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class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"602\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-114-1024x602.png\" alt=\"\" class=\"wp-image-15562\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-114-1024x602.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-114-300x176.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-114-768x451.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-114.png 1052w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>1\uff09Hint-AD\u7684\u6574\u4f53\u6846\u67b6<\/strong><\/p>\n\n\n\n<p>\u9996\u5148\uff0c\u4ece\u73b0\u6709\u7684\u611f\u77e5-\u9884\u6d4b-\u89c4\u5212\u67b6\u6784\u7684\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u4e2d\u63d0\u53d6\u4e2d\u95f4\u67e5\u8be2token\uff0c\u751f\u6210\u8ddf\u8e2atoken\u3001\u8fd0\u52a8token\u548c\u89c4\u5212token\u3002\u5176\u6b21\uff0c\u6574\u4f53token\u6df7\u5408\u5668\u6a21\u5757\u5c06\u5bf9token\u8fdb\u884c\u9002\u914d\uff0c\u4ee5\u4f5c\u4e3a\u8bed\u8a00\u89e3\u7801\u5668\u7684\u8f93\u5165\u3002\u5728\u6b64\u6a21\u5757\u4e2d\uff0c\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u5b9e\u4f8b\u6df7\u5408\u5668\u6765\u5408\u5e76\u6bcf\u4e2a\u68c0\u6d4b\u5b9e\u4f8b\u7684\u5b9e\u4f8b\u7ea7\u8ddf\u8e2a\u548c\u8fd0\u52a8\u4fe1\u606f\u3002\u8fd8\u5f15\u5165\u4e86\u9e1f\u77b0\u56fe\uff08BEV\uff09block\u548c\u5b9e\u4f8bblock\u4ee5\u8fdb\u884c\u8fdb\u4e00\u6b65\u7684\u7279\u5f81\u63d0\u53d6\uff0c\u5e76\u5c06\u957f\u5ea6\u53ef\u53d8\u7684\u5b9e\u4f8btoken\u8f6c\u6362\u4e3a\u56fa\u5b9a\u957f\u5ea6\u3002\u6240\u6709\u5904\u7406\u8fc7\u7684token\u90fd\u88ab\u8fde\u63a5\u8d77\u6765\u4f5c\u4e3a\u6587\u672c\u751f\u6210\u7684\u4e0acontext tokens\u3002\u6700\u540e\uff0ccontext &nbsp;tokens\u88ab\u683c\u5f0f\u5316\u4e3aprompt tokens\uff0c\u5e76\u4e0e\u6587\u672c\u63d0\u793a\u4e00\u8d77\u653e\u5165\u8bed\u8a00\u89e3\u7801\u5668\u4e2d\u3002\u6211\u4eec\u91c7\u7528\u4e86\u4e00\u79cd\u6760\u94c3\u5f0f\u9002\u5e94\u8303\u5f0f\uff0c\u4ee5\u5b9e\u73b0\u8bed\u8a00\u89e3\u7801\u5668\u5bf9context\u7684\u9ad8\u6548\u7406\u89e3\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u4f7f\u8bed\u8a00\u548c\u81ea\u52a8\u9a7e\u9a76pipeline\u7684\u4e2d\u95f4\u7ed3\u679c\u5bf9\u9f50\uff0c\u52a0\u5165\u4e86\u989d\u5916\u7684\u8bad\u7ec3\u6570\u636e\uff0c\u79f0\u4e3a\u5bf9\u9f50\u4efb\u52a1\uff0c\u8fd9\u4e9b\u6570\u636e\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u5728\u7ebf\u6784\u5efa\u3002<\/p>\n\n\n\n<p><strong>2\uff09Holistic token mixer<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"668\" height=\"450\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/91201.png\" alt=\"\" class=\"wp-image-15563\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/91201.png 668w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/91201-300x202.png 300w\" sizes=\"(max-width: 668px) 100vw, 668px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"60\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-115-1024x60.png\" alt=\"\" class=\"wp-image-15564\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-115-1024x60.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-115-300x18.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-115-768x45.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-115.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"669\" height=\"261\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/91202.png\" alt=\"\" class=\"wp-image-15565\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/91202.png 669w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/91202-300x117.png 300w\" sizes=\"(max-width: 669px) 100vw, 669px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"818\" height=\"50\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-116.png\" alt=\"\" class=\"wp-image-15566\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-116.png 818w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-116-300x18.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-116-768x47.png 768w\" sizes=\"(max-width: 818px) 100vw, 818px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"673\" height=\"205\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/91203.png\" alt=\"\" class=\"wp-image-15567\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/91203.png 673w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/91203-300x91.png 300w\" sizes=\"(max-width: 673px) 100vw, 673px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"936\" height=\"56\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-117.png\" alt=\"\" class=\"wp-image-15568\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-117.png 936w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-117-300x18.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-117-768x46.png 768w\" sizes=\"(max-width: 936px) 100vw, 936px\" \/><\/figure>\n\n\n\n<p><strong>3\uff09 Language decoder with barbell adaptation<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"673\" height=\"492\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/91204.png\" alt=\"\" class=\"wp-image-15569\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/91204.png 673w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/91204-300x219.png 300w\" sizes=\"(max-width: 673px) 100vw, 673px\" \/><\/figure>\n\n\n\n<p><strong>4\uff09Aligning language and intermediate outputs<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u4f7f\u8bed\u8a00\u4e0e\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u7684\u4e2d\u95f4\u8f93\u51fa\u5bf9\u9f50\uff0c\u8bed\u8a00\u89e3\u7801\u5668\u9700\u8981\u5bf9\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u63a8\u7406\u6b65\u9aa4\u4e2d\u751f\u6210\u7684\u6bcf\u4e2atoken\uff08\u5373\u8ddf\u8e2atokens\u4e2d\u76ee\u6807\u7684\u4f4d\u7f6e\uff09\u6240\u5305\u542b\u7684\u4fe1\u606f\u8fdb\u884c\u57fa\u4e8econtext\u7684\u7406\u89e3\u3002\u6211\u4eec\u901a\u8fc7\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u6dfb\u52a0\u4e00\u4e2a\u5728\u7ebf\u5bf9\u9f50\u4efb\u52a1\u6570\u636e\u96c6\u6765\u5b9e\u73b0\u8fd9\u4e00\u70b9\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"965\" height=\"682\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-118.png\" alt=\"\" class=\"wp-image-15570\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-118.png 965w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-118-300x212.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-118-768x543.png 768w\" sizes=\"(max-width: 965px) 100vw, 965px\" \/><\/figure>\n\n\n\n<p>\u5728\u5bf9\u9f50\u4efb\u52a1\u4e2d\uff0c\u7ed9\u5b9a\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u7684\u4e2d\u95f4\u8f93\u5165\uff0c\u4f1a\u751f\u6210\u4e00\u7ec4\u63d0\u793a-\u7b54\u6848\u5bf9\uff08\u56fe3\uff09\u3002\u8be5\u4efb\u52a1\u5305\u62ec\u56db\u79cd\u7c7b\u578b\u7684\u5bf9\u9f50\uff1a\uff08a\uff09\u8ba1\u6570\u5bf9\u9f50\uff0c\u8981\u6c42\u8bed\u8a00\u89e3\u7801\u5668\u6839\u636e\u8ddf\u8e2atokens\u89e3\u91ca\u5e27\u4e2d\u6bcf\u79cd\u7c7b\u578b\u5b9e\u4f8b\u7684\u6570\u91cf\uff1b\uff08b\uff09\u4f4d\u7f6e\u5bf9\u9f50\uff0c\u8981\u6c42\u6a21\u578b\u6839\u636e\u7279\u5b9a\u5b9e\u4f8btoken\u63d0\u4f9b\u8ddf\u8e2a\u5b9e\u4f8b\u7684\u4f4d\u7f6e\uff1b\uff08c\uff09\u8fd0\u52a8\u5bf9\u9f50\uff0c\u6d89\u53ca\u89e3\u7801\u5b9e\u4f8btokens\u4e2d\u5305\u542b\u7684\u901f\u5ea6\u4fe1\u606f\uff1b\uff08d\uff09\u89c4\u5212\u5bf9\u9f50\uff0c\u8981\u6c42\u8bed\u8a00\u89e3\u7801\u5668\u8f93\u51fa\u89c4\u5212tokens\u4e2d\u5305\u542b\u7684\u672a\u6765\u8f68\u8ff9\u70b9\u3002<\/p>\n\n\n\n<p>\u5bf9\u9f50\u4efb\u52a1\u4e2d\u7684\u6240\u6709\u95ee\u7b54\u5bf9\u90fd\u662f\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u5728\u7ebf\u751f\u6210\u7684\u3002\u5bf9\u9f50\u4efb\u52a1\u6781\u5927\u5730\u63d0\u9ad8\u4e86\u8bed\u8a00\u89e3\u7801\u5668\u5bf9\u4e2d\u95f4\u4ee4\u724c\u7684\u4e0a\u4e0b\u6587\u7406\u89e3\u80fd\u529b\uff0c\u4ece\u800c\u5927\u5927\u63d0\u9ad8\u4e86\u81ea\u52a8\u9a7e\u9a76\u5b57\u5e55\u7684\u51c6\u786e\u6027\u3002<\/p>\n\n\n\n<p><strong>5\uff09Training pipeline<\/strong><\/p>\n\n\n\n<p>Hint-AD\u7684\u6574\u4e2a\u8bad\u7ec3\u6d41\u7a0b\u5305\u62ec\u4e24\u4e2a\u9636\u6bb5\u3002\u5728\u7b2c\u4e00\u9636\u6bb5\uff0c\u7aef\u5230\u7aef\u7684\u81ea\u52a8\u9a7e\u9a76\uff08AD\uff09\u6a21\u578b\u88ab\u72ec\u7acb\u8bad\u7ec3\u3002\u5728\u7b2c\u4e8c\u9636\u6bb5\uff0c\u51bb\u7ed3AD\u6a21\u578b\u548c\u5927\u89c4\u6a21\u8bed\u8a00\u6a21\u578b\uff08MLLM\uff09\u7684\u6240\u6709\u53c2\u6570\uff0c\u4ec5\u66f4\u65b0\u6574\u4f53token\u6df7\u5408\u5668\u548c\u9002\u914d\u5668\u7684\u53c2\u6570\u3002\u7b2c\u4e8c\u9636\u6bb5\u7684\u603b\u53ef\u8bad\u7ec3\u53c2\u6570\u4e3a87M\u3002<\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u8bbe\u7f6e<\/strong><\/p>\n\n\n\n<p><strong>1\uff09\u6570\u636e\u96c6\u548cbaselines<\/strong><br><strong>\u6570\u636e\u96c6\u3002\u89e3\u91ca\u662f\u4eba\u7c7b\u5b66\u4e60\u548c\u7406\u89e3\u7684\u91cd\u8981\u6307\u5bfc\u5de5\u5177<\/strong>\u3002\u7279\u522b\u662f\u5728\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\uff08AD\uff09\u7cfb\u7edf\u7684\u80cc\u666f\u4e0b\uff0c\u4eba\u7c7b\u7528\u6237\u7ecf\u5e38\u5bfb\u6c42\u89e3\u91ca\u6765\u5f25\u5408\u4f20\u611f\u5668\u8f93\u5165\u548cAD\u884c\u4e3a\u4e4b\u95f4\u7684\u9e3f\u6c9f \u3002\u76ee\u524d\uff0c\u5728\u81ea\u52a8\u9a7e\u9a76\u7814\u7a76\u4e2d\u5e7f\u6cdb\u4f7f\u7528\u7684nuScenes\u6570\u636e\u96c6 &nbsp;\u6ca1\u6709\u63d0\u4f9b\u6b64\u7c7b\u89e3\u91ca\u3002\u4e3a\u4e86\u5f25\u8865\u8fd9\u4e00\u7a7a\u767d\u5e76\u4fc3\u8fdb\u9488\u5bf9nuScenes\u7684\u53ef\u89e3\u91ca\u6027\u7814\u7a76\uff0c\u6211\u4eec\u5f15\u5165\u4e86Nu-X\uff0c\u8fd9\u662f\u4e00\u4e2a\u5168\u9762\u3001\u5927\u89c4\u6a21\u3001\u7ecf\u8fc7\u4eba\u5de5\u6807\u6ce8\u7684\u89e3\u91ca\u6027\u6570\u636e\u96c6\u3002Nu-X\u4e3anuScenes\u4e2d\u7684\u6bcf\u4e00\u4e2a34,000\u4e2a\u5173\u952e\u5e27\u63d0\u4f9b\u4e86\u8be6\u7ec6\u7684contextual\u4fe1\u606f\u548c\u591a\u6837\u5316\u7684\u8bed\u8a00\u8868\u8ff0\u3002<\/p>\n\n\n\n<p><strong>\u4e00\u4e2a\u89e3\u91ca\u6027\u53e5\u5b50\u901a\u5e38\u5305\u62ec\u53d9\u8ff0\u548c\u63a8\u7406<\/strong> \uff0c\u4f8b\u5982\uff1a\u201c&lt;\u53d9\u8ff0&gt;\u6c7d\u8f66\u6b63\u5728\u5e76\u5165\u53f3\u4fa7\u8f66\u9053\u3002&lt;\u63a8\u7406&gt;\u4e3a\u4e86\u8d85\u8fc7\u524d\u9762\u7684\u7ea2\u8272\u6c7d\u8f66\u3002\u201d\u5728\u6211\u4eec\u7684\u6570\u636e\u96c6\u4e2d\uff0c\u6bcf\u4e2a\u6807\u9898\u90fd\u5305\u542b\u8fd9\u4e24\u4e2a\u90e8\u5206\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u63d0\u4f9b\u5168\u9762\u7684\u5206\u6790\uff0c\u6240\u6709Hint-AD\u67b6\u6784\u548c\u57fa\u7ebf\u90fd\u5728\u4ee5\u4e0b\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u8bad\u7ec3\u548c\u8bc4\u4f30\uff1a\uff081\uff09\u5bf9\u9f50\u4efb\u52a1\u6570\u636e\u96c6\uff0c\u65e8\u5728\u901a\u8fc7\u8981\u6c42\u8bed\u8a00\u89e3\u7801\u5668\u89e3\u91ca\u6bcf\u4e2a\u4e2d\u95f4\u6807\u8bb0\u6765\u5c06\u8bed\u8a00\u4e0eAD\u6a21\u578b\u7684\u4e2d\u95f4\u8f93\u51fa\u5bf9\u9f50\uff0c\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u5728\u7ebf\u751f\u6210\u771f\u5b9e\u7b54\u6848\uff1b\uff082\uff09TOD3Cap \uff0c\u4e00\u4e2a3D\u5bc6\u96c6\u5b57\u5e55\u6570\u636e\u96c6\uff0c\u4e3anuScenes\u4e2d\u768464.3K\u4e2a\u6237\u5916\u76ee\u6807\u63d0\u4f9b\u76ee\u6807\u63cf\u8ff0\uff0c\u5e76\u6807\u6ce8\u4e86\u5916\u89c2\u3001\u8fd0\u52a8\u3001\u73af\u5883\u548c\u76ee\u6807\u95f4\u7a7a\u95f4\u5173\u7cfb\uff1b\uff083\uff09NuScenesQA \uff0c\u4e00\u4e2aVQA\u6570\u636e\u96c6\uff0c\u8986\u76d6\u4e86nuScenes\u768434K\u5e27\uff0c\u5305\u542b\u4e94\u79cd\u95ee\u9898\u7c7b\u578b\uff0c\u5305\u62ec\u5b58\u5728\u6027\u3001\u8ba1\u6570\u3001\u67e5\u8be2\u5bf9\u8c61\u3001\u67e5\u8be2\u72b6\u6001\u548c\u6bd4\u8f83\uff1b\uff084\uff09\u9a7e\u9a76\u6307\u4ee4\u6570\u636e\u96c6\uff0c\u6211\u4eec\u5728nuScenes\u4e0a\u8fdb\u884c\u4e86\u6807\u6ce8\uff0c\u7531\u65b9\u5411\u548c\u901f\u5ea6\u6307\u4ee4\u7ec4\u6210\u3002<\/p>\n\n\n\n<p><strong>\u57fa\u7ebf\u6a21\u578b<\/strong>\u3002\u6211\u4eec\u9009\u62e9\u4e86\u57fa\u51c6\u65b9\u6cd5\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u65e2\u5305\u62ec\u4e86\u8bed\u8a00\u751f\u6210\u9886\u57df\u7684\u5173\u952e\u91cc\u7a0b\u7891\uff0c\u4e5f\u5305\u62ec\u4e86\u81ea\u52a8\u9a7e\u9a76\u80cc\u666f\u4e0b\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\uff1a\uff081\uff09ADAPT \u91c7\u7528\u81ea\u56de\u5f52\u65b9\u5f0f\uff0c\u901a\u8fc7\u89c6\u89c9-\u8bed\u8a00\u8f6c\u6362\u5668\u751f\u6210\u53e5\u5b50\u3002\u5728\u6587\u672c\u548c\u89c6\u9891\u6807\u8bb0\u4e0a\u4f7f\u7528\u4e86\u4ea4\u53c9\u6ce8\u610f\u529b\u548c\u7a00\u758f\u6ce8\u610f\u529b\u63a9\u7801\uff1b\uff082\uff09BEV+Adapter \u4ec5\u4ee5\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7279\u5f81\u4f5c\u4e3a\u8f93\u5165\uff0c\u5e76\u4f7f\u7528LLaMA-Adapter-V2\uff08\u4e0eHint-AD\u76f8\u540c\uff09\u4f5c\u4e3a\u8bed\u8a00\u89e3\u7801\u5668\uff1b\uff083\uff09BEVDet+MCAN \u4f7f\u7528\u6a21\u5757\u5316\u534f\u540c\u6ce8\u610f\u529b\u7f51\u7edc\uff08MCAN\uff09\uff0c\u5176\u4e2d\u5305\u542b\u7528\u4e8e\u5355\u72ec\u7684\u8bed\u8a00\u548c\u89c6\u89c9\u7406\u89e3\u7684\u81ea\u6ce8\u610f\u529b\u5c42\u3002\u5806\u53e0\u7684\u4ea4\u53c9\u6ce8\u610f\u529b\u5c42\u7528\u4e8e\u8de8\u6a21\u578b\u7279\u5f81\u4ea4\u4e92\u3002\u8f93\u5165\u91c7\u7528\u4e86\u6765\u81eaBEVDet \u7684\u68c0\u6d4b\u7ed3\u679c\uff1b\uff084\uff09Vote2Cap-DETR &nbsp;\u57fa\u4e8etransformer\u67b6\u6784\uff0c\u5177\u6709\u4e24\u4e2a\u5e76\u884c\u7684\u7279\u5b9a\u4e8e\u4efb\u52a1\u7684\u5934\u3002\u67e5\u8be2\u88ab\u89e3\u8026\u4e3a\u5b9a\u4f4d\u67e5\u8be2\u548c\u5b57\u5e55\u67e5\u8be2\uff1b\uff085\uff09TOD3Cap \u5229\u7528\u57fa\u4e8e\u67e5\u8be2\u7684\u68c0\u6d4b\u5934\u4eceBEV\u7279\u5f81\u4e2d\u751f\u6210\u4e00\u7ec43D\u76ee\u6807proposal\u3002\u7136\u540e\uff0c\u8fd9\u4e9b\u7279\u5f81\u901a\u8fc7LLaMA-Adapter\u5904\u7406\uff0c\u4f5c\u4e3a\u8bed\u8a00\u6a21\u578b\u7684\u63d0\u793a\u6765\u751f\u6210\u5bc6\u96c6\u5b57\u5e55\uff1b\uff086\uff09GPT-4o \u662fOpenAI\u5f00\u53d1\u7684\u591a\u6a21\u6001\u6a21\u578b\uff0c\u5177\u5907\u6700\u5148\u8fdb\u7684\u89c6\u89c9\u80fd\u529b\uff0c\u540c\u65f6\u6587\u672c\u751f\u6210\u6027\u80fd\u4e0e\u5176\u524d\u8eabGPT-4\u76f8\u5f53\uff1b\uff087\uff09Gemini-1.5 \u662f\u8c37\u6b4c\u5f00\u53d1\u7684\u4e00\u6b3e\u5f00\u521b\u6027\u7684\u5927\u578b\u8bed\u8a00\u6a21\u578b\uff0c\u4e13\u4e3a\u5904\u7406\u5177\u6709\u6269\u5c55context\u957f\u5ea6\u7684\u591a\u6a21\u6001\u8f93\u5165\u800c\u8bbe\u8ba1\u3002<\/p>\n\n\n\n<h6 class=\"wp-block-heading\"><strong><\/strong><strong>2\uff09Comparing with baseline models<\/strong><\/h6>\n\n\n\n<p><strong>\u91cf\u5316\u7ed3\u679c<\/strong>\u3002\u5728\u56db\u4e2a\u6570\u636e\u96c6\u4e0a\uff0c\u9488\u5bf9\u4e0d\u540c\u7c7b\u578b\u7684\u8f93\u5165\u548c\u4e3b\u5e72\u6a21\u5757\u5206\u522b\u5c55\u793a\u4e86\u7ed3\u679c\u3002\u5bf9\u4e8eNu-X\u548cTOD3Cap\u6570\u636e\u96c6\uff0c\u6211\u4eec\u91c7\u7528\u4e86\u56db\u79cd\u6807\u51c6\u7684\u56fe\u50cf\u5b57\u5e55\u8bc4\u4f30\u6307\u6807\uff0c\u5305\u62ecCIDEr (C) \u3001BLEU (B) \u3001METEOR (M) \u00a0\u548c Rouge (R) \u3002\u7531\u4e8eNu-X\u4e2d\u9a7e\u9a76\u89e3\u91ca\u7684\u5168\u9762\u6027\uff0c\u8fd8\u91c7\u7528\u4e86GPT-3.5\u8bc4\u5206\uff08G\uff09\u6765\u8bc4\u4f30Nu-X\u3002\u5728\u6d4b\u8bd5TOD3Cap\u65f6\uff0c\u4e3a\u5339\u914d\u9884\u6d4b\u548c\u771f\u5b9e\u8fb9\u754c\u6846\u8bbe\u7f6e\u4e860.25\u7684\u9608\u503c\u3002\u5bf9\u4e8eNuScenes-QA\u548cCommand\u6570\u636e\u96c6\uff0c\u6211\u4eec\u76f4\u63a5\u5c06\u751f\u6210\u7684\u6587\u672c\u4e0e\u771f\u5b9e\u6587\u672c\u8fdb\u884c\u6bd4\u8f83\u4ee5\u83b7\u5f97\u51c6\u786e\u7387\u3002\u6839\u636e\u63a8\u7406\u590d\u6742\u6027\uff0cQA\u88ab\u5206\u4e3azero-hop (H0) and one-hop (H1)\u3002\u4ece\u88681\u4e2d\u53ef\u4ee5\u5f97\u51fa\u4ee5\u4e0b\u7ed3\u8bba\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"902\" height=\"352\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-119.png\" alt=\"\" class=\"wp-image-15571\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-119.png 902w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-119-300x117.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-119-768x300.png 768w\" sizes=\"(max-width: 902px) 100vw, 902px\" \/><\/figure>\n\n\n\n<p>Hint-UniAD\u548cHint-VAD\u5728\u591a\u4efb\u52a1\u6d4b\u8bd5\u4e2d\u5747\u8868\u73b0\u51fa\u9ad8\u6027\u80fd\u3002\u4e24\u4e2a\u7cfb\u7edf\u5747\u5728Nu-X\u6570\u636e\u96c6\u4e0a\u53d6\u5f97\u4e86\u6700\u5148\u8fdb\u7684\u7ed3\u679c\uff0cCIDEr\u5206\u6570\u6bd4\u6700\u4f73\u57fa\u7ebf\uff08BEV+Adapter\uff09\u9ad8\u51fa3.8\u5206\uff0820.4%\uff09\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cHint-UniAD\u5728TOD3Cap\u4efb\u52a1\u4e0a\u8868\u73b0\u51fa\u663e\u8457\u4f18\u8d8a\u7684\u6027\u80fd\uff0cCIDEr\u5206\u6570\u63d0\u9ad8\u4e86222.3\u5206\uff08185%\uff09\u3002\u5c3d\u7ba1HintVAD\u5728\u8be5\u4efb\u52a1\u4e0a\u7684\u8868\u73b0\u7565\u4f4e\uff0c\u4f46\u9644\u5f55C.3\u4e2d\u8ba8\u8bba\u4e86\u53ef\u80fd\u7684\u89e3\u91ca\u3002\u6b64\u5916\uff0c\u5728NuScenes-QA\u548cCommand\u6570\u636e\u96c6\u4e0a\uff0cHint-VAD\u7684\u603b\u4f53\u51c6\u786e\u7387\u5206\u522b\u6bd4\u6700\u4f73\u57fa\u7ebf\u9ad8\u51fa0.6\u5206\u548c1.2\u5206\u3002\u8fd9\u4e9b\u7ed3\u679c\u51f8\u663e\u4e86\u6240\u63d0\u51fa\u7684Hint-AD\u67b6\u6784\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<p><strong>\u5b9a\u6027\u7ed3\u679c<\/strong>\u3002\u56fe3\u5c55\u793a\u4e86\u4e00\u4e9b\u5b9a\u6027\u7ed3\u679c\u3002Hint-AD\u751f\u6210\u7684\u6587\u672c\u663e\u793a\u51fa\u5bf9\u573a\u666f\u7684\u6df1\u523b\u7406\u89e3\uff0c\u5e76\u4e14\u4e0e\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u7684\u4e2d\u95f4\u7ed3\u679c\u6070\u5f53\u5730\u4fdd\u6301\u4e00\u81f4\u3002<\/p>\n\n\n\n<p><strong>3\uff09language\u548c\u6a21\u578b\u7684\u5bf9\u9f50\u5206\u6790<\/strong><\/p>\n\n\n\n<p><strong>\u91cf\u5316\u8bed\u8a00\u4e0e\u81ea\u52a8\u9a7e\u9a76\uff08AD\uff09\u6a21\u578b\u4e2d\u95f4\u8f93\u51fa\u4e4b\u95f4\u7684\u4e00\u81f4\u6027<\/strong>\uff0c\u6211\u4eec\u5bf9\u8bed\u8a00\u89e3\u7801\u5668\u7684\u8f93\u51fa\u4e0eAD\u611f\u77e5\u6a21\u5757\u7684\u9884\u6d4b\u8fdb\u884c\u4e86\u8bc4\u4f30\uff0c\u8fd9\u4e9b\u9884\u6d4b\u662f\u5728\u9a8c\u8bc1\u96c6\u4e0a\u5b9e\u65f6\u751f\u6210\u7684\u3002\u6211\u4eec\u8bbe\u8ba1\u4e86\u56db\u79cd\u4e0d\u4e00\u81f4\u6027\u534f\u8bae\uff1a\uff08a\uff09<strong>\u8ba1\u6570\u4e0d\u4e00\u81f4\u6027\uff08CD\uff09<\/strong>\uff0c\u7528\u4e8e\u8861\u91cf\u89e3\u7801head\u548c\u8ddf\u8e2a\u6a21\u578b\u7ed9\u51fa\u7684\u6bcf\u4e2a\u7c7b\u522b\u5b9e\u4f8b\u6570\u91cf\u4e4b\u95f4\u7684\u5dee\u5f02\uff1b\uff08b\uff09<strong>\u4f4d\u7f6e\u4e0d\u4e00\u81f4\u6027\uff08PD\uff09<\/strong>\uff0c\u7528\u4e8e\u8861\u91cf\u7279\u5b9a\u5b9e\u4f8b\u7684\u4f4d\u7f6e\u5dee\u5f02\uff1b\uff08c\uff09<strong>\u8fd0\u52a8\u4e0d\u4e00\u81f4\u6027\uff08MD\uff09<\/strong>\uff0c\u7528\u4e8e\u8861\u91cf\u901f\u5ea6\u5dee\u5f02\uff0c\u8ba1\u7b97\u4e3a\u5b57\u5e55\u4e2d\u901f\u5ea6\u4e0e\u611f\u77e5\u7cfb\u7edf\u9884\u6d4b\u901f\u5ea6\u4e4b\u95f4\u7684\u5e73\u5747\u8ddd\u79bb\uff1b\uff08d\uff09<strong>\u89c4\u5212\u4e0d\u4e00\u81f4\u6027\uff08PLD\uff09<\/strong>\uff0c\u7528\u4e8e\u8861\u91cf\u8f68\u8ff9\u70b9\u4e4b\u95f4\u7684\u5dee\u5f02\u3002\u5bf9Hint-AD\u8fdb\u884c\u4e86\u6d4b\u8bd5\uff0c\u5305\u62ec\u5bf9\u9f50\u53ef\u89e3\u91ca\u6027\uff08\u539f\u59cb\u8bbe\u8ba1\uff09\u548c\u58f0\u660e\u6027\u53ef\u89e3\u91ca\u6027\u3002\u4e0e\u5728\u58f0\u660e\u6027\u53ef\u89e3\u91ca\u6027\u8303\u5f0f\u4e0b\u8fd0\u884c\u7684\u6a21\u578b\u76f8\u6bd4\uff0c\u5bf9\u9f50\u8bed\u8a00\u89e3\u7801\u5668\u7684\u6027\u80fd\u663e\u8457\u66f4\u4f18\uff0c\u8fd9\u8868\u660e\u5305\u62ec\u6574\u4f53token\u6df7\u5408\u5668\u548c\u5bf9\u9f50\u4efb\u52a1\u5728\u5185\u7684\u5bf9\u9f50\u8bbe\u8ba1\u662f\u6709\u6548\u7684\u3002<\/p>\n\n\n\n<p><strong>4\uff09\u6d88\u878d\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p><strong>\u6574\u4f53\u5bf9\u9f50\u7684\u6709\u6548\u6027<\/strong>\u3002\u4e3a\u4e86\u8bc4\u4f30\u6574\u4f53\u8bed\u8a00-\u81ea\u52a8\u9a7e\u9a76\uff08AD\uff09\u5bf9\u9f50\u5728\u8bed\u8a00\u4efb\u52a1\u51c6\u786e\u6027\u4e0a\u7684\u6709\u6548\u6027\uff0c\u6211\u4eec\u901a\u8fc7\u4ece\u8bed\u8a00\u89e3\u7801\u5668\u7684\u8f93\u5165\u4e2d\u79fb\u9664\u8ddf\u8e2a\u3001\u8fd0\u52a8\u548c\u89c4\u5212tokens\u6765\u8fdb\u884c\u4e86\u4e00\u9879\u6d88\u878d\u7814\u7a76\u3002\u88682\u4e2d\u7684\u7ed3\u679c\u8868\u660e\uff0c\u4f7f\u7528\u6240\u6709tokens\u53ef\u5b9e\u73b0\u6700\u9ad8\u6027\u80fd\u3002\u8ddf\u8e2atokens\u901a\u8fc7\u4f4d\u7f6e\u4fe1\u606f\u589e\u5f3a\u4e863D\u5bc6\u96c6\u5b57\u5e55\uff0c\u800c\u89c4\u5212tokens\u5219\u901a\u8fc7\u63d0\u4f9b\u672a\u6765\u8f68\u8ff9\u6570\u636e\u6539\u8fdb\u4e86\u547d\u4ee4\u9884\u6d4b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"932\" height=\"562\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-120.png\" alt=\"\" class=\"wp-image-15572\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-120.png 932w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-120-300x181.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-120-768x463.png 768w\" sizes=\"(max-width: 932px) 100vw, 932px\" 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