{"id":15431,"date":"2024-09-09T14:55:04","date_gmt":"2024-09-09T06:55:04","guid":{"rendered":"http:\/\/192.168.10.115\/?p=15431"},"modified":"2024-09-09T14:55:52","modified_gmt":"2024-09-09T06:55:52","slug":"%e4%b8%96%e7%95%8c%e6%a8%a1%e5%9e%8b%e5%a4%a7%e4%b8%80%e7%bb%9f%ef%bc%9f%e6%b8%85%e5%8d%8e%e5%a4%8d%e6%97%a6%e6%8f%90%e5%87%baoccllama%ef%bc%9a%e9%a6%96%e4%b8%aa%e7%94%a8%e4%ba%8e%e8%87%aa","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/09\/09\/15431\/","title":{"rendered":"2024-09-09 \u4e16\u754c\u6a21\u578b\u5927\u4e00\u7edf\uff1f\u6e05\u534e&amp;\u590d\u65e6\u63d0\u51faOccLLaMA\uff1a\u9996\u4e2a\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u591a\u4efb\u52a1\u7684\u5177\u8eab\u4e16\u754c\u6a21\u578b"},"content":{"rendered":"\n<p>\u8fd1\u5e74\u6765\uff0c\u6574\u5408\u4e86\u8bed\u8a00\u3001\u56fe\u50cf\u3001\u97f3\u9891\u7b49\u5404\u79cd\u6a21\u6001\u7684\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b\u53d6\u5f97\u4e86\u91cd\u5927\u7684\u7a81\u7834\uff0c\u6781\u5927\u7684\u52a0\u5feb\u4e86\u5177\u8eab\u4eba\u5de5\u667a\u80fd\u9886\u57df\u6280\u672f\u7684\u53d1\u5c55\u3002\u867d\u7136\u76f8\u5173\u7814\u7a76\u6210\u679c\u53d6\u5f97\u4e86\u8f83\u4e3a\u4e0d\u9519\u7684\u8fdb\u5c55\uff0c\u4f46\u662f\u80fd\u591f\u5904\u7406\u73b0\u5b9e\u4e16\u754c\u4e2d\u591a\u9879\u4efb\u52a1\u7684\u901a\u7528\u667a\u80fd\u4f53\u8fd8\u5e76\u672a\u51fa\u73b0\u3002\u8fd9\u672c\u8d28\u4e0a\u662f\u56e0\u4e3a\u73b0\u6709\u7684\u591a\u6a21\u6001\u5927\u578b\u8bed\u8a00\u6a21\u578b\u901a\u8fc7\u5b66\u4e60\u7684\u65b9\u5f0f\u4ece\u611f\u77e5\u5230\u52a8\u4f5c\u7684\u76f4\u63a5\u6620\u5c04\u6765\u6267\u884c\u76f8\u5e94\u52a8\u4f5c\uff0c\u5ffd\u7565\u4e86\u4e16\u754c\u7684\u52a8\u6001\u7279\u6027\u4ee5\u53ca\u8fd0\u52a8\u4e0e\u4e16\u754c\u52a8\u6001\u4e4b\u95f4\u7684\u5173\u7cfb\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u4eba\u7c7b\u62e5\u6709\u4f7f\u4ed6\u4eec\u80fd\u591f\u57fa\u4e8e3D\u5185\u90e8\u89c6\u89c9\u8868\u5f81\u6a21\u62df\u672a\u6765\u72b6\u6001\u5e76\u636e\u6b64\u89c4\u5212\u884c\u52a8\u7684\u89c6\u89c9\u6a21\u578b\u3002\u56e0\u6b64\uff0c\u63a2\u7d22\u5982\u4f55\u6784\u5efa\u667a\u80fd\u4f53\u7684\u4e16\u754c\u6a21\u578b\u5bf9\u4e8e\u5177\u8eab\u667a\u80fd\u7684\u8fdb\u6b65\u81f3\u5173\u91cd\u8981\u3002<\/p>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u4f5c\u4e3a\u5177\u8eab\u4eba\u5de5\u667a\u80fd\u7684\u4e00\u9879\u975e\u5e38\u5177\u6709\u4ee3\u8868\u6027\u7684\u5e94\u7528\uff0c\u5728\u4e16\u754c\u8303\u56f4\u5185\u5f97\u5230\u4e86\u5e7f\u6cdb\u7684\u8ba8\u8bba\u548c\u7814\u7a76\uff0c\u4f46\u662f\u76ee\u524d\u7684\u81ea\u52a8\u9a7e\u9a76\u4e16\u754c\u6a21\u578b\u4e13\u6ce8\u4e8e\u4f20\u611f\u5668\u76f8\u5173\u7684\u4efb\u52a1\uff0c\u5982\u70b9\u4e91\u3001\u89c6\u89c9\u4ee5\u53ca\u6805\u683c\u9884\u6d4b\u4efb\u52a1\uff0c\u65e0\u6cd5\u540c\u65f6\u5b9e\u73b0\u9884\u6d4b\u573a\u666f\u6f14\u53d8\u3001\u8bed\u8a00\u63a8\u7406\u548c\u4e0e\u73b0\u5b9e\u4e16\u754c\u7684\u4ea4\u4e92\u7b49\u5185\u5bb9\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u5e0c\u671b\u63d0\u51fa\u4e00\u4e2a\u80fd\u591f\u7edf\u4e00\u89c6\u89c9\u3001\u8bed\u8a00\u548c\u52a8\u4f5c\u7684\u6a21\u578b\uff0c\u5177\u6709\u7c7b\u4f3c\u4eba\u7c7b\u7684\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u8003\u8651\u5230\u6700\u8fd1\u63d0\u51fa\u7684\u6805\u683c\u9884\u6d4b\u7f51\u7edc\u53ef\u4ee5\u4f5c\u4e3a\u4e00\u79cd\u901a\u7528\u76843D\u89c6\u89c9\u4efb\u52a1\uff0c\u66f4\u52a0\u51c6\u786e\u7684\u63cf\u8ff0\u7ec6\u7c92\u5ea6\u76843D\u7ed3\u6784\uff0c\u540c\u65f6\u8fd8\u5305\u542b\u4e86\u9ad8\u7ea7\u8bed\u4e49\u4fe1\u606f\uff0c\u975e\u5e38\u9002\u5408\u5bf9\u9f50\u7a7a\u95f4\u548c\u8bed\u4e49\u3002\u540c\u65f6\uff0c\u57fa\u4e8e\u81ea\u56de\u5f52\u8bed\u8a00\u6a21\u578b\u7684\u89c6\u89c9\u751f\u6210\u7684\u53ef\u884c\u6027\u5df2\u5f97\u5230\u5f7b\u5e95\u9a8c\u8bc1\uff0c\u5176\u6027\u80fd\u53ef\u4e0e\u6269\u6563\u6a21\u578b\u76f8\u5f53\u3002<\/p>\n\n\n\n<p>\u56e0\u6b64\uff0c\u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u7edf\u4e00\u76843D\u5360\u7528-\u8bed\u8a00-\u52a8\u4f5c\u751f\u6210\u4e16\u754c\u6a21\u578b\uff0c\u8be5\u6a21\u578b\u7edf\u4e00\u4e86VLA\u76f8\u5173\u4efb\u52a1\uff0c\u5305\u62ec\u4f46\u4e0d\u9650\u4e8e\u573a\u666f\u7406\u89e3\u3001\u89c4\u5212\u548c 4D\u5360\u7528\u9884\u6d4b\uff0c\u6211\u4eec\u5c06\u63d0\u51fa\u7684\u6a21\u578b\u79f0\u4e4b\u4e3aOccLLaMA\uff0c\u5176\u6574\u4f53\u6548\u679c\u5982\u4e0b\u56fe\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"550\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-57-1024x550.png\" alt=\"\" class=\"wp-image-15432\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-57-1024x550.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-57-300x161.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-57-768x412.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-57.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>OccLLaMA\u652f\u6301\u5305\u62ec\u573a\u666f\u7406\u89e3\u548c\u63a8\u7406\u30014D\u5360\u7528\u9884\u6d4b\u548c\u8fd0\u52a8\u89c4\u5212<\/p>\n\n\n\n<p><strong>\u7f51\u7edc\u6a21\u578b\u7684\u6574\u4f53\u67b6\u6784&amp;\u7ec6\u8282\u68b3\u7406<\/strong><\/p>\n\n\n\n<p>\u5728\u8be6\u7ec6\u4ecb\u7ecd\u672c\u6587\u63d0\u51fa\u7684OccLLaMA\u7b97\u6cd5\u6a21\u578b\u4e4b\u524d\uff0c\u4e0b\u56fe\u5c55\u793a\u4e86OccLLaMA\u7b97\u6cd5\u6a21\u578b\u7684\u6574\u4f53\u7f51\u7edc\u7ed3\u6784\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"945\" height=\"516\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-58.png\" alt=\"\" class=\"wp-image-15433\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-58.png 945w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-58-300x164.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-58-768x419.png 768w\" sizes=\"(max-width: 945px) 100vw, 945px\" \/><\/figure>\n\n\n\n<p>OccLLaMA\u7b97\u6cd5\u6a21\u578b\u7684\u6574\u4f53\u7f51\u7edc\u7ed3\u6784<\/p>\n\n\n\n<p>\u901a\u8fc7\u4e0a\u56fe\u53ef\u4ee5\u770b\u51fa\uff0cOccLLaMA\u7b97\u6cd5\u6a21\u578b\u7684\u6838\u5fc3\u7ec4\u4ef6\u5305\u62ecScene Tokenizer\u3001Occupancy-Language-Action\u751f\u6210\u4e16\u754c\u6a21\u578b\u4ee5\u53ca\u4e3a\u4e86\u5b9e\u73b0\u591a\u4efb\u52a1\u5f15\u5165\u7684\u4e09\u9636\u6bb5\u8bad\u7ec3\u65b9\u6848\u3002\u5177\u4f53\u800c\u8a00\uff0c\u4e3a\u4e86\u4f7fOccLLaMA\u5177\u6709\u7406\u89e3\u548c\u751f\u6210\u89c6\u89c9\u6a21\u6001\u7684\u80fd\u529b\uff0c\u6211\u4eec\u9009\u62e9Occupancy\u4f5c\u4e3a\u901a\u7528\u7684\u89c6\u89c9\u8868\u793a\uff0c\u5e76\u5f15\u5165\u4e00\u79cd\u65b0\u9896\u7684Scene Tokenizer\u6765\u6709\u6548\u5730\u6784\u5efa\u79bb\u6563\u573a\u666f\u8bcd\u6c47\uff0c\u540c\u65f6\u8003\u8651\u5230\u7a00\u758f\u6027\u548c\u7c7b\u522b\u4e0d\u5e73\u8861\u3002\u901a\u8fc7\u7ed3\u5408\u573a\u666f\u8bcd\u6c47\u3001\u8bed\u8a00\u8bcd\u6c47\u548c\u52a8\u4f5c\u8bcd\u6c47\uff0c\u6211\u4eec\u4e3aVLA\u4efb\u52a1\u6784\u5efa\u4e86\u4e00\u4e2a\u7edf\u4e00\u7684\u591a\u6a21\u6001\u8bcd\u6c47\uff0c\u4e3a\u5728\u4e00\u4e2a\u6a21\u578b\u4e2d\u96c6\u6210VLA\u5960\u5b9a\u4e86\u57fa\u7840\u3002<\/p>\n\n\n\n<p><strong>Scene Tokenizer<\/strong><\/p>\n\n\n\n<p>\u53d7\u5230\u70b9\u4e91\u5904\u7406\u4efb\u52a1\u7684\u542f\u53d1\uff0c\u6211\u4eec\u5728\u7f16\u7801\u5668\u5f53\u4e2d\u5f15\u5165\u4e86\u4e00\u79cd\u7a00\u758f\u7684\u7f16\u7801\u7b56\u7565\u3002\u540c\u65f6\u6211\u4eec\u5c06\u975e\u5360\u7528\u7c7b\u522b\u4e0e\u5176\u4ed6\u8bed\u4e49\u7c7b\u522b\u5206\u79bb\uff0c\u4ece\u800c\u5b9e\u73b0\u66f4\u9ad8\u6548\u7684\u573a\u666f\u91cd\u5efa\u3002<\/p>\n\n\n\n<p><strong>\u7f16\u7801\u5668<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"667\" height=\"167\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/90901.png\" alt=\"\" class=\"wp-image-15435\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/90901.png 667w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/90901-300x75.png 300w\" sizes=\"(max-width: 667px) 100vw, 667px\" \/><\/figure>\n\n\n\n<p><strong>\u91cf\u5316<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"666\" height=\"60\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/90902.png\" alt=\"\" class=\"wp-image-15436\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/90902.png 666w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/90902-300x27.png 300w\" sizes=\"(max-width: 666px) 100vw, 666px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"915\" height=\"111\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-60.png\" alt=\"\" class=\"wp-image-15437\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-60.png 915w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-60-300x36.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-60-768x93.png 768w\" sizes=\"(max-width: 915px) 100vw, 915px\" \/><\/figure>\n\n\n\n<p><strong>\u89e3\u7801\u5668<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"662\" height=\"114\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/90903.png\" alt=\"\" class=\"wp-image-15438\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/90903.png 662w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/90903-300x52.png 300w\" sizes=\"(max-width: 662px) 100vw, 662px\" \/><\/figure>\n\n\n\n<p><strong>Generative World Model<\/strong><\/p>\n\n\n\n<p><strong>\u7edf\u4e00\u8bcd\u6c47<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"663\" height=\"314\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/90904.png\" alt=\"\" class=\"wp-image-15439\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/90904.png 663w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/90904-300x142.png 300w\" sizes=\"(max-width: 663px) 100vw, 663px\" \/><\/figure>\n\n\n\n<p><strong>\u573a\u666f\u9884\u6d4b<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u89c2\u5bdf\u5230\u8bed\u8a00\u548c\u52a8\u4f5c\u90fd\u662f\u65f6\u95f4\u5e8f\u5217\uff0c\u8fd9\u4f7f\u5f97\u8fd9\u4e9b\u5e8f\u5217\u4e2d\u7684token\u81ea\u7136\u9002\u5408\u5177\u6709\u539f\u59cb\u7684\u56e0\u679c\u63a9\u7801\u548c\u4e0b\u4e00\u4e2atoken\u9884\u6d4b\u673a\u5236\u7684\u65f6\u95f4\u6ce8\u610f\u529b\u3002\u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u5728\u4e0e\u573a\u666ftoken\u5bf9\u5e94\u7684\u4f4d\u7f6e\u5b9e\u73b0\u7a7a\u95f4\u6ce8\u610f\u529b\uff0c\u4ee5\u66f4\u597d\u5730\u6355\u6349\u573a\u666f\u5185\u7684\u7a7a\u95f4\u5173\u7cfb\u3002\u76f8\u5e94\u5730\uff0c\u6211\u4eec\u521d\u59cb\u5316\u53ef\u5b66\u4e60\u7684\u573a\u666f\u67e5\u8be2\u7528\u4e8e\u9884\u6d4b\u6574\u4e2a\u5b8c\u6574\u7684\u573a\u666f\uff0c\u4ece\u800c\u5b9e\u73b0\u573a\u666f\u5185token\u4e4b\u95f4\u7684\u66f4\u597d\u4ea4\u4e92\u5e76\u663e\u8457\u51cf\u5c11\u63a8\u7406\u65f6\u95f4\u3002\u5728\u7b97\u6cd51\u4e2d\uff0c\u8be6\u7ec6\u89e3\u91ca\u4e86\u6267\u884c\u573a\u666f\u9884\u6d4b\u673a\u5236\u7684\u7b97\u6cd5\u6d41\u7a0b\uff0c\u5982\u4e0b\u56fe\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"765\" height=\"595\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-61.png\" alt=\"\" class=\"wp-image-15440\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-61.png 765w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-61-300x233.png 300w\" sizes=\"(max-width: 765px) 100vw, 765px\" \/><\/figure>\n\n\n\n<p>\u573a\u666f\u9884\u6d4b\u7684\u6574\u4f53\u7b97\u6cd5\u6d41\u7a0b<\/p>\n\n\n\n<p><strong>\u8bad\u7ec3\u9636\u6bb5<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u7684\u8bad\u7ec3\u65b9\u6848\u5305\u62ec\u4e09\u4e2a\u9636\u6bb5\uff0c\u5206\u522b\u662fscene tokenizer\u7684\u8bad\u7ec3\u8fc7\u7a0b\uff0c3D Occupancy-Language-Action\u7684\u9884\u8bad\u7ec3\u8fc7\u7a0b\uff0c\u4ee5\u53ca\u6307\u4ee4\u5fae\u8c03\u8fc7\u7a0b\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>scene tokenizer\u7684\u8bad\u7ec3\u8fc7\u7a0b<\/strong>\uff1a\u6211\u4eec\u9996\u5148\u4e13\u6ce8\u4e8e\u573a\u666fcodebook\u7684\u5b66\u4e60\uff0c\u4ee5\u5c06\u5360\u7528\u7387\u8868\u793a\u4e3a\u79bb\u6563\u7684\u6807\u8bb0\uff0c\u5e76\u8ba1\u7b97\u76f8\u5173\u7684loss\u635f\u5931\u8fdb\u884c\u4f18\u5316\u3002\u5728\u4f18\u5316\u540e\uff0cscene tokenizer\u5728\u6574\u4e2a\u6d41\u7a0b\u7684\u540e\u7eed\u9636\u6bb5\u59cb\u7ec8\u4fdd\u6301\u4e0d\u53d8\u3002<\/li>\n\n\n\n<li><strong>3D Occupancy-Language-Action\u7684\u9884\u8bad\u7ec3\u8fc7\u7a0b<\/strong>\uff1a\u5728\u8fd9\u4e2a\u9636\u6bb5\uff0c\u6211\u4eec\u4e13\u6ce8\u4e8e\u5bf9\u9f50occupancy-language-action\u3002\u6211\u4eec\u4f7f\u7528\u4e16\u754c\u6a21\u578b\u76ee\u6807\u548c\u573a\u666f\u6807\u9898\u76ee\u6807\u8fdb\u884c\u5168\u53c2\u6570\u9884\u8bad\u7ec3\uff0c\u524d\u8005\u76d1\u7763\u5360\u7528\u548c\u52a8\u4f5c\u4e4b\u95f4\u7684\u5bf9\u9f50\u4ee5\u5b66\u4e60\u4e16\u754c\u7684\u6f14\u53d8\uff0c\u540e\u8005\u76d1\u7763\u5360\u7528\u548c\u8bed\u8a00\u4e4b\u95f4\u7684\u5bf9\u9f50\u4ee5\u5b66\u4e603D\u573a\u666f\u7684\u8bed\u4e49\u7406\u89e3\u3002<\/li>\n\n\n\n<li><strong>\u6307\u4ee4\u5fae\u8c03\u8fc7\u7a0b<\/strong>\uff1a\u5728\u8fd9\u4e2a\u9636\u6bb5\uff0c\u6211\u4eec\u6839\u636eLoRA\u9488\u5bf9\u4e0d\u540c\u573a\u666f\u7406\u89e3\u548c\u89c4\u5212\u4efb\u52a1\u7684\u63d0\u793a\u6307\u4ee4\u5bf9\u6a21\u578b\u8fdb\u884c\u5fae\u8c03\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c&amp;\u8bc4\u4ef7\u6307\u6807<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u5c55\u793a\u6211\u4eec\u63d0\u51fa\u7684\u7b97\u6cd5\u6a21\u578b\u57284D\u5360\u7528\u9884\u6d4b\u3001\u8fd0\u52a8\u89c4\u5212\u4ee5\u53ca\u89c6\u89c9\u95ee\u7b54\u4efb\u52a1\u4e2d\u7684\u6027\u80fd\uff0c\u6211\u4eec\u5206\u522b\u9488\u5bf9\u4e09\u4e2a\u4efb\u52a1\u5c55\u5f00\u4e86\u4e00\u7cfb\u5217\u7684\u76f8\u5173\u5b9e\u9a8c\u3002<\/p>\n\n\n\n<p><strong>4D\u5360\u7528\u9884\u6d4b\u4efb\u52a1<\/strong><\/p>\n\n\n\n<p>4D\u5360\u7528\u9884\u6d4b\u4efb\u52a1\u65e8\u5728\u6839\u636e\u4e00\u4e9b\u5386\u53f2\u5360\u7528\u8f93\u5165\u9884\u6d4b\u672a\u6765\u76843D\u5360\u7528\u573a\u666f\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u4f7f\u75282\u79d2\u7684\u5386\u53f2\u5e27\u4fe1\u606f\u6765\u9884\u6d4b\u63a5\u4e0b\u6765\u76843\u79d2\uff0c\u5e76\u4f7f\u7528 mIoU\u548cIoU\u4f5c\u4e3a\u4e3b\u8981\u7684\u8bc4\u4f30\u6307\u6807\u3002\u76f8\u5173\u7684\u5b9e\u9a8c\u7ed3\u679c\u7edf\u8ba1\u5728\u4e0b\u8868\u5f53\u4e2d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"211\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-62-1024x211.png\" alt=\"\" class=\"wp-image-15441\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-62-1024x211.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-62-300x62.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-62-768x159.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-62.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u6211\u4eec\u5728\u4e24\u79cd\u8bbe\u7f6e\u4e0b\u5c06\u63d0\u51fa\u7684OccLLaMA\u4e0e\u6700\u5148\u8fdb\u7684\u65b9\u6cd5OccWorld\u8fdb\u884c\u4e86\u6bd4\u8f83\uff1a\u4e00\u79cd\u662f\u4f7f\u7528\u771f\u5b9e3D\u5360\u7528\u4fe1\u606f(-O)\uff0c\u53e6\u5916\u4e00\u79cd\u662f\u4f7f\u7528\u57fa\u4e8e\u76f8\u673a\u6a21\u578bFBOCC\u7684\u9884\u6d4b\u7ed3\u679c(-F)\u3002<\/p>\n\n\n\n<p>\u9996\u5148\uff0c\u6211\u4eec\u89c2\u5bdf\u5230\u6211\u4eec\u7684scene tokenizer\u5c55\u73b0\u51fa\u4e86\u5353\u8d8a\u7684\u573a\u666f\u91cd\u5efa\u80fd\u529b\u3002\u6b64\u5916\uff0c\u6211\u4eec\u63d0\u51fa\u7684OccLLaMA\u53ef\u4ee5\u57281\u79d2\u5185\u5b9e\u73b0\u4e86\u5177\u6709\u7ade\u4e89\u529b\u7684\u9884\u6d4b\u7ed3\u679c\uff0c\u5e76\u4e14\u5728\u66f4\u957f\u65f6\u95f4\u5185\u660e\u663e\u4f18\u4e8eOccWorld\u7b97\u6cd5\u6a21\u578b\uff0c\u51f8\u663e\u4e86\u6211\u4eec\u63d0\u51fa\u7684\u7b97\u6cd5\u6a21\u578b\u5176\u66f4\u5f3a\u7684\u957f\u671f\u9884\u6d4b\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u6b64\u5916\uff0cOccLLaMA-F\u53ef\u4ee5\u88ab\u89c6\u4e3a\u7aef\u5230\u7aef\u7684\u68c0\u6d4b\u6d41\u7a0b\uff0c\u56e0\u4e3a\u5b83\u4ee5\u76f8\u673a\u4e3a\u8f93\u5165\u3002\u5c3d\u7ba1\u4efb\u52a1\u5f88\u590d\u6742\uff0c\u4f46OccLLaMA\u59cb\u7ec8\u8868\u73b0\u51fa\u5f3a\u5927\u7684\u9884\u6d4b\u6027\u80fd\u3002\u4e3a\u4e86\u66f4\u52a0\u76f4\u89c2\u7684\u5c55\u793a\u6211\u4eec\u7b97\u6cd5\u6a21\u578b\u7684\u6709\u6548\u6027\uff0c\u6211\u4eec\u4e5f\u8fdb\u884c\u4e86\u76f8\u5173\u7684\u53ef\u89c6\u5316\uff0c\u5982\u4e0b\u56fe\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"703\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-63-1024x703.png\" alt=\"\" class=\"wp-image-15442\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-63-1024x703.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-63-300x206.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-63-768x527.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-63.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>4D\u6805\u683c\u9884\u6d4b\u4efb\u52a1\u7684\u53ef\u89c6\u5316\u7ed3\u679c<\/p>\n\n\n\n<p><strong>\u8fd0\u52a8\u89c4\u5212\u4efb\u52a1<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u5c06\u63d0\u51fa\u7684OccLLaMA\u7b97\u6cd5\u6a21\u578b\u7684\u8fd0\u52a8\u89c4\u5212\u80fd\u529b\u4e0e\u5229\u7528\u5404\u79cd\u8f93\u5165\u548c\u76d1\u7763\u7684\u51e0\u4e2a\u5f3a\u57fa\u7ebf\u7b97\u6cd5\u6a21\u578b\u8fdb\u884c\u4e86\u6bd4\u8f83\uff0c\u76f8\u5173\u7684\u5b9e\u9a8c\u7ed3\u679c\u5982\u4e0b\u8868\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"395\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-64-1024x395.png\" alt=\"\" class=\"wp-image-15443\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-64-1024x395.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-64-300x116.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-64-768x296.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-64.png 1046w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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