{"id":15952,"date":"2024-09-23T14:59:55","date_gmt":"2024-09-23T06:59:55","guid":{"rendered":"http:\/\/192.168.10.115\/?p=15952"},"modified":"2024-09-23T14:59:55","modified_gmt":"2024-09-23T06:59:55","slug":"2024-09-23-%e7%bb%93%e5%90%88%e8%87%aa%e8%bd%a6%e8%bd%ac%e5%90%91%e7%ad%89%e7%8a%b6%e6%80%81%ef%bc%81metdrive%ef%bc%9a%e5%85%b7%e6%9c%89%e6%97%b6%e5%ba%8f%e5%bc%95%e5%af%bc%e7%9a%84%e5%a4%9a%e6%a8%a1","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/09\/23\/15952\/","title":{"rendered":"2024-09-23 \u7ed3\u5408\u81ea\u8f66\u8f6c\u5411\u7b49\u72b6\u6001\uff01METDrive\uff1a\u5177\u6709\u65f6\u5e8f\u5f15\u5bfc\u7684\u591a\u6a21\u6001\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76"},"content":{"rendered":"\n<p>\u8bba\u6587\u9898\u76ee\uff1aMETDrive: Multi-modal End-to-end Autonomous Driving with Temporal Guidance<br>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2409.12667<\/p>\n\n\n\n<p>\u5f53\u524d\u81ea\u52a8\u9a7e\u9a76\u6700\u524d\u6cbf\u7684\u65b9\u6848\uff0c\u4e5f\u662f\u4f17\u591a\u4e3b\u673a\u5382\u6216\u8005Tier1\u90fd\u5f00\u59cb\u5e03\u5c40\u4e0a\u8f66\uff0c\u751a\u81f3Allin\u7684\u65b9\u6848\uff0c\u5c31\u662f\u201c\u7aef\u5230\u7aef\u201d\uff01\u800c\u4e3a\u4e86\u63d0\u9ad8\u7cfb\u7edf\u7684\u9c81\u68d2\u6027\u548c\u53ef\u9760\u6027\uff0c\u591a\u6a21\u6001\u7684\u65b9\u6848\u4ecd\u7136\u5c55\u73b0\u7740\u8f83\u4e3a\u663e\u8457\u7684\u524d\u666f\u3002\u4f20\u611f\u5668\u878d\u5408\uff0c\u5373\u5c06\u6765\u81ea\u6444\u50cf\u5934\u548c\u6fc0\u5149\u96f7\u8fbe\u7b49\u591a\u79cd\u6765\u6e90\u7684\u6570\u636e\u6574\u5408\u5728\u4e00\u8d77\uff0c\u4e5f\u5df2\u7ecf\u6210\u4e3a\u63a8\u8fdb\u591a\u6a21\u6001\u7aef\u5230\u7aef\u65b9\u6848\u7684\u57fa\u77f3\u3002\u7136\u800c\uff0c\u4ece\u611f\u77e5\u4f20\u611f\u5668\u83b7\u53d6\u7684\u539f\u59cb\u6570\u636e\u7ecf\u5e38\u5305\u542b\u8bb8\u591a\u4e0e\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u7684\u8fd0\u52a8\u89c4\u5212\u65e0\u5173\u7684\u5bf9\u8c61\uff0c\u6bd4\u5982\uff1a\u4e00\u4e9b\u566a\u70b9\u7b49\u3002\u56e0\u6b64\uff0c\u4f9d\u8d56\u8fd9\u4e9b\u4f20\u611f\u5668\u878d\u5408\u7279\u5f81\u7684\u7aef\u5230\u7aef\u6a21\u578b\u7684\u8f93\u51fa\u53ef\u80fd\u4f1a\u53d7\u5230\u8fd9\u4e9b\u65e0\u5173\u68c0\u6d4b\u7684\u4e0d\u5229\u5f71\u54cd\u3002\u4f5c\u8005\u8868\u793a\u5f53\u524d\u7684\u7aef\u5230\u7aef\u65b9\u6cd5\u5927\u591a\u90fd\u6ca1\u6709\u7ed3\u5408\u4e0e\u81ea\u8f66\u72b6\u6001\u76f8\u5173\u7684\u4fe1\u606f\uff0c\u8fd9\u4f1a\u5bfc\u81f4\u5728\u67d0\u4e9b\u573a\u666f\u4e2d\u7684\u5931\u8d25\u3002<\/p>\n\n\n\n<p>\u4eca\u5929\u8981\u4ecb\u7ecd\u7684\u8fd9\u7bc7\u8bba\u6587\uff0c\u4f5c\u8005\u63d0\u51fa\u53ef\u4ee5\u5c06\u989d\u5916\u7684\u4e0e\u81ea\u8f66\u76f8\u5173\u7684\u7279\u5f81\u4f5c\u4e3a\u7f16\u7801\u5668\u7684\u6307\u5bfc\uff0c\u6765\u6709\u6548\u5730\u89e3\u51b3\u4e0a\u8ff0\u95ee\u9898\u3002\u4f5c\u8005\u63d0\u51fa\u4e86METDrive\u7684\u65b9\u6cd5\uff0c\u8fd9\u662f\u4e00\u4e2a\u65b0\u9896\u7684\u7aef\u5230\u7aef\u7cfb\u7edf\uff0c\u5b83\u7ed3\u5408\u4e86\u57fa\u4e8e\u81ea\u6211\u72b6\u6001\u8f93\u5165\u7684\u65f6\u95f4\u5e8f\u5217\u7279\u5f81\u7684\u65f6\u95f4\u6307\u5bfc\u3002\u800c\u6240\u8c13\u7684\u91cd\u8981\u7684\u4e0e\u81ea\u8f66\u76f8\u5173\u7684\u72b6\u6001\uff0c\u662f\u6bd4\u5982\u65cb\u8f6c\u89d2\u5ea6\u3001\u8f6c\u5411\u8f93\u5165\u3001\u6cb9\u95e8\u6c34\u5e73\u548c\u822a\u70b9\u7b49\u7b49\uff0c\u901a\u5e38\u8868\u793a\u4e3a\u533a\u522b\u4e8e\u539f\u59cb\u56fe\u50cf\u548c\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u4e0d\u540c\u7684\u6a21\u6001\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"735\" height=\"786\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-239.png\" alt=\"\" class=\"wp-image-15953\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-239.png 735w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-239-281x300.png 281w\" sizes=\"(max-width: 735px) 100vw, 735px\" \/><\/figure>\n\n\n\n<p>\u901a\u8fc7\u5982\u56fe1\u6240\u793a\u7684\u6574\u5408\u8fd9\u4e9b\u65f6\u95f4\u7ebf\u7d22\uff0c\u5176\u76ee\u6807\u662f\u6307\u5bfc\u4ece\u611f\u77e5\u4f20\u611f\u5668\u63d0\u53d6\u7684\u51e0\u4f55\u7279\u5f81\uff0c\u4ece\u800c\u63d0\u9ad8\u7cfb\u7edf\u505a\u51fa\u660e\u667a\u51b3\u7b56\u7684\u80fd\u529b\u3002\u8fd9\u79cd\u6574\u5408\u4e0d\u4ec5\u589e\u5f3a\u4e86\u7cfb\u7edf\u5bf9\u73af\u5883\u7684\u7406\u89e3\uff0c\u8fd8\u4fc3\u8fdb\u4e86\u66f4\u51c6\u786e\u3001\u66f4\u6709\u60c5\u5883\u611f\u77e5\u7684\u8fd0\u52a8\u89c4\u5212\u3002CARLA\u6392\u884c\u699c\u63d0\u4f9b\u4e86\u4e00\u4e2a\u5177\u6709\u6311\u6218\u6027\u7684\u5728\u7ebf\u8bc4\u4f30\u5e73\u53f0\uff0c\u7528\u4e8e\u8bc4\u4f30\u5728CARLA\u6a21\u62df\u5668\u4e2d\u8fd0\u884c\u7684\u81ea\u52a8\u9a7e\u9a76\u4ee3\u7406\u3002Longest6 \u57fa\u51c6\u6d4b\u8bd5\u5305\u62ec\u8bbe\u8ba1\u7528\u6765\u6d4b\u8bd5\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u8010\u4e45\u6027\u548c\u53ef\u9760\u6027\u7684\u5ef6\u957f\u8def\u7ebf\u3002\u4e3a\u4e86\u8bc4\u4f30\u8be5\u7cfb\u7edf\u5728\u957f\u671f\u4efb\u52a1\u4e0a\u7684\u6027\u80fd\uff0c\u5750\u7740\u9009\u62e9\u4e86Longest6\u57fa\u51c6\u6d4b\u8bd5\u8fdb\u884c\u8bc4\u4f30\u3002<\/p>\n\n\n\n<p>\u672c\u6587\u7684\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u4e86\u4e00\u4e2a\u65f6\u95f4\u5e8f\u5217\u6570\u636e\u7f16\u7801\u5668\uff0c\u7528\u4e8e\u5904\u7406\u5305\u62ec\u65cb\u8f6c\u89d2\u5ea6\u3001\u8f6c\u5411\u4fe1\u53f7\u3001\u6cb9\u95e8\u4fe1\u53f7\u548c\u822a\u70b9\u5411\u91cf\u5728\u5185\u7684\u81ea\u6211\u76f8\u5173\u72b6\u6001\uff0c\u4ee5\u6307\u5bfc\u6765\u81ea\u6240\u6709\u4f20\u611f\u5668\u7684\u7279\u5f81\u878d\u5408\u3002\u76f8\u5e94\u5730\uff0c\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u65f6\u95f4\u6307\u5bfc\u635f\u5931\u51fd\u6570\uff0c\u4ee5\u4f18\u5316\u76f8\u90bb\u65f6\u95f4\u6b65\u7684\u822a\u70b9\u9884\u6d4b\u4e4b\u95f4\u7684\u4e00\u81f4\u6027\u3002\u57fa\u4e8e\u8fd9\u6837\u7684\u8bbe\u8ba1\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u5177\u6709\u65f6\u95f4\u6307\u5bfc\u7684\u65b0\u9896\u7aef\u5230\u7aef\u7cfb\u7edfMETDrive\u3002<\/li>\n\n\n\n<li>\u5728CARLA Longest6\u57fa\u51c6\u6d4b\u8bd5\u4e2d\uff0c\u4f5c\u8005\u63d0\u51fa\u7684\u7cfb\u7edf\u4e0e\u5176\u4ed6\u6700\u65b0\u7cfb\u7edf\u76f8\u6bd4\uff0c\u5b9e\u73b0\u4e86\u66f4\u597d\u7684\u9a7e\u9a76\u5f97\u5206\u3001\u8def\u7ebf\u5b8c\u6210\u5ea6\u548c\u8fdd\u89c4\u5f97\u5206\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u76f8\u5173\u5de5\u4f5c<\/strong><\/p>\n\n\n\n<p>\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\uff0c\u7279\u522b\u662f\u5728\u7aef\u5230\u7aef\u5b66\u4e60\u7cfb\u7edf\u4e2d\uff0c\u5229\u7528\u6df1\u5ea6\u5b66\u4e60\u67b6\u6784\u6765\u6539\u8fdb\u8f66\u8f86\u5bfc\u822a\u548c\u51b3\u7b56\u8fc7\u7a0b\u5df2\u7ecf\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u5c55\u3002\u63a5\u4e0b\u6765\u8ba9\u6211\u4eec\u56de\u987e\u4e00\u4e0b\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u6a21\u578b\u7ed3\u6784\u7684\u6700\u65b0\u8fdb\u5c55\uff0c\u91cd\u70b9\u5173\u6ce8\u4e86\u5b83\u4eec\u7684\u8d21\u732e\u4ee5\u53ca\u4e0e\u6240\u63d0\u51fa\u6a21\u578b\u7684\u76f8\u5173\u6027\u3002<\/p>\n\n\n\n<p><strong>Learning from All Vehicles<\/strong><\/p>\n\n\n\n<p>\u5728\u7aef\u5230\u7aef\u7cfb\u7edf\u4e2d\u7684\u8fd0\u52a8\u89c4\u5212\u4e2d\uff0c\u4e00\u4e2a\u5173\u952e\u7684\u8fdb\u5c55\u662f\u63d0\u51fa\u4e86\u4ece\u73af\u5883\u4e2d\u6240\u6709\u8f66\u8f86\u4e2d\u5b66\u4e60\u7684\u6982\u5ff5\uff0c\u5982Chen\u7b49\u4eba\u6240\u63d0\u51fa\u7684\u65b9\u6cd5(https:\/\/arxiv.org\/pdf\/2203.11934)\u3002\u4ed6\u4eec\u7684\u6a21\u578b\u6574\u5408\u4e86\u611f\u77e5\u6a21\u5757\u3001\u8fd0\u52a8\u89c4\u5212\u5668\u548c\u4f4e\u7ea7\u63a7\u5236\u5668\uff0c\u91c7\u7528\u4e86\u4e09\u9636\u6bb5\u6a21\u5757\u5316\u6d41\u6c34\u7ebf\u3002\u8fd9\u79cd\u65b9\u6cd5\u901a\u8fc7\u8bad\u7ec3\u6240\u6709\u5468\u56f4\u8f66\u8f86\u7684\u8f68\u8ff9\uff0c\u800c\u4e0d\u4ec5\u4ec5\u662f\u81ea\u8f66\uff0c\u663e\u8457\u63d0\u9ad8\u4e86\u8fd0\u52a8\u89c4\u5212\u7684\u6cdb\u5316\u80fd\u529b\u3002\u8be5\u6a21\u578b\u7684\u67b6\u6784\u65e8\u5728\u4ea7\u751f\u8f66\u8f86\u4e0d\u53d8\u7684\u7279\u5f81\uff0c\u589e\u5f3a\u8fd0\u52a8\u89c4\u5212\u5668\u9884\u6d4b\u4e0d\u540c\u8f66\u8f86\u672a\u6765\u8f68\u8ff9\u7684\u80fd\u529b\u3002<\/p>\n\n\n\n<p><strong>Trajectory Prediction and Multi-Modal Fusion<\/strong><\/p>\n\n\n\n<p>\u8f68\u8ff9\u9884\u6d4b\u4e00\u76f4\u662f\u6700\u65b0\u6a21\u578b\u7684\u4e00\u4e2a\u6838\u5fc3\u7126\u70b9\uff0c\u76ee\u6807\u662f\u4e3a\u8f66\u8f86\u7684\u672a\u6765\u8def\u5f84\u751f\u6210\u51c6\u786e\u7684\u822a\u70b9\u3002Chitta\u7b49\u4eba\u4ecb\u7ecd\u7684TransFuser\u6a21\u578b(https:\/\/arxiv.org\/abs\/2205.15997)\u91c7\u7528\u4e86\u591a\u6a21\u6001\u878d\u5408\u53d8\u6362\u5668\uff0c\u7ed3\u5408\u4e86RGB\u56fe\u50cf\u548c\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\u3002\u8fd9\u79cd\u67b6\u6784\u5141\u8bb8\u6a21\u578b\u5229\u7528\u4e0d\u540c\u4f20\u611f\u5668\u8f93\u5165\u7684\u4e92\u8865\u6027\u8d28\uff0c\u4ece\u800c\u63d0\u9ad8\u822a\u70b9\u9884\u6d4b\u7684\u51c6\u786e\u6027\u3002\u6a21\u578b\u4e2d\u53d8\u6362\u5668\u67b6\u6784\u5185\u7684\u81ea\u6ce8\u610f\u529b\u673a\u5236\u7279\u522b\u6709\u6548\u5730\u5c06\u5168\u5c40\u4e0a\u4e0b\u6587\u7eb3\u5165\u51b3\u7b56\u8fc7\u7a0b\u3002<\/p>\n\n\n\n<p><strong>Addressing Biases in Imitation Learning<\/strong><\/p>\n\n\n\n<p>\u6a21\u4eff\u5b66\u4e60\u57fa\u7840\u7684\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u9762\u4e34\u7684\u4e00\u4e2a\u91cd\u5927\u6311\u6218\u662f\u9690\u85cfbias\u7684\u5b58\u5728\uff0c\u7279\u522b\u662f\u4e0e\u6a2a\u5411\u6062\u590d\u548c\u7eb5\u5411\u63a7\u5236\u76f8\u5173\u7684bias\u3002Jaeger\u7b49\u4eba(https:\/\/arxiv.org\/abs\/2306.07957)\u901a\u8fc7\u8bc6\u522b\u4f9d\u8d56\u4e8e\u76ee\u6807\u70b9\u8ddf\u8e2a\u548c\u591a\u6a21\u6001\u822a\u70b9\u9884\u6d4b\u7684\u6700\u5148\u8fdb\u7684\u6a21\u578b\u4e2d\u7684bias\u6765\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\u3002\u4ed6\u4eec\u63d0\u51fa\u7684\u6a21\u578b\uff0cTransFuser++\uff0c\u901a\u8fc7\u7ed3\u5408\u67b6\u6784\u4fee\u6539\u548c\u8bad\u7ec3\u7b56\u7565\u6765\u51cf\u8f7b\u8fd9\u4e9bbias\uff0c\u4ece\u800c\u5728\u57fa\u51c6\u4efb\u52a1\u4e0a\u63d0\u9ad8\u4e86\u9a7e\u9a76\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>Combining Trajectory Planning with Control Prediction<\/strong><\/p>\n\n\n\n<p>\u6700\u8fd1\u7684\u65b9\u6cd5\u8fd8\u63a2\u7d22\u4e86\u5c06\u8f68\u8ff9\u89c4\u5212\u4e0e\u63a7\u5236\u9884\u6d4b\u6574\u5408\u5230\u4e00\u4e2a\u5b66\u4e60\u4efb\u52a1\u91cd\u3002\u4f8b\u5982\uff0cWu\u7b49\u4eba\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u67b6\u6784(https:\/\/arxiv.org\/abs\/2206.08129)\uff0c\u5c06\u8fd9\u4e24\u79cd\u8303\u5f0f\u7ed3\u5408\u5728\u4e00\u4e2alearning pipeline\u4e2d\u3002\u8be5\u6a21\u578b\u4f7f\u7528\u7531\u8f68\u8ff9\u89c4\u5212\u5206\u652f\u5f15\u5bfc\u7684\u591a\u6b65\u63a7\u5236\u9884\u6d4b\u5206\u652f\uff0c\u8fd9\u5141\u8bb8\u8fdb\u884c\u66f4\u51c6\u786e\u3001\u66f4\u6709\u60c5\u5883\u611f\u77e5\u7684\u63a7\u5236\u51b3\u7b56\u3002\u8fd9\u79cd\u65b9\u6cd5\u5728\u5904\u7406\u590d\u6742\u9a7e\u9a76\u573a\u666f\u65f6\u7279\u522b\u6709\u76ca\uff0c\u76f4\u63a5\u9884\u6d4b\u63a7\u5236\u52a8\u4f5c\u53ef\u80fd\u4f1a\u5bfc\u81f4\u6b21\u4f18\u884c\u4e3a\u3002<\/p>\n\n\n\n<p><strong>Alignment with Student\u2019s Perception and Teacher\u2019s Planning<\/strong><\/p>\n\n\n\n<p>Jia\u7b49\u4eba(https:\/\/arxiv.org\/abs\/2308.00398)\u901a\u8fc7\u5229\u7528\u51bb\u7ed3\u7684\u6559\u5e08\u6a21\u578b\u8fdb\u884c\u89c4\u5212\uff0c\u800c\u5b66\u751f\u6a21\u578b\u4e13\u6ce8\u4e8e\u611f\u77e5\uff0c\u5f15\u5165\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u65b9\u6cd5\u3002\u8be5\u8bba\u6587\u63d0\u51fa\u4e86\u4e00\u4e2a\u9002\u914d\u5668\u6a21\u5757\uff0c\u4ee5\u5bf9\u9f50\u5b66\u751f\u6a21\u578b\u7684\u611f\u77e5\u8f93\u51fa\u4e0e\u6559\u5e08\u6a21\u578b\u7684\u89c4\u5212\u8f93\u5165\uff0c\u89e3\u51b3\u4e86\u9884\u6d4b\u6570\u636e\u4e0e\u5730\u9762\u771f\u5b9e\u6570\u636e\u4e4b\u95f4\u7684\u5206\u5e03\u5dee\u8ddd\uff0c\u7ed3\u5408\u4e86\u52a8\u4f5c\u5f15\u5bfc\u7684\u7279\u5f81\u5b66\u4e60\u548c\u63a9\u853d\u7b56\u7565\u6765\u5b8c\u5584\u5b66\u4e60\u8fc7\u7a0b\u3002<\/p>\n\n\n\n<p><strong>\u8bba\u6587\u65b9\u6cd5<\/strong><\/p>\n\n\n\n<p><strong>Imitation Learning with More Modalities<\/strong><\/p>\n\n\n\n<p>\u4f5c\u8005\u5bf9CARLA\u4e2d\u7684\u6700\u8fd1\u7aef\u5230\u7aef\u7cfb\u7edf\u8fdb\u884c\u4e86\u5b9e\u9a8c\uff0c\u8bc4\u4f30\u4e86\u4ed6\u4eec\u7684\u8bba\u6587\u4e2d\u63d0\u4f9b\u7684checkpoints\u5728CARLA\u57ce\u9547\u7684\u957f\u8def\u7ebf\u4e0a\u7684\u8868\u73b0\u3002\u5173\u4e8eTransFuser++\u7684\u8868\u73b0\uff0c\u5b9e\u9a8c\u4e2d\u7684\u56fe2\u663e\u793a\uff0c\u5373\u4f7f\u5728\u4ea4\u901a\u6761\u4ef6\u6e05\u6670\u7684\u60c5\u51b5\u4e0b\uff0c\u81ea\u8f66\u5728\u7eff\u706f\u65f6\u610f\u5916\u5730\u505c\u5728\u4e86\u4ea4\u53c9\u8def\u53e3\u3002\u57fa\u4e8e\u66f4\u591a\u7684\u89c2\u5bdf\uff0c\u4f5c\u8005\u53d1\u73b0\uff0c\u5728\u67d0\u4e9b\u60c5\u51b5\u4e0b\uff0c\u6839\u636e\u6a21\u578b\u7684\u8bad\u7ec3\u6807\u7b7e\uff0cagent\u7684\u884c\u4e3a\u53ef\u80fd\u4f1a\u9047\u5230\u5931\u8d25\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u4e0d\u8db3\uff0c\u4f5c\u8005\u63d0\u51fa\u7684\u7cfb\u7edf\u65e8\u5728\u7f16\u7801\u66f4\u591a\u7684\u6a21\u6001\uff0c\u4f8b\u5982\u81ea\u8f66\u72b6\u6001\uff0c\u4e3a\u8fd0\u52a8\u89c4\u5212\u4efb\u52a1\u63d0\u4f9b\u589e\u5f3a\u7684\u6307\u5bfc\u3002\u4e0e\u5f53\u524d\u5176\u4ed6\u7aef\u5230\u7aef\u7cfb\u7edf\u76f8\u6bd4\uff0c\u4f5c\u8005\u63d0\u51fa\u7684\u7cfb\u7edf\u8fd8\u989d\u5916\u7ed3\u5408\u4e86\u4e0e\u81ea\u6211\u76f8\u5173\u7684\u6570\u636e\u8f93\u5165\uff0c\u4ece\u800c\u589e\u5f3a\u4e86\u7cfb\u7edf\u5229\u7528\u65f6\u95f4\u4fe1\u606f\u7684\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"709\" height=\"817\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-240.png\" alt=\"\" class=\"wp-image-15954\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-240.png 709w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-240-260x300.png 260w\" sizes=\"(max-width: 709px) 100vw, 709px\" \/><\/figure>\n\n\n\n<p>\u5177\u4f53\u6765\u8bf4\uff0c\u4f5c\u8005\u5c06\u4e0e\u81ea\u6211\u76f8\u5173\u7684\u72b6\u6001\u89c6\u4e3a\u65f6\u95f4\u5e8f\u5217\u6570\u636e\uff0c\u4f7f\u7cfb\u7edf\u80fd\u591f\u6355\u6349\u81ea\u8f66\u72b6\u6001\u7684\u52a8\u6001\u6f14\u53d8\u3002\u56e0\u6b64\uff0c\u4f5c\u8005\u7684\u7cfb\u7edf\u67b6\u6784\u88ab\u5212\u5206\u4e3a\u4e24\u4e2a\u4e92\u8865\u7684\u5206\u652f\uff1a\u4e00\u4e2a<strong>\u611f\u77e5\u5206\u652f<\/strong>\uff0c\u5b83\u5904\u7406\u6765\u81ea\u6444\u50cf\u5934\u548c\u6fc0\u5149\u96f7\u8fbe\u7684\u4f20\u611f\u5668\u6570\u636e\uff0c\u5c06\u8fd9\u4e9b\u8f93\u5165\u8f6c\u6362\u4e3a\u4ee3\u8868\u73af\u5883\u7a7a\u95f4\u5e03\u5c40\u7684\u51e0\u4f55\u7279\u5f81\uff1b\u4ee5\u53ca\u4e00\u4e2a<strong>\u65f6\u95f4\u5206\u652f<\/strong>\uff0c\u5b83\u5c06\u4e0e\u81ea\u6211\u76f8\u5173\u7684\u6570\u636e\u4f5c\u4e3a\u65f6\u95f4\u5e8f\u5217\u8f93\u5165\u8fdb\u884c\u5904\u7406\uff0c\u4ece\u800c\u6355\u6349\u81ea\u8f66\u72b6\u6001\u7684\u65f6\u95f4\u52a8\u6001\u3002\u5728\u56fe3\u4e2d\uff0c\u4f5c\u8005\u5c55\u793a\u4e86\u6240\u63d0\u51fa\u7684\u65b9\u6cd5\uff0c\u9996\u5148\u901a\u8fc7\u5404\u81ea\u7684\u7f16\u7801\u5668\u63d0\u53d6\u51e0\u4f55\u7279\u5f81\u548c\u65f6\u95f4\u7279\u5f81\u3002\u7136\u540e\uff0c\u8fd9\u4e9b\u7f16\u7801\u540e\u7684\u7279\u5f81\u901a\u8fc7\u95e8\u63a7\u5faa\u73af\u5355\u5143\uff08GRUs\uff09\u8fdb\u884c\u878d\u5408\u548c\u5904\u7406\uff0c\u4ee5\u4fbf\u4e8e\u65f6\u95f4\u6307\u5bfc\u4e0b\u7684\u822a\u70b9\u9884\u6d4b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"621\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-241-1024x621.png\" alt=\"\" class=\"wp-image-15955\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-241-1024x621.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-241-300x182.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-241-768x466.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-241.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>Perception branch<\/strong><\/p>\n\n\n\n<p>\u611f\u77e5\u5206\u652f\u5305\u62ec\u57fa\u4e8eResNet\u7684\u56fe\u50cf\u548c\u6fc0\u5149\u96f7\u8fbe\u7f16\u7801\u5668\uff0c\u5b83\u4eec\u4ece\u4f20\u611f\u5668\u6570\u636e\u4e2d\u63d0\u53d6\u51e0\u4f55\u7279\u5f81\u3002\u91c7\u7528\u57fa\u4e8e\u6ce8\u610f\u529b\u7684\u7279\u5f81\u878d\u5408\u5757\u6709\u6548\u5730\u6574\u5408\u8fd9\u4e9b\u7279\u5f81\u3002\u901a\u8fc7\u4f7f\u7528\u57fa\u4e8e\u6ce8\u610f\u529b\u7684\u878d\u5408\uff0c\u51e0\u4f55\u7279\u5f81\u4e0e\u6765\u81ea\u56fe\u50cf\u548c\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\u7684\u65f6\u95f4\u8f93\u5165\u4e00\u8d77\u5904\u7406\uff0c\u4ece\u800c\u786e\u4fdd\u4e0e\u65f6\u95f4\u5e8f\u5217\u6570\u636e\u7684\u540e\u7eed\u878d\u5408\u4e00\u81f4\u6027\u3002<\/p>\n\n\n\n<p><strong>Temporal branch<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"666\" height=\"779\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/92301.png\" alt=\"\" class=\"wp-image-15956\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/92301.png 666w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/92301-256x300.png 256w\" sizes=\"(max-width: 666px) 100vw, 666px\" \/><\/figure>\n\n\n\n<p><strong>Temporal guidance loss<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"663\" height=\"299\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/92302.png\" alt=\"\" class=\"wp-image-15957\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/92302.png 663w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/92302-300x135.png 300w\" sizes=\"(max-width: 663px) 100vw, 663px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u4f5c\u8005\u7684\u8bad\u7ec3\u6570\u636e\u662f\u5728CARLA\u768401\u300103\u300104\u300106\u300107\u548c10\u53f7\u57ce\u9547\u6536\u96c6\u7684\uff0c\u5305\u542b\u4e86\u524d\u6444\u50cf\u5934\u56fe\u50cf\u3001\u4e2d\u5fc3\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u3001\u65cb\u8f6c\u89d2\u5ea6\u8bb0\u5f55\u3001\u63a7\u5236\u4fe1\u53f7\u8bb0\u5f55\u3001\u901f\u5ea6\u8bb0\u5f55\u4ee5\u53ca\u76ee\u6807\u70b9\u8bb0\u5f55\u3002\u7531\u4e8e\u8fd9\u4e9b\u8bb0\u5f55\u662f\u57fa\u4e8eCARLA\u63d0\u4f9b\u7684\u81ea\u52a8\u9a7e\u9a76agent\u8fdb\u884c\u7684\uff0c\u5176\u9a7e\u9a76\u884c\u4e3a\u6ca1\u6709\u4eba\u7c7b\u9a7e\u9a76\u5458\u90a3\u4e48\u81ea\u7136\u548c\u6d41\u7545\uff0c\u4f5c\u8005\u5bf9\u63a7\u5236\u4fe1\u53f7\u7684\u566a\u58f0\u5e8f\u5217\u8fdb\u884c\u4e86\u8fc7\u6ee4\u548c\u5e73\u5747\uff0c\u4ee5\u6700\u5c0f\u5316\u5bf9\u4f5c\u8005\u7cfb\u7edf\u6027\u80fd\u7684\u964d\u4f4e\u3002\u6839\u636eTransFuser++\uff0c\u4f5c\u8005\u8bad\u7ec3\u5305\u62ec\u4e24\u9636\u6bb5\uff0c\u5176\u4e2d\u611f\u77e5\u5206\u652f\u9996\u5148\u4e0e\u65cb\u8f6c\u89d2\u5ea6\u8bb0\u5f55\u3001\u63a7\u5236\u4fe1\u53f7\u8bb0\u5f55\u3001\u901f\u5ea6\u8bb0\u5f55\u548c\u63a7\u5236\u547d\u4ee4\u8bb0\u5f55\u4e00\u8d77\u8bad\u7ec3\u76f8\u5e94\u7684\u635f\u5931\uff0c\u7136\u540e\u4f5c\u8005\u4f7f\u7528\u822a\u70b9GRU\u89e3\u7801\u5668\u5bf9\u68c0\u67e5\u70b9\u8fdb\u884c\u5fae\u8c03\u548c\u6240\u6709\u635f\u5931\u7684\u8bad\u7ec3\u3002\u4f5c\u8005\u4f7f\u7528320K\u7684\u8bad\u7ec3\u6837\u672c\u5728\u5355\u4e2aNvidia RTX 4090 24G\u4e0a\u4ee516\u7684\u6279\u91cf\u5927\u5c0f\u8bad\u7ec3\u6a21\u578b\u3002<\/p>\n\n\n\n<p><strong>\u57fa\u51c6\u6d4b\u8bd5<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u8bc4\u4f30\u4f5c\u8005\u6a21\u578b\u7684\u6027\u80fd\uff0c\u4f5c\u8005\u4f7f\u7528CARLA Longest6\u57fa\u51c6\u6d4b\u8bd5\uff0c\u5176\u4e2d\u5305\u62ec\u57ce\u954701-06\u4e2d\u768436\u6761\u957f\u8def\u7ebf\uff0c\u5e76\u914d\u5907\u4e86\u6700\u5927\u4ea4\u901a\u5bc6\u5ea6\u3002\u8868I\u663e\u793a\u4e86\u5728Longest6\u57fa\u51c6\u6d4b\u8bd5\u4e0a\u8bc4\u4f30\u6a21\u578b\u7684\u6027\u80fd\u6bd4\u8f83\uff0c\u4f5c\u8005\u63d0\u51fa\u7684\u7cfb\u7edf\u5728\u9a7e\u9a76\u5f97\u5206\u3001\u8def\u7ebf\u5b8c\u6210\u5ea6\u548c\u8fdd\u89c4\u5f97\u5206\u65b9\u9762\u90fd\u4f18\u4e8e\u6700\u8fd1\u7684\u65b9\u6cd5\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"688\" height=\"522\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-242.png\" alt=\"\" class=\"wp-image-15958\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-242.png 688w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-242-300x228.png 300w\" sizes=\"(max-width: 688px) 100vw, 688px\" \/><\/figure>\n\n\n\n<p><strong>\u6d88\u878d\u7814\u7a76<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u9a8c\u8bc1\u4f5c\u8005\u8bbe\u8ba1\u7684\u6709\u6548\u6027\uff0c\u4f5c\u8005\u8fdb\u884c\u4e86\u6d88\u878d\u5b9e\u9a8c\uff0c\u5305\u62ec\u65f6\u95f4\u6307\u5bfc\u635f\u5931\u4ee5\u53ca\u4e0d\u540c\u7684\u65f6\u95f4\u5e8f\u5217\u7279\u5f81\u5e8f\u5217\u8f93\u5165\u96c6\u3002\u65f6\u95f4\u6307\u5bfc\u635f\u5931\u7684\u7ed3\u679c\u5982\u8868II\u6240\u793a\u3002\u5728\u6ca1\u6709\u65f6\u95f4\u6307\u5bfc\u635f\u5931\u7684\u8bad\u7ec3\u60c5\u51b5\u4e0b\uff0c\u4f5c\u8005\u7684\u6a21\u578b\u5728CARLA 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