{"id":15756,"date":"2024-09-19T15:04:01","date_gmt":"2024-09-19T07:04:01","guid":{"rendered":"http:\/\/192.168.10.115\/?p=15756"},"modified":"2024-09-19T15:04:01","modified_gmt":"2024-09-19T07:04:01","slug":"2024-09-19-minidrive%ef%bc%9a%e4%b8%93%e7%94%a8%e4%ba%8e%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e9%a2%86%e5%9f%9f%e7%9a%84vlm%e6%a8%a1%e5%9e%8b%ef%bc%8c%e8%bf%90%e7%ae%97%e5%92%8c%e6%95%88%e7%8e%87sota","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/09\/19\/15756\/","title":{"rendered":"2024-09-19 MiniDrive\uff1a\u4e13\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684VLM\u6a21\u578b\uff0c\u8fd0\u7b97\u548c\u6548\u7387SOTA"},"content":{"rendered":"\n<p>\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u662f\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u901a\u7528\u7aef\u5230\u7aef\u6a21\u578b\uff0c\u901a\u8fc7\u95ee\u7b54\u4ea4\u4e92\u5b9e\u73b0\u9884\u6d4b\u3001\u89c4\u5212\u548c\u611f\u77e5\u7b49\u5b50\u4efb\u52a1\u3002\u7136\u800c\u5927\u591a\u6570\u73b0\u6709\u65b9\u6cd5\u4f9d\u8d56\u4e8e\u8ba1\u7b97\u6210\u672c\u9ad8\u6602\u7684\u89c6\u89c9\u7f16\u7801\u5668\u548c\u5927\u578b\u8bed\u8a00\u6a21\u578b\uff08LLM\uff09\uff0c\u8fd9\u4f7f\u5f97\u5b83\u4eec\u96be\u4ee5\u5728\u73b0\u5b9e\u4e16\u754c\u573a\u666f\u548c\u5b9e\u65f6\u5e94\u7528\u4e2d\u90e8\u7f72\u3002\u540c\u65f6\u5927\u591a\u6570\u73b0\u6709\u7684VLM\u7f3a\u4e4f\u5904\u7406\u591a\u5e45\u56fe\u50cf\u7684\u80fd\u529b\uff0c\u56e0\u6b64\u96be\u4ee5\u9002\u5e94\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u73af\u89c6\u611f\u77e5\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u4e2a\u540d\u4e3aMiniDrive\u7684\u65b0\u6846\u67b6\uff0c\u8be5\u6846\u67b6\u7ed3\u5408\u4e86\u6211\u4eec\u63d0\u51fa\u7684\u7279\u5f81\u5de5\u7a0b\u6df7\u5408\u4e13\u5bb6\uff08FE-MoE\uff09\u6a21\u5757\u548c\u52a8\u6001\u6307\u4ee4\u9002\u914d\u5668\uff08DI-Adapter\uff09\u3002FE 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Vicuna\u76f8\u7ed3\u5408\uff0c\u5c06\u5b83\u4eec\u4e0e\u5355\u4e2a\u6295\u5f71\u5c42\u5bf9\u9f50\u3002Llava-1.5v\u901a\u8fc7\u4f7f\u7528\u5e26\u6709\u591a\u5c42\u611f\u77e5\u5668\uff08MLP\uff09\u6295\u5f71\u5c42\u7684CLIP-ViT-L-336px\uff0c\u5e76\u6dfb\u52a0\u9488\u5bf9\u5b66\u672f\u4efb\u52a1\u91cf\u8eab\u5b9a\u5236\u7684VQA\u6570\u636e\uff0c\u901a\u8fc7\u7b80\u5355\u7684\u54cd\u5e94\u683c\u5f0f\u5316\u63d0\u793a\uff0c\u572811\u4e2a\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\uff0c\u663e\u8457\u63d0\u9ad8\u4e86\u6570\u636e\u6548\u7387\u3002Phi-3-mini\u5177\u6709\u9ed8\u8ba4\u76844K\u4e0a\u4e0b\u6587\u957f\u5ea6\uff0c\u5e76\u5f15\u5165\u4e86\u4f7f\u7528LongRope\u6280\u672f\u6269\u5c55\u5230128K\u4e0a\u4e0b\u6587\u957f\u5ea6\u7684\u7248\u672c\uff0c\u540c\u65f6\u91c7\u7528\u4e86\u7c7b\u4f3c\u4e8eLlama-2\u7684\u5757\u7ed3\u6784\u548c\u76f8\u540c\u7684\u6807\u8bb0\u5668\uff0c\u5b9e\u73b0\u4e86\u8f7b\u91cf\u7ea7\u7684\u591a\u6a21\u5f0f\u6a21\u578b\u3002\u5c3d\u7ba1\u8fd9\u4e9b\u591a\u6a21\u6001\u5927\u578b\u6a21\u578b\u5177\u6709\u5f3a\u5927\u7684\u529f\u80fd\uff0c\u5e76\u4e14\u6709\u8f7b\u91cf\u5316\u8bbe\u8ba1\u7684\u8d8b\u52bf\uff0c\u4f46\u5b83\u4eec\u7684\u53c2\u6570\u6570\u91cf\u8d85\u8fc710\u4ebf\uff0c\u8fd9\u4f7f\u5f97\u5728\u8bb8\u591a\u786c\u4ef6\u5e73\u53f0\u4e0a\u7684\u90e8\u7f72\u548c\u5b9e\u65f6\u4f7f\u7528\u5177\u6709\u6311\u6218\u6027\u3002\u56e0\u6b64\uff0c\u6709\u5fc5\u8981\u7814\u7a76\u548c\u5f00\u53d1\u5177\u6709\u8f83\u5c0f\u53c2\u6570\u5927\u5c0f\u548c\u8f83\u4f4e\u8ba1\u7b97\u6210\u672c\u7684\u9ad8\u6548\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u3002<\/p>\n\n\n\n<p><strong>Autonomous Driving Based on LLMs<\/strong><\/p>\n\n\n\n<p>LLM\u6709\u6548\u5730\u589e\u5f3a\u4e86\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u53ef\u89e3\u91ca\u6027\u53ca\u5176\u4e0e\u4eba\u7c7b\u7684\u4e92\u52a8\u3002\u8fd9\u4e9b\u4f18\u52bf\u4fc3\u4f7f\u7814\u7a76\u4eba\u5458\u5c06\u81ea\u52a8\u9a7e\u9a76\u7684\u591a\u6a21\u6001\u6570\u636e\u7eb3\u5165LLM\u7684\u8bad\u7ec3\u4e2d\uff0c\u65e8\u5728\u4e3a\u81ea\u52a8\u9a7e\u9a76\u6784\u5efa\u591a\u6a21\u6001\u5927\u578b\u6a21\u578b\u3002Chen\u7b49\u4eba\u5c06\u77e2\u91cf\u5316\u6a21\u6001\u4fe1\u606f\u4e0eLLaMA-7B\u5bf9\u9f50\uff0c\u4ee5\u8bad\u7ec3\u81ea\u52a8\u9a7e\u9a76\u7684\u95ee\u7b54\u6a21\u578b\u3002\u8bad\u7ec3\u8fc7\u7a0b\u9075\u5faa\u4e24\u9636\u6bb5\u65b9\u6cd5\uff1a\u5728\u7b2c\u4e00\u9636\u6bb5\uff0c\u5411\u91cf\u8868\u793a\u4e0e\u51bb\u7ed3\u7684LLaMA\u5bf9\u9f50\uff0c\u800c\u5728\u7b2c\u4e8c\u9636\u6bb5\uff0cLoRA\u7528\u4e8e\u5fae\u8c03\u8bed\u8a00\u6a21\u578b\u3002DriveGPT4\u4e5f\u4f7f\u7528LLaMA\u4f5c\u4e3a\u5176\u5927\u578b\u8bed\u8a00\u6a21\u578b\uff0c\u4f7f\u7528CLIP\u4f5c\u4e3a\u89c6\u89c9\u7f16\u7801\u5668\u3002\u5b83\u901a\u8fc7\u8f93\u5165\u89c6\u89c9\u548c\u6587\u672c\u4fe1\u606f\u6765\u751f\u6210\u76f8\u5e94\u7684\u7b54\u6848\u3002DriveGPT4\u64cd\u7eb5ChatGPT\/GPT-4\u751f\u6210\u6307\u4ee4\u6570\u636e\u96c6\uff0c\u5e76\u5728\u6b64\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u8bad\u7ec3\u3002\u7136\u800cDriveGPT4\u4ec5\u4f7f\u7528\u5355\u89c6\u89d2\u56fe\u50cf\uff0c\u9650\u5236\u4e86\u5176\u5728\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\u5904\u7406\u66f4\u5168\u9762\u7406\u89e3\u7684\u80fd\u529b\u3002Wang\u7b49\u4eba\u5f00\u53d1\u4e86DriveMLM\uff0c\u8be5\u6a21\u578b\u4f7f\u7528LLaMA-7B\u4f5c\u4e3a\u57fa\u7840\u8bed\u8a00\u6a21\u578b\uff0cViT-g\/14\u4f5c\u4e3a\u56fe\u50cf\u7f16\u7801\u5668\u3002\u8be5\u6a21\u578b\u5904\u7406\u591a\u89c6\u56fe\u56fe\u50cf\u3001\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u3001\u4ea4\u901a\u89c4\u5219\u548c\u7528\u6237\u547d\u4ee4\uff0c\u4ee5\u5b9e\u73b0\u95ed\u73af\u9a7e\u9a76\u3002\u53d7\u5927\u578b\u8bed\u8a00\u6a21\u578b\u4e2d\u7684\u601d\u7ef4\u94fe\u65b9\u6cd5\u7684\u542f\u53d1\uff0cSha\u7b49\u4eba\u63d0\u51fa\u4e86\u4e00\u79cd\u7528\u4e8e\u9a7e\u9a76\u573a\u666f\u7684\u601d\u7ef4\u94fe\u6846\u67b6\uff0c\u4f7f\u7528ChatGPT-3.5\u4e3a\u81ea\u52a8\u9a7e\u9a76\u63d0\u4f9b\u53ef\u89e3\u91ca\u7684\u903b\u8f91\u63a8\u7406\u3002Mao\u7b49\u4eba\u4ecb\u7ecd\u4e86GPT Driver\uff0c\u5b83\u4f7f\u7528ChatGPT-3.5\u4e3a\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u521b\u5efa\u8fd0\u52a8\u89c4\u5212\u5668\uff0cGPT Driver\u901a\u8fc7\u5c06\u89c4\u5212\u5668\u7684\u8f93\u5165\u548c\u8f93\u51fa\u8868\u793a\u4e3a\u8bed\u8a00\u4ee4\u724c\uff0c\u5c06\u8fd0\u52a8\u89c4\u5212\u4f5c\u4e3a\u8bed\u8a00\u5efa\u6a21\u4efb\u52a1\u8fdb\u884c\u5237\u65b0\u3002Sima\u7b49\u4eba\u53d1\u5e03\u4e86DriveLM\u6570\u636e\u96c6\uff0c\u8fd9\u662f\u4e00\u4e2a\u56fe\u5f62\u5316\u7684\u89c6\u89c9\u95ee\u7b54\u6570\u636e\u96c6\uff0c\u5176\u4e2d\u5305\u542b\u4e0e\u611f\u77e5\u3001\u884c\u4e3a\u548c\u81ea\u6211\u8f66\u8f86\u89c4\u5212\u76f8\u5173\u7684\u95ee\u7b54\u5bf9\uff0c\u57fa\u4e8eNuScenes\u6570\u636e\u96c6\u7684\u591a\u89c6\u56fe\u56fe\u50cf\u6570\u636e\u3002\u4e3a\u4e86\u5efa\u7acb\u57fa\u7ebf\uff0cLi\u7b49\u4eba\u5728\u8fd9\u4e2a\u65b0\u6570\u636e\u96c6\u4e0a\u5bf9BLIP-2\u8fdb\u884c\u4e86\u5fae\u8c03\u3002EM-VLM4AD\u5f15\u5165\u4e86\u95e8\u63a7\u6c60\u6ce8\u610f\u529b\uff08GPA\uff09\uff0c\u5b83\u5c06\u591a\u4e2a\u56fe\u50cf\u805a\u5408\u5230\u4e00\u4e2a\u7edf\u4e00\u7684\u5d4c\u5165\u4e2d\uff0c\u5e76\u5c06\u5176\u4e0e\u6587\u672c\u5d4c\u5165\u8fde\u63a5\u4f5c\u4e3aLLM\u7684\u8f93\u5165\uff0c\u5728DriveLM\u6570\u636e\u96c6\u4e0a\u53d6\u5f97\u4e86\u6709\u524d\u666f\u7684\u7ed3\u679c\u3002<\/p>\n\n\n\n<p>\u867d\u7136\u73b0\u6709\u7684\u5de5\u4f5c\u63d0\u4f9b\u4e86\u5de8\u5927\u7684\u4ef7\u503c\uff0c\u5e76\u5c55\u793a\u4e86\u5f3a\u5927\u7684\u81ea\u52a8\u9a7e\u9a76\u80fd\u529b\uff0c\u4f46\u5927\u591a\u6570\u6a21\u578b\u90fd\u6709\u8d85\u8fc710\u4ebf\u4e2a\u53c2\u6570\u3002\u5b83\u4eec\u4e3b\u8981\u57fa\u4e8eGPT-3.5\u548cLLaMA\u7b49\u5927\u89c4\u6a21\u8bed\u8a00\u6a21\u578b\uff0c\u5e76\u4f9d\u8d56\u4e8e\u57fa\u4e8eViT\u67b6\u6784\u6784\u5efa\u7684\u89c6\u89c9\u7f16\u7801\u5668\uff0c\u5982CLIP\u3001ViT-g\/14\u548cViT-B\/32\u3002\u8fd9\u5bfc\u81f4\u4e86\u9ad8\u6602\u7684\u8ba1\u7b97\u6210\u672c\uff0c\u4f7f\u8fd9\u4e9b\u6a21\u578b\u4e0d\u9002\u5408\u5728\u7ebf\u573a\u666f\u3002\u5c3d\u7ba1\u6709\u5f00\u53d1\u8f7b\u578b\u81ea\u52a8\u9a7e\u9a76\u8f66\u578b\u7684\u8d8b\u52bf\uff0c\u4f46\u4e0e\u5927\u578b\u8f66\u578b\u76f8\u6bd4\uff0c\u5b83\u4eec\u7684\u6027\u80fd\u4ecd\u7136\u4e0d\u8db3\u3002<\/p>\n\n\n\n<p><strong>MinDrive\u65b9\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n<p>MiniDrive\u662f\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u4e00\u79cd\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff0c\u65e8\u5728\u6267\u884c\u89c6\u89c9\u95ee\u7b54\u4efb\u52a1\u3002\u5b83\u901a\u8fc7\u63a5\u6536\u56fe\u50cf\u548c\u7528\u6237\u6307\u4ee4\u6587\u672c\u4f5c\u4e3a\u8f93\u5165\u6765\u751f\u6210\u6587\u672c\u54cd\u5e94\u3002\u5728\u672c\u8282\u4e2d\uff0c\u6211\u4eec\u9996\u5148\u8be6\u7ec6\u4ecb\u7ecdMiniDrive\u7684\u6574\u4f53\u6846\u67b6\uff0c\u7136\u540e\u5177\u4f53\u89e3\u91ca\u6bcf\u4e2a\u6a21\u5757\u7684\u6280\u672f\u7ec6\u8282\u548c\u539f\u7406\uff0c\u5305\u62ec\u89c6\u89c9\u7f16\u7801\u5668\u3001\u7279\u5f81\u5de5\u7a0b\u6df7\u5408\u4e13\u5bb6\uff08FE-MoE\uff09\u548c\u52a8\u6001\u6307\u4ee4\u9002\u914d\u5668\uff08DI\u9002\u914d\u5668\uff09\u3002<\/p>\n\n\n\n<p><strong>Model Architecture<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"642\" height=\"516\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/image-29.png\" alt=\"\" class=\"wp-image-15758\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/image-29.png 642w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/image-29-300x241.png 300w\" sizes=\"(max-width: 642px) 100vw, 642px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"666\" height=\"376\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/91901.png\" alt=\"\" class=\"wp-image-15759\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/91901.png 666w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/91901-300x169.png 300w\" sizes=\"(max-width: 666px) 100vw, 666px\" \/><\/figure>\n\n\n\n<p><strong>Vision Encoder<\/strong><\/p>\n\n\n\n<p>\u5982\u56fe2\uff08b\uff09\u6240\u793a\uff0c\u89c6\u89c9\u7f16\u7801\u5668\u7684\u9aa8\u5e72\u7f51\u7edc\u57fa\u4e8e\u5927\u6838\u795e\u7ecf\u7f51\u7edcUniRepLKNet\uff08Ding\u7b49\u4eba\uff0c2024\uff09\uff0c\u8be5\u7f51\u7edc\u5728\u591a\u79cd\u6a21\u6001\u4e0a\u8868\u73b0\u51fa\u8272\u3002\u5b83\u6709\u6548\u5730\u5229\u7528\u4e86\u5927\u578b\u5185\u6838\u5377\u79ef\u7684\u7279\u6027\uff0c\u65e0\u9700\u6df1\u5165\u7f51\u7edc\u5c42\u5373\u53ef\u5b9e\u73b0\u5e7f\u6cdb\u7684\u63a5\u53d7\u57df\u3002\u5728\u4fdd\u6301\u9ad8\u6548\u8ba1\u7b97\u7684\u540c\u65f6\uff0c\u5b83\u5728\u5404\u79cd\u4efb\u52a1\u4e2d\u4e5f\u8fbe\u5230\u6216\u8d85\u8fc7\u4e86\u5f53\u524d\u6700\u5148\u8fdb\u6280\u672f\u7684\u6027\u80fd\u3002\u8fd9\u79cd\u901a\u7528\u6027\u548c\u6548\u7387\u4f7f\u5176\u6210\u4e3a\u4e00\u4e2a\u5f3a\u5927\u7684\u6a21\u578b\uff0c\u5728\u5e7f\u6cdb\u7684\u611f\u77e5\u4efb\u52a1\u4e2d\u5177\u6709\u6f5c\u529b\u3002\u5982\u56fe3\u6240\u793a\uff0c\u5bf9UniRepLKNet\u7684\u6574\u4f53\u67b6\u6784\u8fdb\u884c\u7b80\u8981\u56de\u987e\u540e\u53d1\u73b0\uff0c\u5b83\u4e3b\u8981\u7531\u591a\u4e2a\u987a\u5e8f\u8fde\u63a5\u7684Stage\u5c42\u7ec4\u6210\u3002\u6bcf\u4e2a\u9636\u6bb5\u4e3b\u8981\u7531\u4e00\u7cfb\u5217Lark Block\u548cSmak Block\u7ec4\u6210\u3002\u5728MiniDrive\u4e2d\uff0c\u6211\u4eec\u4f7f\u7528UniRepLKNet\u4f5c\u4e3a\u89c6\u89c9\u7f51\u7edc\u7684\u9aa8\u5e72\uff0c\u5176\u4e2d\u8f93\u5165\u56fe\u50cf\u5e76\u4ece\u6700\u540e\u9636\u6bb5n\u83b7\u5f97\u8f93\u51fa\u7279\u5f81\u56feF1\u3002<\/p>\n\n\n\n<p><strong>Feature Engineering Mixture of Experts<\/strong><\/p>\n\n\n\n<p>\u5728\u56fe2\uff08b\uff09\u4e2d\uff0c\u6211\u4eec\u5c55\u793a\u4e86FE-MoE\u7684\u5177\u4f53\u7ed3\u6784\uff0c\u8be5\u7ed3\u6784\u65e8\u5728\u5904\u7406\u6765\u81ea\u591a\u5e45\u56fe\u50cf\u7684\u4e8c\u7ef4\u8f93\u5165\u7279\u5f81\u3002\u6bcf\u4e2a\u8f93\u5165\u56fe\u50cf\u5bf9\u5e94\u4e8e\u89c6\u89c9\u7f16\u7801\u5668\u8f93\u51fa\u7684\u7279\u5f81\u56feF1\u3002\u4e3a\u4e86\u8fdb\u4e00\u6b65\u6709\u6548\u5730\u5904\u7406\u6bcf\u4e2a\u56fe\u50cf\u76842D\u7279\u5f81\u8868\u793a\uff0c\u5b83\u4eec\u88ab\u8f93\u5165\u5230FE-MoE\u4e2d\u3002\u9996\u5148\uff0c\u95e8\u7f51\u7edc\u4f7f\u7528F1\u6765\u83b7\u5f97\u4e0e\u6837\u672c\u5bf9\u5e94\u7684\u4e13\u5bb6\u9009\u62e9\u6743\u91cd\u3002Gate\u7f51\u7edc\u4e3b\u8981\u7531\u5377\u79ef\u5c42\u3001\u6700\u5927\u6c60\u5316\u5c42\u548c\u7ebf\u6027\u5c42\u7ec4\u6210\uff0c\u5982\u4e0b\u5f0f\u6240\u793a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"275\" height=\"40\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/image-30.png\" alt=\"\" class=\"wp-image-15760\"\/><\/figure>\n\n\n\n<p>\u6bcf\u4e2a\u4e13\u5bb6\u7f51\u7edc\u4e3b\u8981\u7531\u89e3\u5377\u79ef\u5c42\u3001ReLU\u5c42\u548c\u5377\u79ef\u5c42\u7ec4\u6210\u3002\u89e3\u5377\u79ef\u5c42\u9996\u5148\u6267\u884c\u521d\u59cb\u4e0a\u91c7\u6837\u6620\u5c04\uff0c\u589e\u52a0\u7279\u5f81\u56fe\u5bbd\u5ea6\u548c\u9ad8\u5ea6\u7684\u7ef4\u5ea6\u4ee5\u6269\u5c55\u4fe1\u606f\u91cf\uff0c\u4ece\u800c\u4fc3\u8fdb\u540e\u7eed\u7684\u6620\u5c04\u5b66\u4e60\u3002\u540c\u65f6\uff0c\u5b83\u51cf\u5c11\u4e86\u539f\u59cb\u7279\u5f81\u56fe\u4e2d\u7684\u901a\u9053\u6570\u91cf\uff0c\u4ee5\u6700\u5c0f\u5316\u6570\u636e\u5197\u4f59\u5e76\u9009\u62e9\u6700\u91cd\u8981\u7684\u4e8c\u7ef4\u7279\u5f81\u8868\u793a\u4fe1\u606f\uff0c\u4ece\u800c\u663e\u8457\u7b80\u5316\u4e86\u540e\u7eed\u89c6\u89c9\u6807\u8bb0\u7684\u6570\u91cf\u3002\u5377\u79ef\u5c42\u8fdb\u4e00\u6b65\u53d8\u6362\u7279\u5f81\uff0c\u4ee5\u63d0\u9ad8\u4e13\u5bb6\u7684\u5b66\u4e60\u80fd\u529b\u3002\u516c\u5f0f\u5982\u4e0b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"272\" height=\"89\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/image-31.png\" alt=\"\" class=\"wp-image-15761\"\/><\/figure>\n\n\n\n<p>\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\uff0cF2\u8868\u793a\u5355\u4e2a\u4e13\u5bb6\u7684\u8f93\u51fa\u3002\u5047\u8bbe\u56fe\u50cf\u7684\u7b2ci\u4e2a\u4e13\u5bb6\u7684\u6743\u91cd\u4e3aWi\uff0c\u8be5\u4e13\u5bb6\u7684\u8f93\u51fa\u4e3aFi\uff0c\u4e13\u5bb6\u603b\u6570\u4e3aN\uff0c\u5219FE-MoE\u6a21\u578b\u5904\u7406\u540e\u7684\u56fe\u50cf\u7279\u5f81Vmoe\u7531\u4ee5\u4e0b\u516c\u5f0f\u8868\u793a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"300\" height=\"100\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/image-32.png\" alt=\"\" class=\"wp-image-15762\"\/><\/figure>\n\n\n\n<p><strong>Dynamic Instruction Adapter<\/strong><\/p>\n\n\n\n<p>\u5728\u4e4b\u524d\u7684\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u4e2d\uff0c\u56fe\u50cf\u8868\u793a\u5728\u8f93\u5165\u8bed\u8a00\u6a21\u578b\u4e4b\u524d\u662f\u56fa\u5b9a\u7684\uff0c\u5728\u8fdb\u5165\u8bed\u8a00\u6a21\u578b\u8fdb\u884c\u8ba1\u7b97\u4e4b\u524d\uff0c\u5b83\u4eec\u5bf9\u5e94\u4e8e\u5404\u79cd\u6587\u672c\u8868\u793a\u3002\u4e3a\u4e86\u4f7f\u56fe\u50cf\u8868\u793a\u5728\u8f93\u5165\u5230\u8bed\u8a00\u6a21\u578b\u4e4b\u524d\u80fd\u591f\u6839\u636e\u4e0d\u540c\u7684\u6587\u672c\u8868\u793a\u8fdb\u884c\u52a8\u6001\u8f6c\u6362\uff0c\u4ece\u800c\u63d0\u9ad8\u8de8\u6a21\u6001\u7406\u89e3\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u52a8\u6001\u6307\u4ee4\u673a\u5236\u5e76\u8bbe\u8ba1\u4e86\u52a8\u6001\u6307\u4ee4\u9002\u914d\u5668\u3002\u6211\u4eec\u4f7f\u7528\u6587\u672c\u8f93\u5165\u5e8f\u5217T\u4f5c\u4e3a\u952e\uff08k\uff09\u548c\u503c\uff08v\uff09\uff0c\u4f7f\u7528\u56fe\u50cf\u8f93\u5165\u5e8f\u5217v\u4f5c\u4e3a\u67e5\u8be2\uff08q\uff09\u3002\u901a\u8fc7\u4ea4\u53c9\u6ce8\u610f\uff0c\u6211\u4eec\u8ba1\u7b97\u4e86\u878d\u5408\u4e86\u6587\u672c\u4e0a\u4e0b\u6587\u4fe1\u606f\u7684\u878d\u5408\u5e8f\u5217V\u3002\u516c\u5f0f\u5982\u4e0b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"288\" height=\"33\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/image-33.png\" alt=\"\" class=\"wp-image-15763\"\/><\/figure>\n\n\n\n<p>\u6b8b\u5dee\u901a\u9053\u4e2d\u7684\u5e8f\u5217\u901a\u8fc7\u6b8b\u5dee\u8fde\u63a5\u4e0e\u6295\u5f71\u5c42\u7684\u8f93\u51fa\u5e8f\u5217\u8fde\u63a5\uff0c\u4f5c\u4e3a\u8f93\u5165\u5230\u8bed\u8a00\u6a21\u578b\u4e4b\u524d\u7684\u89c6\u89c9\u8868\u793a\u3002\u9644\u52a0\u8bed\u8a00\u6a21\u578b\u8f93\u51fa\u7684\u57f9\u8bad\u89c1\u9644\u5f55\u3002<\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p><strong>\u5b9a\u91cf\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u5728\u88681\u4e2d\uff0c\u6211\u4eec\u5c06MiniDrive\u7684\u8bc4\u4f30\u7ed3\u679c\u4e0e\u4e4b\u524d\u5728\u6d4b\u8bd5\u96c6\u4e0a\u7684\u5de5\u4f5c\u8fdb\u884c\u4e86\u6bd4\u8f83\uff0c\u5305\u62ecEM-VLM4AD\u548cDrive Agent\u3002\u5c31\u6307\u6807\u7684\u6574\u4f53\u6027\u80fd\u800c\u8a00\uff0cMiniDrive224\u548cMiniDrive384\u90fd\u4f18\u4e8e\u4ee5\u524d\u7684\u65b9\u6cd5\uff0c\u5c3d\u7ba1DriveLM Agent\u5728BLEU-4\u4e2d\u8986\u76d6\u4e86\u6211\u4eec\uff0c\u4f46\u5b83\u7684\u53c2\u6570\u8ba1\u6570\u660e\u663e\u5927\u4e8e\u6211\u4eec\u7684\uff0c\u8fbe\u52303.96B\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"646\" height=\"179\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/image-34.png\" alt=\"\" class=\"wp-image-15764\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/image-34.png 646w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/image-34-300x83.png 300w\" sizes=\"(max-width: 646px) 100vw, 646px\" \/><\/figure>\n\n\n\n<p><strong>\u8ba1\u7b97\u5206\u6790<\/strong><\/p>\n\n\n\n<p>\u672c\u8282\u4e3b\u8981\u6bd4\u8f83MiniDrive\u548c\u4e00\u7cfb\u5217\u73b0\u6709\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u5728\u53c2\u6570\u8ba1\u6570\u3001\u6d6e\u70b9\u8fd0\u7b97\uff08FLOP\uff09\u548c\u5185\u5b58\u4f7f\u7528\uff08GB\uff09\u65b9\u9762\u7684\u5dee\u5f02\u3002\u7ed3\u679c\u5982\u88682\u6240\u793a\u3002\u4ee5224\u7684\u8f93\u5165\u56fe\u50cf\u5206\u8fa8\u7387\u4e3a\u4f8b\uff0cMiniDrive\u5728\u6240\u6709\u4e09\u4e2a\u65b9\u9762\u90fd\u8868\u73b0\u51fa\u4e86\u5353\u8d8a\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"321\" height=\"175\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/image-35.png\" alt=\"\" class=\"wp-image-15765\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/image-35.png 321w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/image-35-300x164.png 300w\" sizes=\"(max-width: 321px) 100vw, 321px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9a\u6027\u793a\u4f8b<\/strong><\/p>\n\n\n\n<p>\u5728\u56fe4\u4e2d\uff0c\u6211\u4eec\u5c55\u793a\u4e86MiniDrive\u5728\u4e09\u4e2a\u4e0d\u540c\u4efb\u52a1\u4e2d\u5bf9\u770b\u4e0d\u89c1\u7684\u6837\u672c\u7684\u5b9e\u9645\u54cd\u5e94\u3002\u4e3a\u4e86\u5bf9MiniDrive\u5bf9\u591a\u89c6\u56fe\u56fe\u50cf\u8f93\u5165\u7684\u611f\u77e5\u8fdb\u884c\u53ef\u89e3\u91ca\u6027\u5206\u6790\uff0c\u6211\u4eec\u5206\u6790\u4e86MiniDrive\u5728\u5404\u79cd\u573a\u666f\u4e0b\u7684\u6fc0\u6d3b\u56fe\u3002\u5728\u56fe4\uff08a\uff09\u4e2d\uff0cMiniDrive\u6f14\u793a\u4e86\u5bf9\u591a\u4e2a\u56fe\u50cf\u8f93\u5165\u7684\u611f\u77e5\u95ee\u7b54\uff0c\u84dd\u8272\u6846\u8868\u793a\u7528\u6237\u6307\u4ee4\u4e2d\u201c\u5de6\u540e\u201d\u4f4d\u7f6e\u5f15\u7528\u7684\u56fe\u50cf\u3002\u7ea2\u8272\u6846\u5bf9\u5e94\u4e8eMiniDrive\u7684\u54cd\u5e94\uff0c\u4e3b\u8981\u5173\u6ce8\u8be5\u56fe\u50cf\uff0c\u5728\u6307\u5b9a\u4f4d\u7f6e\u8bc6\u522b\u201c\u8bb8\u591a\u6c7d\u8f66\u3001\u4e00\u8f86\u5361\u8f66\u548c\u4e00\u540d\u884c\u4eba\u201d\u3002\u5728\u56fe4\uff08b\uff09\u4e2d\uff0cMiniDrive\u6f14\u793a\u4e86\u5982\u4f55\u4e3a\u591a\u4e2a\u56fe\u50cf\u8f93\u5165\u89c4\u5212\u95ee\u7b54\u3002\u6839\u636e\u7528\u6237\u7684\u6307\u4ee4\u548c\u7a7a\u95f4\u672f\u8bed\u201cCAM_FRONT\u201d\uff0cMiniDrive\u4f1a\u805a\u7126\u5728\u76f8\u5e94\u6b63\u9762\u56fe\u50cf\u5de6\u4fa7\u7684\u7ea2\u8272\u6846\u4e0a\u3002\u8fd9\u79cd\u5173\u6ce8\u4e0e\u4eba\u4eec\u5728\u505a\u51fa\u89c4\u5212\u51b3\u7b56\u65f6\u8003\u8651\u7684\u56e0\u7d20\u76f8\u4e00\u81f4\uff0c\u5305\u62ec\u884c\u8f66\u9053\u6807\u8bb0\u548c\u81ea\u6211\u6c7d\u8f66\u5de6\u4fa7\u7684\u8f66\u8f86\u3002\u5728\u56fe4\uff08c\uff09\u4e2d\uff0cMiniDrive\u6f14\u793a\u4e86\u591a\u4e2a\u56fe\u50cf\u8f93\u5165\u7684\u9884\u6d4b\u6027\u95ee\u7b54\u3002\u6839\u636e\u7528\u6237\u9884\u6d4b\u201c\u5de6\u524d\u201d\u4f4d\u7f6e\u884c\u4eba\u8fd0\u52a8\u7684\u6307\u4ee4\uff0cMiniDrive\u4f1a\u5173\u6ce8\u76f8\u5e94\u4f4d\u7f6e\u56fe\u50cf\u4e2d\u7684\u884c\u4eba\uff0c\u5e76\u7528\u7ea2\u8272\u6846\u7a81\u51fa\u663e\u793a\u3002\u7efc\u4e0a\u6240\u8ff0\uff0cMiniDrive\u5728\u6fc0\u6d3b\u56fe\u4e2d\u5173\u6ce8\u7684\u5bf9\u8c61\u4e0e\u4eba\u7c7b\u9a7e\u9a76\u5458\u5728\u9a7e\u9a76\u8fc7\u7a0b\u4e2d\u9075\u5faa\u7684\u63a8\u7406\u4e00\u81f4\uff0c\u8868\u660eMiniDrive\u5177\u6709\u4e00\u5b9a\u7a0b\u5ea6\u7684\u53ef\u9760\u6027\u548c\u53ef\u89e3\u91ca\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"641\" height=\"529\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/image-36.png\" alt=\"\" class=\"wp-image-15766\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/image-36.png 641w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/image-36-300x248.png 300w\" sizes=\"(max-width: 641px) 100vw, 641px\" \/><\/figure>\n\n\n\n<p><strong>\u6d88\u878d\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u9a8c\u8bc1\u6bcf\u4e2a\u6a21\u5757\u7684\u6709\u6548\u6027\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u7cfb\u5217\u6d88\u878d\u5b9e\u9a8c\u3002\u5728\u88683\u4e2d\uff0c\u6211\u4eec\u7814\u7a76\u4e86FE-MoE\u548c\u52a8\u6001\u6307\u4ee4\u9002\u914d\u5668\uff08DI\u9002\u914d\u5668\uff09\u5bf9MiniDrive\u7684\u5f71\u54cd\u3002\u5f53FE-MoE\u548c\u52a8\u6001\u6307\u4ee4\u9002\u914d\u5668\u5206\u522b\u5f15\u5165\u65f6\uff0c\u5404\u79cd\u6307\u6807\u7684\u7ed3\u679c\u90fd\u6709\u6240\u6539\u5584\uff0c\u5f53\u4e24\u4e2a\u6a21\u5757\u540c\u65f6\u5f15\u5165\u65f6\uff0c\u6548\u679c\u66f4\u597d\u3002\u8fd9\u8868\u660e\u4e86\u6a21\u5757\u4e4b\u95f4\u673a\u5236\u7684\u6709\u6548\u6027\u3002\u5176\u4ed6\u6d88\u878d\u5b9e\u9a8c\u7684\u8be6\u7ec6\u4fe1\u606f\u89c1\u9644\u5f55\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"645\" height=\"145\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/image-37.png\" alt=\"\" class=\"wp-image-15767\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/image-37.png 645w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/image-37-300x67.png 300w\" sizes=\"(max-width: 645px) 100vw, 645px\" 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class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"650\" height=\"205\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/image-38.png\" alt=\"\" class=\"wp-image-15768\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/image-38.png 650w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/image-38-300x95.png 300w\" sizes=\"(max-width: 650px) 100vw, 650px\" 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