u7a0b\u5b66\u4e60\u548c\u751f\u6210\u7279\u5b9a\u7684\u76ee\u6807\u6982\u7387\u5206\u5e03\u3002DDPM\u5df2\u88ab\u9a8c\u8bc1\u6bd4\u4f20\u7edf\u7684\u751f\u6210\u6a21\u578b\uff08\u5982GANs\u548cVAE\uff09\u66f4\u4e3a\u6709\u6548\u3002<\/p>\n\n\n\n

\u751f\u6210\u957f\u89c6\u9891\u9700\u8981\u5927\u91cf\u7684\u8ba1\u7b97\u8d44\u6e90\u3002\u4e00\u4e9b\u5de5\u4f5c\u901a\u8fc7\u57fa\u4e8e\u81ea\u56de\u5f52\u7684\u6a21\u578b\u514b\u670d\u4e86\u8fd9\u4e00\u6311\u6218\u3002\u7136\u800c\uff0c\u81ea\u56de\u5f52\u6a21\u578b<\/a><\/p>\n\n\n\n

\u53ef\u80fd\u5bfc\u81f4\u4e0d\u73b0\u5b9e\u7684\u573a\u666f\u8f6c\u6362\u548c\u957f\u89c6\u9891\u5e8f\u5217\u4e2d\u7684\u6301\u7eed\u4e0d\u4e00\u81f4\u6027\uff0c\u56e0\u4e3a\u8fd9\u4e9b\u6a21\u578b\u7f3a\u4e4f\u4ece\u66f4\u957f\u7247\u6bb5\u4e2d\u540c\u5316\u6a21\u5f0f\u7684\u673a\u4f1a\u3002\u4e3a\u4e86\u514b\u670d\u8fd9\u4e00\u70b9\uff0cMCVD \u91c7\u7528\u4e86\u4e00\u79cd\u8bad\u7ec3\u65b9\u6cd5\uff0c\u901a\u8fc7\u72ec\u7acb\u4e14\u968f\u673a\u5730\u5c4f\u853d\u6240\u6709\u5148\u524d\u6216\u540e\u7eed\u5e27\u6765\u4e3a\u5404\u79cd\u89c6\u9891\u751f\u6210\u4efb\u52a1\u51c6\u5907\u6a21\u578b\u3002\u540c\u65f6\uff0cFDM \u5f15\u5165\u4e86\u4e00\u4e2a\u57fa\u4e8e\u6269\u6563\u6982\u7387\u6a21\u578b\uff08DDPMs\uff09\u7684\u6846\u67b6\uff0c\u8be5\u6846\u67b6\u80fd\u591f\u751f\u6210\u6269\u5c55\u7684\u89c6\u9891\u5e8f\u5217\uff0c\u5e76\u5728\u4e0d\u540c\u8bbe\u7f6e\u4e0b\u5b9e\u73b0\u73b0\u5b9e\u4e14\u8fde\u8d2f\u7684\u573a\u666f\u5b8c\u6210\u3002NUWAXL \u4ecb\u7ecd\u4e86\u4e00\u79cd\u201c\u6269\u6563\u4e4b\u4e0a\u7684\u6269\u6563\u201d\u67b6\u6784\uff0c\u65e8\u5728\u901a\u8fc7\u201c\u7c97\u5230\u7ec6\u201d\u7684\u65b9\u6cd5\u751f\u6210\u6269\u5c55\u89c6\u9891\u3002<\/p>\n\n\n\n

\u8fd1\u5e74\u6765\uff0c\u57fa\u4e8e\u6587\u672c\u7684\u5927\u578b\u8bed\u8a00\u6a21\u578b\uff08LLMs\uff09\u7684\u53d7\u6b22\u8fce\u7a0b\u5ea6\u6025\u5267\u4e0a\u5347\u3002\u6b64\u5916\uff0c\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u8fd8\u5f15\u5165\u4e86\u5404\u79cd\u751f\u6210\u5f0f\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09\u3002\u63d0\u51fa\u4e86RAGDriver \uff0c\u4ee5\u5229\u7528\u4e0a\u4e0b\u6587\u5b66\u4e60\u6765\u5b9e\u73b0\u9ad8\u6027\u80fd\u3001\u53ef\u89e3\u91ca\u7684\u81ea\u52a8\u9a7e\u9a76\u3002\u6211\u4eec\u5229\u7528EILEV \u7684\u4e0a\u4e0b\u6587\u5b66\u4e60\u80fd\u529b\u6765\u751f\u6210\u9a7e\u9a76\u573a\u666f\u7684\u63cf\u8ff0\u3002\u5728DriveGenVLM\u4e2d\uff0c\u4e0a\u4e0b\u6587VLMs\u4f7f\u6211\u4eec\u80fd\u591f\u5904\u7406\u7531\u6269\u6563\u6846\u67b6\u9884\u6d4b\u7684\u89c6\u9891\uff0c\u8fd9\u4e9b\u89c6\u9891\u968f\u540e\u53ef\u4ee5\u88ab\u5176\u4ed6\u57fa\u4e8e\u89c6\u89c9\u7684\u6a21\u578b\u8bc6\u522b\uff0c\u4ece\u800c\u53ef\u80fd\u4e3a\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u51b3\u7b56\u7b97\u6cd5\u505a\u51fa\u8d21\u732e\u3002\u636e\u6211\u4eec\u6240\u77e5\uff0cDriveGenVLM\u662f\u9996\u4e2a\u5c06\u89c6\u9891\u751f\u6210\u6a21\u578b\u548c\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u96c6\u6210\u5230\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u5de5\u4f5c\u3002<\/p>\n\n\n\n

\u4e3b\u8981\u6709\u90a3\u4e9b\u521b\u65b0\u70b9\uff1f<\/p>\n\n\n\n

    \n
  1. \u5c06\u6761\u4ef6\u53bb\u566a\u6269\u6563\u6982\u7387\u6a21\u578b\u5e94\u7528\u4e8e\u9a7e\u9a76\u89c6\u9891\u9884\u6d4b\u9886\u57df\uff1b<\/li>\n\n\n\n
  2. \u5728Waymo\u5f00\u653e\u6570\u636e\u96c6\u7684\u4e0d\u540ccamera\u89d2\u5ea6\u4e0b\u6d4b\u8bd5\u89c6\u9891\u751f\u6210\u6846\u67b6\uff0c\u4ee5\u9a8c\u8bc1\u5176\u5728\u73b0\u5b9e\u4e16\u754c\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u53ef\u884c\u6027\u3002<\/li>\n\n\n\n
  3. \u5229\u7528\u4e0a\u4e0b\u6587\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u751f\u6210\u9884\u6d4b\u89c6\u9891\u7684\u63cf\u8ff0\uff0c\u5e76\u9a8c\u8bc1\u8fd9\u4e9b\u89c6\u9891\u662f\u5426\u53ef\u5e94\u7528\u4e8e\u57fa\u4e8e\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u7684\u81ea\u52a8\u9a7e\u9a76\u3002<\/li>\n<\/ol>\n\n\n\n

    \u4e00\u4e9b\u57fa\u7840\u9884\u5907\u77e5\u8bc6<\/p>\n\n\n\n

    1\uff09DDPM<\/p>\n\n\n\n

    \u53bb\u566a\u6269\u6563\u6982\u7387\u6a21\u578b\uff08Denoising Diffusion Probabilistic Model, DDPM\uff09\u662f\u4e00\u79cd\u5728\u673a\u5668\u5b66\u4e60\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u9886\u57df\u5907\u53d7\u5173\u6ce8\u7684\u751f\u6210\u6a21\u578b\u3002DDPM\u901a\u8fc7\u4e00\u4e2a\u524d\u5411\u8fc7\u7a0b\u5c06\u6570\u636e\u8f6c\u6362\u4e3a\u566a\u58f0\uff0c\u4ee5\u53ca\u4e00\u4e2a\u540e\u5411\u8fc7\u7a0b\u4ece\u566a\u58f0\u4e2d\u91cd\u5efa\u539f\u59cb\u6570\u636e\u6765\u5de5\u4f5c\u3002\u524d\u5411\u8fc7\u7a0b\u7684\u76ee\u6807\u662f\u5c06\u4efb\u4f55\u6570\u636e\u8f6c\u6362\u4e3a\u57fa\u672c\u5148\u9a8c\u5206\u5e03<\/a>\uff0c\u800c\u540e\u7eed\u7684\u76ee\u6807\u5219\u662f\u5f00\u53d1\u8f6c\u6362\u6838\u4ee5\u64a4\u9500\u8fd9\u79cd\u8f6c\u6362\u3002\u4e3a\u4e86\u751f\u6210\u65b0\u7684\u6570\u636e\u70b9\uff0c\u9996\u5148\u4ece\u5148\u9a8c\u5206\u5e03\u4e2d\u62bd\u53d6\u4e00\u4e2a\u968f\u673a\u5411\u91cf\uff0c\u7136\u540e\u901a\u8fc7\u53cd\u5411\u9a6c\u5c14\u53ef\u592b\u94fe<\/a>\u8fdb\u884c\u7956\u5148\u91c7\u6837\u3002\u8fd9\u79cd\u91c7\u6837\u6280\u672f\u7684\u5173\u952e\u5728\u4e8e\u8bad\u7ec3\u53cd\u5411\u9a6c\u5c14\u53ef\u592b\u94fe\u4ee5\u51c6\u786e\u590d\u5236\u524d\u5411\u9a6c\u5c14\u53ef\u592b\u94fe\u7684\u65f6\u95f4\u53cd\u5411\u8fdb\u7a0b\u3002<\/p>\n\n\n\n

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

    \u5bf9\u4e8e\u6761\u4ef6\u6269\u5c55\uff0c\u5176\u4e2d\u5efa\u6a21\u7684x\u4f9d\u8d56\u4e8e\u89c2\u6d4b\u503cy\u3002\u7ed9\u5b9a\u6570\u636e\u5206\u5e03x0 \u223c q(x0)\uff0c\u524d\u5411\u8fc7\u7a0b\u751f\u6210\u4e00\u7cfb\u5217\u968f\u673a\u53d8\u91cfx1, x2,…, xT\u3002x0\u8868\u793a\u539f\u59cb\u7684\u65e0\u566a\u58f0\u6570\u636e\uff0c\u800cx1\u5219\u5305\u542b\u4e86\u5c11\u91cf\u7684\u566a\u58f0\u3002\u8fd9\u4e2a\u8fc7\u7a0b\u4e00\u76f4\u6301\u7eed\u5230xT\uff0c\u6b64\u65f6xT\u51e0\u4e4e\u4e0ex0\u65e0\u5173\uff0c\u5e76\u4e14\u7c7b\u4f3c\u4e8e\u4ece\u5355\u4f4d\u9ad8\u65af\u5206\u5e03\u4e2d\u62bd\u53d6\u7684\u968f\u673a\u6837\u672c\u3002xt\u7684\u5206\u5e03\u4ec5\u4f9d\u8d56\u4e8ext\u22121\uff0c\u8f6c\u79fb\u6838\u662f\uff1a<\/p>\n\n\n\n

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

    \u8054\u5408\u5206\u5e03\u7531\u7b49\u5f0f2\u4e2d\u7684\u6269\u6563\u8fc7\u7a0b\u548c\u6570\u636e\u5206\u5e03q(x0, y)\u5b9a\u4e49\u3002<\/p>\n\n\n\n

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

    \u5c06\u8fd9\u4e9b\u6a21\u578b\u79f0\u4e3a\u6269\u6563\u6982\u7387\u6a21\u578b\uff08Diffusion Probabilistic Models\uff0cDPMs\uff09\uff0c\u8fd9\u4e9b\u6a21\u578b\u901a\u8fc7\u53cd\u8f6c\u6269\u6563\u5e8f\u5217\u6765\u5de5\u4f5c\u3002\u5bf9\u4e8e\u7ed9\u5b9a\u7684xt\u548cy\uff0c\u6211\u4eec\u4f7f\u7528\u795e\u7ecf\u7f51\u7edc\u6765\u4f30\u8ba1$p\u03b8(x_{t\u22121}|x_t, y)$\uff0c\u4f5c\u4e3a$q(x_{t\u22121}|x_t, y)$\u7684\u8fd1\u4f3c\u3002\u8fd9\u4e2a\u4f30\u8ba1\u4f7f\u6211\u4eec\u80fd\u591f\u901a\u8fc7\u4ece\u6807\u51c6\u9ad8\u65af\u5206\u5e03\u4e2d\u91c7\u6837$x_T$\u5f00\u59cb\u6765\u83b7\u53d6$x_0$\u7684\u6837\u672c\uff0c\u8fd9\u662f\u56e0\u4e3a\u6269\u6563\u8fc7\u7a0b\u7684\u521d\u59cb\u72b6\u6001\u7c7b\u4f3c\u4e8e\u9ad8\u65af\u5206\u5e03\u3002\u968f\u540e\uff0c\u6211\u4eec\u901a\u8fc7$p\u03b8$\u4ece$x_T$\u8fed\u4ee3\u5730\u5411\u540e\u91c7\u6837\u5230$x0$\u3002\u5728\u7ed9\u5b9ay\u7684\u6761\u4ef6\u4e0b\uff0c\u91c7\u6837\u5f97\u5230\u7684x0:T\u7684\u8054\u5408\u5206\u5e03\u53ef\u4ee5\u8868\u793a\u4e3a\uff1a<\/p>\n\n\n\n

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

    \u5728\u8fd9\u91cc\uff0c$p(x_T)$\u8868\u793a\u4e0e\u03b8\u65e0\u5173\u7684\u5355\u4f4d\u9ad8\u65af\u5206\u5e03\u3002\u8bad\u7ec3\u6761\u4ef6DPM\u6d89\u53ca\u8c03\u6574$p\u03b8(x_{t\u22121}|x_t, y)$\uff0c\u4ee5\u4f7f\u5176\u5728\u5168\u8303\u56f4\u7684t\u3001$x_t$\u548cy\u503c\u4e0a\u4e0e$q(x_{t\u22121}|x_t, y)$\u7d27\u5bc6\u5339\u914d\u3002<\/p>\n\n\n\n

    2\uff09\u5728\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09\u4e0a\u7684\u4e0a\u4e0b\u6587\u5b66\u4e60<\/h3>\n\n\n\n

    In-context\u5b66\u4e60\u6700\u521d\u5728GPT-3\u7684\u8bba\u6587\u4e2d\u63d0\u51fa\uff0c\u5b83\u6307\u7684\u662f\u6a21\u578b\u80fd\u591f\u5728\u5355\u6b21\u4ea4\u4e92\u4e2d\u6839\u636e\u63d0\u4f9b\u7684\u4e0a\u4e0b\u6587\u5b66\u4e60\u6216\u8c03\u6574\u5176\u54cd\u5e94\u7684\u80fd\u529b\uff0c\u800c\u65e0\u9700\u5bf9\u5176\u57fa\u7840\u6a21\u578b\u8fdb\u884c\u4efb\u4f55\u663e\u5f0f\u66f4\u65b0\u6216\u518d\u8bad\u7ec3\u3002<\/p>\n\n\n\n

    \u8fd9\u91cc\u91c7\u7528\u4e86EILEV\uff0c\u8fd9\u662f\u4e00\u79cd\u8bad\u7ec3\u6280\u672f\uff0c\u65e8\u5728\u589e\u5f3a\u7b2c\u4e00\u4eba\u79f0\u89c6\u9891\u4e2d\u7684\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09\u7684\u4e0a\u4e0b\u6587\u5b66\u4e60\u80fd\u529b\u3002\u5982\u56fe3\u6240\u793a\uff0cEILEV\u5728\u4ea4\u9519\u4e0a\u4e0b\u6587-\u67e5\u8be2\u573a\u666f\u4e0b\u7684\u67b6\u6784\u6d89\u53ca\u4f7f\u7528\u6765\u81eaBLIP-2\u7684\u672a\u4fee\u6539\u89c6\u89c9transformer\u6765\u5904\u7406\u89c6\u9891\u7247\u6bb5\u3002\u5f97\u5230\u7684\u538b\u7f29\u6807\u8bb0\u4e0e\u521d\u59cb\u4e0a\u4e0b\u6587-\u67e5\u8be2\u5b9e\u4f8b\u5e8f\u5217\u4e2d\u7684\u6587\u672c\u6807\u8bb0\u6df7\u5408\u3002\u7136\u540e\uff0c\u5c06\u8fd9\u4e9b\u7ec4\u5408\u6807\u8bb0\u8f93\u5165\u5230BLIP-2\u7684\u9759\u6001\u8bed\u8a00\u6a21\u578b\u4e2d\uff0c\u4ee5\u751f\u6210\u65b0\u7684\u6587\u672c\u6807\u8bb0\u3002\u8be5\u65b9\u6cd5\u53ef\u4ee5\u6cdb\u5316\u5230\u5206\u5e03\u5916\u7684\u89c6\u9891\u548c\u6587\u672c\uff0c\u4ee5\u53ca\u901a\u8fc7\u4e0a\u4e0b\u6587\u5b66\u4e60\u7f55\u89c1\u7684\u52a8\u4f5c\u3002\u6211\u4eec\u5229\u7528\u9884\u8bad\u7ec3\u6a21\u578b\u4e3a\u9a7e\u9a76\u89c6\u9891\u751f\u6210\u8bed\u8a00\u53d9\u8ff0\uff0c\u4ee5\u9a8c\u8bc1\u751f\u6210\u7684\u7ed3\u679c\u662f\u5426\u53ef\u89e3\u91ca\u4e14\u73b0\u5b9e\u3002<\/p>\n\n\n\n

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

    DriveGenVLM\u65b9\u6cd5<\/p>\n\n\n\n

    \u751f\u6210\u957f\u65f6\u95f4\u3001\u8fde\u8d2f\u4e14\u903c\u771f\u7684\u89c6\u9891\u4ecd\u7136\u662f\u4e00\u4e2a\u6311\u6218\u3002\u7075\u6d3b\u6269\u6563\u6a21\u578b\uff08Flexible Diffusion Model, FDM\uff09\u901a\u8fc7\u4f7f\u7528\u6761\u4ef6\u751f\u6210\u6a21\u578b\u6765\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\u3002\u5728DriveGenVLM\u4e2d\uff0c\u91c7\u7528\u4e86\u7c7b\u4f3c\u7684\u65b9\u6cd5\u3002\u4e3a\u4e86\u91c7\u6837\u5177\u6709\u5927\u91cf\u5e27\u7684\u8fde\u8d2f\u89c6\u9891\uff0c\u53ef\u4ee5\u4f7f\u7528\u751f\u6210\u6a21\u578b\u5728\u5c11\u91cf\u5e27\u7684\u6761\u4ef6\u4e0b\u91c7\u6837<\/a><\/p>\n\n\n\n

    \u4efb\u610f\u957f\u5ea6\u7684\u89c6\u9891\u3002\u6211\u4eec\u7684\u76ee\u6807\u662f\u5728\u4e00\u4e9b\u5e27\u7684\u6761\u4ef6\u4e0b\uff0c\u91c7\u6837\u51fa\u8fde\u8d2f\u4e14\u903c\u771f\u7684\u9a7e\u9a76\u573a\u666f\u89c6\u9891\u3002\u8fd9\u91cc\u91c7\u7528\u4e86\u4e00\u79cd\u987a\u5e8f\u7a0b\u5e8f\uff0c\u901a\u8fc7\u751f\u6210\u6a21\u578b\u6765\u91c7\u6837\u4efb\u610f\u957f\u5ea6\u7684\u89c6\u9891\uff0c\u8be5\u6a21\u578b\u4e00\u6b21\u53ea\u80fd\u91c7\u6837\u6216\u57fa\u4e8e\u5c11\u91cf\u5e27\u8fdb\u884c\u6761\u4ef6\u5904\u7406\u3002<\/p>\n\n\n\n

    \u5e7f\u4e49\u4e0a\uff0c\u6211\u4eec\u5c06\u91c7\u6837\u65b9\u6848\u5b9a\u4e49\u4e3a\u4e00\u7cfb\u5217\u5143\u7ec4$[(X_s, Y_s)]^s_{S=1}$\uff0c\u5176\u4e2d\u6bcf\u4e2a\u5143\u7ec4\u7531\u4e00\u4e2a\u5411\u91cf$X_s$\u7ec4\u6210\uff0c\u8868\u793a\u8981\u91c7\u6837\u7684\u5e27\u7684\u7d22\u5f15\uff0c\u4ee5\u53ca\u4e00\u4e2a\u5411\u91cf$Y_s$\uff0c\u8868\u793a\u5728\u9636\u6bb5s = 1,…,S\u4e2d\u7528\u4f5c\u6761\u4ef6\u7684\u5e27\u7684\u7d22\u5f15\u3002<\/p>\n\n\n\n

    1\uff09\u8bad\u7ec3\u6846\u67b6<\/p>\n\n\n\n

    DDPM\u56fe\u50cf\u6846\u67b6\u91c7\u7528\u4e86U-net\u7ed3\u6784\u3002\u8be5\u67b6\u6784\u7684\u7279\u70b9\u662f\u4e00\u7cfb\u5217\u5c42\uff0c\u8fd9\u4e9b\u5c42\u9996\u5148\u964d\u4f4e\u7a7a\u95f4\u7ef4\u5ea6\uff0c\u7136\u540e\u518d\u8fdb\u884c\u4e0a\u91c7\u6837\uff0c\u5176\u95f4\u7a7f\u63d2\u7740\u5377\u79ef\u6b8b\u5dee\u7f51\u7edc<\/a><\/p>\n\n\n\n

    \u5757\u548c\u4e13\u6ce8\u4e8e\u7a7a\u95f4\u6ce8\u610f\u529b\u7684\u5c42\u3002<\/p>\n\n\n\n

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

    \u8be5\u67b6\u6784\u5982\u56fe2\u6240\u793a\u3002DDPM\u8fed\u4ee3\u5730\u5c06\u566a\u58f0XT\u8f6c\u6362\u4e3a\u89c6\u9891\u5e27X0\u3002\u5e26\u6709\u7ea2\u8272\u8fb9\u6846\u7684\u6846\u8868\u793a\u6761\u4ef6\u3002\u53f3\u4fa7\u663e\u793a\u4e86\u6bcf\u4e2aDDPM\u6b65\u9aa4\u7684UNet\u67b6\u6784\u3002<\/p>\n\n\n\n

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

    \u7b97\u6cd51\u5c55\u793a\u4e86\u5982\u4f55\u4f7f\u7528\u91c7\u6837\u65b9\u6848\u6765\u91c7\u6837\u89c6\u9891\u3002\u751f\u6210\u6a21\u578b\u53ef\u4ee5\u6839\u636e\u89c6\u9891\u5e27\u7684\u5176\u4ed6\u5b50\u96c6\u6765\u91c7\u6837\u4efb\u4f55\u5b50\u96c6\u3002\u6a21\u578b\u53ef\u4ee5\u751f\u6210\u4efb\u4f55\u9009\u62e9\u7684X\u548cY\u3002<\/p>\n\n\n\n

    2\uff09Sampling Schemes<\/p>\n\n\n\n

    \u6bcf\u79cd\u91c7\u6837\u65b9\u6848\u7684\u76f8\u5bf9\u6548\u7387\u5728\u5f88\u5927\u7a0b\u5ea6\u4e0a\u53d6\u51b3\u4e8e\u624b\u5934\u7684\u6570\u636e\u96c6\uff0c\u4e14\u6ca1\u6709\u666e\u904d\u6700\u4f18\u7684\u9009\u62e9\u3002\u5728\u672c\u6587\u4e2d\uff0c\u5c1d\u8bd5\u4e86\u4e09\u79cd\u91c7\u6837\u65b9\u6848\uff0c\u5982\u8868I\u6240\u793a\u3002\u7b2c\u4e00\u4e2a\u4e5f\u662f\u6700\u76f4\u63a5\u7684\u65b9\u6848\u662fAutoreg\uff0c\u5b83\u901a\u8fc7\u5728\u6bcf\u4e2a\u6b65\u9aa4\u4e2d\u5bf9\u524d\u5341\u4e2a\u5e27\u8fdb\u884c\u6761\u4ef6\u8bbe\u7f6e\u6765\u91c7\u6837\u5341\u4e2a\u8fde\u7eed\u5e27\u3002\u53e6\u4e00\u4e2a\u65b9\u6848\u662fHierarchy2\uff0c\u5b83\u91c7\u7528\u591a\u5c42\u91c7\u6837\u65b9\u6cd5\uff0c\u7b2c\u4e00\u5c42\u6709\u5341\u4e2a\u7b49\u8ddd\u9009\u62e9\u7684\u5e27\uff0c\u8986\u76d6\u89c6\u9891\u4e2d\u672a\u89c2\u5bdf\u5230\u7684\u90e8\u5206\uff0c\u8fd9\u4e9b\u5e27\u4ee5\u5341\u4e2a\u89c2\u5bdf\u5230\u7684\u5e27\u4e3a\u6761\u4ef6\u3002\u5728\u7b2c\u4e8c\u5c42\u4e2d\uff0c\u4ee5\u7ec4\u4e3a\u5355\u4f4d\u8fde\u7eed\u91c7\u6837\u5e27\uff0c\u540c\u65f6\u8003\u8651\u6700\u8fd1\u7684\u5148\u524d\u5e27\u548c\u540e\u7eed\u5e27\uff0c\u76f4\u5230\u6240\u6709\u5e27\u90fd\u88ab\u91c7\u6837\u3002\u6700\u540e\u4f7f\u7528\u4e86Adaptive Hierarchy-2\uff08Ad\uff09\uff0c\u8fd9\u53ea\u80fd\u901a\u8fc7\u5b9e\u73b0FDM\u6765\u5b9e\u73b0\u3002Adaptive Hierarchy-2\u5728\u6d4b\u8bd5\u671f\u95f4\u6218\u7565\u6027\u5730\u9009\u62e9\u6761\u4ef6\u5e27\uff0c\u4ee5\u4f18\u5316\u5e27\u591a\u6837\u6027\uff0c\u8fd9\u901a\u8fc7\u5b83\u4eec\u4e4b\u95f4\u7684\u6210\u5bf9LPIPS\u8ddd\u79bb\u6765\u8861\u91cf\u3002<\/p>\n\n\n\n

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

    \u5b9e\u9a8c\u5bf9\u6bd4\u5206\u6790<\/p>\n\n\n\n

    1\uff09\u6570\u636e\u96c6<\/p>\n\n\n\n

    Waymo-open\u6570\u636e\u96c6\u662f\u4e00\u4e2a\u5e7f\u6cdb\u5e94\u7528\u7684\u6570\u636e\u96c6\uff0c\u5b83\u5229\u7528\u591a\u79cd\u4f20\u611f\u5668\u6765\u8f85\u52a9\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u7684\u8fdb\u6b65\u3002\u8be5\u6570\u636e\u96c6\u5305\u542b\u6765\u81eaWaymo\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7fa4\u7ec4\u7684\u9ad8\u8d28\u91cf\u4f20\u611f\u5668\u6570\u636e\uff0c\u5e76\u7531\u8d85\u8fc71000\u5c0f\u65f6\u7684\u89c6\u9891\u7ec4\u6210\u3002\u8fd9\u4e9b\u89c6\u9891\u662f\u901a\u8fc7\u5404\u79cd\u4f20\u611f\u5668\u62cd\u6444\u7684\uff0c\u5982\u6fc0\u5149\u96f7\u8fbe\u3001\u96f7\u8fbe\u548c\u4e94\u4e2acamera\uff08\u524d\u540e\u53ca\u4fa7\u9762\uff09\uff0c\u5b83\u4eec\u59cb\u7ec8\u63d0\u4f9b\u6c7d\u8f66\u5468\u56f4\u7684\u5b8c\u6574\u89c6\u56fe\uff0c\u5373\u6211\u4eec\u6240\u8bf4\u7684360\u5ea6\u89c6\u91ce\u3002\u8fd9\u7ec4\u6570\u636e\u6709\u7740\u975e\u5e38\u7ec6\u81f4\u7684\u6807\u6ce8\uff0c\u5305\u62ec\u8f66\u8f86\u3001\u884c\u4eba\u3001\u9a91\u81ea\u884c\u8f66\u8005\u4ee5\u53ca\u9053\u8def\u4e0a\u5176\u4ed6\u7269\u4f53\u7684\u6807\u8bb0\u3002\u8fd9\u4f7f\u5f97\u5b83\u5bf9\u4e8e\u8be5\u9886\u57df\u7684\u7814\u7a76\u4eba\u5458\u6216\u5de5\u7a0b\u5e08\u6765\u8bf4\u975e\u5e38\u6709\u7528\uff0c\u53ef\u4ee5\u5e2e\u52a9\u4ed6\u4eec\u63d0\u5347\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u4e2d\u7684\u611f\u77e5\uff08\u7406\u89e3\uff09\u3001\u9884\u6d4b\uff08\u731c\u6d4b\u63a5\u4e0b\u6765\u4f1a\u53d1\u751f\u4ec0\u4e48\uff09\u548c\u6a21\u62df\u7b97\u6cd5\u7684\u6280\u80fd\u3002\u6570\u636e\u96c6V2\u683c\u5f0f\u65e8\u5728\u4e0eApache Parquet\u6587\u4ef6\u683c\u5f0f\u53ca\u5176\u652f\u6301\u7684\u7ec4\u4ef6\u4e00\u8d77\u4f7f\u7528\u3002\u5728\u8fd9\u91cc\uff0c\u7ec4\u4ef6\u662f\u4e00\u7ec4\u76f8\u5173\u7684\u5b57\u6bb5\/\u5217\uff0c\u5b83\u4eec\u662f\u7406\u89e3\u6bcf\u4e2a\u5355\u72ec\u5b57\u6bb5\u6240\u5fc5\u9700\u7684\u3002<\/p>\n\n\n\n

    2\uff09\u5b9e\u9a8c\u8bbe\u7f6e<\/p>\n\n\n\n

    \u4e3a\u4e86\u9a8c\u8bc1\u7b97\u6cd5\u5728\u771f\u5b9e\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u6709\u6548\u6027\uff0c\u5229\u7528\u4e86Waymo\u5f00\u653e\u6570\u636e\u96c6\uff0c\u8be5\u6570\u636e\u96c6\u6db5\u76d6\u4e86\u591a\u4e2a\u57ce\u5e02\u7684\u4e0d\u540c\u771f\u5b9e\u4e16\u754c\u73af\u5883\u3002\u6211\u4eec\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u4e86\u6240\u6709\u4e94\u4e2a\u73b0\u6709camera\u7684\u6570\u636e\u3002\u7136\u540e\u5bf9\u6570\u636e\u96c6\u8fdb\u884c\u4e86\u9884\u5904\u7406\uff0c\u5e76\u4ece\u4e09\u4e2acamera\uff08\u524dcamera\u3001\u524d\u5de6camera\u548c\u524d\u53f3camera\uff09\u4e2d\u63d0\u53d6\u4e86\u6570\u636e\uff0c\u603b\u5171\u5904\u7406\u4e86138\u4e2a\u89c6\u9891\u3002\u5176\u4e2d\uff0c\u5305\u542b\u6240\u6709\u4e09\u4e2acamera\u7684108\u4e2a\u89c6\u9891\u88ab\u5e73\u5747\u5206\u914d\u7528\u4e8e\u8bad\u7ec3\uff0c\u800c\u6bcf\u4e2acamera\u5404\u670910\u4e2a\u89c6\u9891\u7528\u4e8e\u6d4b\u8bd5\u96c6\u3002\u8bad\u7ec3\u89c6\u9891\u4e2d\u53d1\u73b0\u7684\u6700\u5927\u5e27\u6570\u4e3a199\u5e27\uff0c\u6700\u5c0f\u5e27\u6570\u4e3a175\u5e27\u5de6\u53f3\u3002\u56e0\u6b64\uff0c\u5c06\u6240\u6709\u89c6\u9891\u7684\u5e27\u6570\u9650\u5236\u4e3a175\u5e27\uff0c\u5206\u8fa8\u7387\u964d\u4f4e\u5230\u4e86128\u00d7128\uff0c\u5e76\u8f6c\u6362\u6210\u4e864D\u5f20\u91cf\u3002<\/p>\n\n\n\n

    \u8be5\u6a21\u578b\u5728Debian GNU\/Linux 11\u7cfb\u7edf\u4e0a\u8fd0\u884c\uff0c\u8be5\u7cfb\u7edf\u914d\u5907\u4e868\u6838Intel Cascade Lake\u5904\u7406\u5668\u548c\u5177\u670924GB\u5185\u5b58\u7684NVIDIA L4 GPU\u3002\u6211\u4eec\u4f7f\u7528\u4e86bs\u5927\u5c0f\u4e3a1\u3001\u5b66\u4e60\u7387\u4e3a0.0001\u7684\u8bbe\u7f6e\u3002\u6bcf\u4e2acamera\u8bad\u7ec3\u7684\u8be6\u7ec6\u4fe1\u606f\u5982\u8868II\u6240\u793a\u3002\u524dcamera\u662f\u4ece\u5934\u5f00\u59cb\u8bad\u7ec3\u7684\uff0c\u6ca1\u6709\u4f7f\u7528\u4efb\u4f55\u9884\u8bad\u7ec3\u6743\u91cd\uff0c\u8fed\u4ee3\u4e86200,000\u6b21\u3002\u524d\u53f3camera\u4f7f\u7528\u4e86\u6765\u81eacamera1\u7684\u9884\u8bad\u7ec3\u6743\u91cd\uff0c\u5e76\u8bad\u7ec3\u4e86150,000\u6b21\u8fed\u4ee3\uff0c\u800c\u524d\u5de6camera\u5219\u4f7f\u7528\u4e86\u6765\u81eacamera3\u7684\u9884\u8bad\u7ec3\u6743\u91cd\uff0c\u8bad\u7ec3\u4e86100,000\u6b21\u8fed\u4ee3\u3002\u603b\u5171\u82b1\u8d39\u4e86108\u4e2aGPU\u5c0f\u65f6\u8fdb\u884c\u8bad\u7ec3\u3002<\/p>\n\n\n\n

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

    \u5229\u7528FVD\uff08Frechet\u89c6\u9891\u8ddd\u79bb\uff09\u8bc4\u4f30\uff0c\u8fd9\u662f\u4e00\u79cd\u7528\u4e8e\u8bc4\u4f30\u6a21\u578b\u5728\u89c6\u9891\u751f\u6210\u6216\u672a\u6765\u5e27\u9884\u6d4b\u7b49\u4efb\u52a1\u4e2d\u751f\u6210\u7684\u89c6\u9891\u8d28\u91cf\u7684\u5ea6\u91cf\u6807\u51c6\u3002\u7c7b\u4f3c\u4e8e\u7528\u4e8e\u56fe\u50cf\u7684Frechet Inception Distance\uff08FID\uff09\uff0cFVD\u8861\u91cf\u751f\u6210\u89c6\u9891\u5206\u5e03\u4e0e\u771f\u5b9e\u89c6\u9891\u5206\u5e03\u4e4b\u95f4\u7684\u76f8\u4f3c\u6027\u3002FVD\u5bf9\u4e8e\u8bc4\u4f30\u89c6\u9891\u7684\u65f6\u95f4\u4e00\u81f4\u6027\u548c\u89c6\u89c9\u8d28\u91cf\u975e\u5e38\u6709\u7528\uff0c\u56e0\u6b64\u5b83\u662f\u89c6\u9891\u5408\u6210\u6a21\u578b\u57fa\u51c6\u6d4b\u8bd5\u7684\u4e00\u4e2a\u5b9d\u8d35\u5de5\u5177\u3002<\/p>\n\n\n\n

    3\uff09\u7ed3\u679c<\/p>\n\n\n\n

    \u8868III\u3001\u8868IV\u548c\u8868V\u603b\u7ed3\u4e86\u6211\u4eec\u5728Waymo\u5f00\u653e\u6570\u636e\u96c6\u4e0a\u5bf9\u4e09\u4e2acamera\u8fdb\u884c\u5b9e\u9a8c\u5f97\u5230\u7684FVD\u5206\u6570\uff0c\u8fd9\u4e9b\u5b9e\u9a8c\u91c7\u7528\u4e86\u4e0d\u540c\u7684\u91c7\u6837\u65b9\u6848\u3002\u7ed3\u679c\u8868\u660e\uff0c\u81ea\u9002\u5e94\u5c42\u6b21-2\u91c7\u6837\u65b9\u6cd5\u4f18\u4e8e\u5176\u4ed6\u4e24\u79cd\u65b9\u6cd5\u3002<\/p>\n\n\n\n

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

    \u56fe4-6\u5c55\u793a\u4e86\u4f7f\u7528\u81ea\u9002\u5e94\u5c42\u6b21-2\u91c7\u6837\u65b9\u6848\uff08\u4ea7\u751f\u6700\u4f4eFVD\u5206\u6570\uff09\u4e3a\u6bcf\u4e2acamera\u751f\u6210\u7684\u9884\u6d4b\u89c6\u9891\u3002\u6bcf\u4e2a\u5b50\u56fe\u5305\u542b\u6bcf\u4e2acamera\u751f\u6210\u76842\u4e2a\u89c6\u9891\u793a\u4f8b\u3002\u5e26\u6709\u7ea2\u8272\u8fb9\u754c\u6846\u7684\u5e27\u662f\u771f\u5b9e\u5e27\uff0c\u9884\u6d4b\u5e27\u4f4d\u4e8e\u6bcf\u4e2a\u5bf9\u5e94\u5e27\u7684\u4e0b\u65b9\u3002\u751f\u6210\u7684\u89c6\u9891\u4ee5\u6bcf\u4e2a\u793a\u4f8b\u7684\u524d40\u5e27\u4e3a\u6761\u4ef6\u3002<\/p>\n\n\n\n

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

    FDM\u5728Waymo\u6570\u636e\u96c6\u4e0a\u7684\u8bad\u7ec3\u5c55\u793a\u4e86\u5176\u5728\u8fde\u8d2f\u6027\u548c\u903c\u771f\u5ea6\u65b9\u9762\u7684\u80fd\u529b\u3002\u7136\u800c\uff0c\u5b83\u4ecd\u7136\u96be\u4ee5\u51c6\u786e\u89e3\u91ca\u73b0\u5b9e\u4e16\u754c\u9a7e\u9a76\u4e2d\u7684\u590d\u6742\u903b\u8f91\uff0c\u5982\u4ea4\u901a\u548c\u884c\u4eba\u7684\u5bfc\u822a\u3002\u8fd9\u79cd\u5c40\u9650\u6027\u5f88\u53ef\u80fd\u662f\u7531\u4e8e\u73b0\u5b9e\u573a\u666f\u4e2d\u5b58\u5728\u7684\u989d\u5916\u6311\u6218\uff0c\u8fd9\u4e9b\u6311\u6218\u5728\u6a21\u62df\u73af\u5883\u4e2d\u662f\u4e0d\u5b58\u5728\u7684\u3002<\/p>\n\n\n\n

    \u4e3a\u4e86\u9a8c\u8bc1\u6211\u4eec\u751f\u6210\u7684\u89c6\u9891\u662f\u5426\u53ef\u89e3\u91ca\u4e14\u53ef\u7528\u4e8e\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff0c\u6211\u4eec\u5728Ego4D\u6570\u636e\u96c6\u4e0a\u4f7f\u7528\u4e86\u9884\u8bad\u7ec3\u7684EILEV\u6a21\u578b\uff0c\u5373eilev-blip2-opt-2.7b \uff0c\u6765\u6d4b\u8bd5\u6211\u4eec\u751f\u6210\u7684\u9a7e\u9a76\u89c6\u9891\u3002\u6211\u4eec\u5229\u7528\u4e86\u63cf\u8ff0camera\u89d2\u5ea6\u3001\u9a7e\u9a76\u73af\u5883\u548c\u4e00\u5929\u4e2d\u65f6\u95f4\u7684\u89c6\u9891\u7247\u6bb5\u548c\u6587\u672c\u5bf9\u3002\u7ed3\u679c\u5982\u56fe7\u6240\u793a\u3002\u6a21\u578b\u751f\u6210\u7684\u52a8\u4f5c\u53d9\u8ff0\u663e\u793a\u5728\u6a59\u8272\u6846\u4e2d\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u524d\u4e24\u4e2a\u89c6\u9891\u4e2d\u6ca1\u6709\u5171\u4eab\u4efb\u4f55\u52a8\u8bcd\u548c\u540d\u8bcd\u7c7b\u522b\u7ec4\u5408\uff0c\u5982\u84dd\u8272\u6846\u6240\u793a\u3002\u6211\u4eec\u53ef\u4ee5\u89c2\u5bdf\u5230\uff0c\u6a21\u578b\u80fd\u591f\u8bc6\u522b\u51fa\u8f66\u8f86\u6b63\u5728\u9ad8\u901f\u516c\u8def\u4e0a\u884c\u9a76\uff0c\u4e14\u6444\u50cf\u5934\u4f4d\u4e8e\u524d\u65b9\u3002\u5bf9\u4e8e\u7b2c\u4e8c\u4e2a\u89c6\u9891\uff0c\u6a21\u578b\u8bc6\u522b\u51fa\u8f66\u8f86\u6b63\u5728\u591c\u95f4\u4f7f\u7528\u524d\u7f6e\u6444\u50cf\u5934\u884c\u9a76\u3002\u5728VLMs\u4e0a\u8fdb\u884c\u4e0a\u4e0b\u6587\u5b66\u4e60\u9884\u8bad\u7ec3\u7684\u6a21\u578b\u4e0e\u751f\u6210\u7684\u6a21\u578b\u914d\u5408\u826f\u597d\uff0c\u8868\u660e\u8fd9\u4e9b\u89c6\u9891\u662f\u53ef\u89e3\u91ca\u7684\uff0c\u5e76\u4e14\u6709\u53ef\u80fd\u88ab\u57fa\u4e8eVLMs\u7684\u7b97\u6cd5\u6240\u4f7f\u7528\u3002<\/p>\n\n\n\n

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

    \u53c2\u8003<\/p>\n\n\n\n

    [1] DriveGenVLM: Real-world Video Generation for Vision Language Model based Autonomous Driving.<\/p>\n\n\n\n

    <\/p>\n","protected":false},"excerpt":{"rendered":"

    \u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u7684\u8fdb\u6b65\u9700\u8981\u8d8a\u6765\u8d8a\u590d\u6742\u7684\u65b9\u6cd5\u6765\u7406\u89e3\u548c […]<\/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-15270","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/15270"}],"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=15270"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/15270\/revisions"}],"predecessor-version":[{"id":15287,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/15270\/revisions\/15287"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=15270"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=15270"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=15270"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}