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class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"416\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-211-1024x416.png\" alt=\"\" class=\"wp-image-17195\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-211-1024x416.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-211-300x122.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-211-768x312.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-211.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u76f8\u5173\u5de5\u4f5c<\/strong><\/p>\n\n\n\n<p><strong>3D \u5360\u7528\u9884\u6d4b<\/strong><\/p>\n\n\n\n<p>3D 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LiDAR\u70b9\u4e91\u3002Copilot4D\u662f\u4e00\u79cd\u4f7f\u7528VQVAE\u548c\u79bb\u6563\u6269\u6563\u6765\u9884\u6d4b\u672a\u6765\u89c2\u5bdf\u7684\u4e16\u754c\u5efa\u6a21\u65b9\u6cd5\u3002\u5b83\u5728\u51e0\u4e2a\u6570\u636e\u96c6\u4e0a\u63d0\u9ad8\u4e8650%\u4ee5\u4e0a\u7684\u9884\u6d4b\u7cbe\u5ea6\uff0c\u5c55\u793a\u4e86GPT\u7c7b\u65e0\u76d1\u7763\u5b66\u4e60\u5728\u673a\u5668\u4eba\u6280\u672f\u7684\u6f5c\u529b\u3002\u53e6\u4e00\u79cd\u65b9\u6cd5\u662f\u57fa\u4e8e\u5360\u7528\u7684\u4e16\u754c\u6a21\u578b\uff0c\u5b83\u901a\u8fc73D\u5360\u7528\u9884\u6d4b\u672a\u6765\u573a\u666f\u3002OccWorld\u662f\u4e00\u4e2a\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u76843D\u4e16\u754c\u6a21\u578b\uff0c\u5b83\u4f7f\u75283D\u5360\u7528\u9884\u6d4b\u81ea\u6211\u8f66\u8f86\u7684\u8fd0\u52a8\u548c\u5468\u56f4\u573a\u666f\u7684\u6f14\u53d8\u3002OccSora\u662f\u4e00\u4e2a\u57fa\u4e8e\u6269\u6563\u7684\u6a21\u578b\uff0c\u7528\u4e8e\u6a21\u62df\u81ea\u52a8\u9a7e\u9a76\u4e2d3D\u4e16\u754c\u7684\u6f14\u53d8\u3002\u5b83\u4f7f\u75284D\u573a\u666f\u6807\u8bb0\u5668\u548cDiT\u4e16\u754c\u6a21\u578b\u8fdb\u884c\u5360\u7528\u751f\u6210\uff0c\u8f85\u52a9\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u51b3\u7b56\u3002<\/p>\n\n\n\n<p><strong>\u6a21\u578b\u6846\u67b6<\/strong><\/p>\n\n\n\n<p>\u4f5c\u8005\u4ecb\u7ecd\u4e86DOME\uff0c\u4e00\u4e2a\u57fa\u4e8e\u6269\u6563\u7684\u5360\u7528\u4e16\u754c\u6a21\u578b\u3002\u4f5c\u8005\u7684\u65b9\u6cd5\u7531\u4e24\u4e2a\u4e3b\u8981\u7ec4\u4ef6\u7ec4\u6210\uff1aOcc-VAE\u548cDOME\u3002\u4e3a\u4e86\u4f7f\u4e16\u754c\u6a21\u578b\u4e0e\u8f68\u8ff9\u6761\u4ef6\u5bf9\u9f50\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u8f68\u8ff9\u7f16\u7801\u5668\u548c\u8f68\u8ff9\u91cd\u91c7\u6837\u6280\u672f\uff0c\u4e13\u95e8\u8bbe\u8ba1\u7528\u4e8e\u589e\u5f3a\u6a21\u578b\u7684\u53ef\u63a7\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"652\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-212-1024x652.png\" alt=\"\" class=\"wp-image-17196\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-212-1024x652.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-212-300x191.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-212-768x489.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-212.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>Occ-VAE<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"675\" height=\"771\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/102301.png\" alt=\"\" class=\"wp-image-17198\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102301.png 675w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102301-263x300.png 263w\" sizes=\"(max-width: 675px) 100vw, 675px\" \/><\/figure>\n\n\n\n<p><strong>DOME\uff1a\u57fa\u4e8e\u6269\u6563\u7684\u5360\u7528\u4e16\u754c\u6a21\u578b<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"666\" height=\"797\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/102302.png\" alt=\"\" class=\"wp-image-17199\" style=\"width:892px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102302.png 666w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102302-251x300.png 251w\" sizes=\"(max-width: 666px) 100vw, 666px\" \/><\/figure>\n\n\n\n<p><strong>\u8f68\u8ff9\u4f5c\u4e3a\u6761\u4ef6<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"559\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-213-1024x559.png\" alt=\"\" class=\"wp-image-17200\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-213-1024x559.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-213-300x164.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-213-768x420.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-213.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"663\" height=\"161\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/102303.png\" alt=\"\" class=\"wp-image-17201\" style=\"width:892px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102303.png 663w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102303-300x73.png 300w\" sizes=\"(max-width: 663px) 100vw, 663px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"336\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-214-1024x336.png\" alt=\"\" class=\"wp-image-17202\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-214-1024x336.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-214-300x98.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-214-768x252.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-214.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"674\" height=\"594\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/102304.png\" alt=\"\" class=\"wp-image-17203\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102304.png 674w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102304-300x264.png 300w\" sizes=\"(max-width: 674px) 100vw, 674px\" \/><\/figure>\n\n\n\n<p><strong>\u4e16\u754c\u6a21\u578b\u7684\u5e94\u7528<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"669\" height=\"315\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/102305.png\" alt=\"\" class=\"wp-image-17204\" style=\"width:895px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102305.png 669w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102305-300x141.png 300w\" sizes=\"(max-width: 669px) 100vw, 669px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u4f5c\u8005\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u5b9e\u9a8c\uff0c\u4f7f\u7528IoU\uff08\u4ea4\u5e76\u6bd4\uff09\u548cmIoU\uff08\u5e73\u5747\u4ea4\u5e76\u6bd4\uff09\u6307\u6807\u6765\u8bc4\u4f30\u5360\u7528\u91cd\u5efa\u548c4D\u5360\u7528\u9884\u6d4b\u3002\u66f4\u9ad8\u7684IoU\u548cmIoU\u503c\u8868\u660e\u5728\u538b\u7f29\u8fc7\u7a0b\u4e2d\u4fe1\u606f\u4e22\u5931\u8f83\u5c11\uff0c\u53cd\u6620\u4e86\u66f4\u597d\u7684\u91cd\u5efa\u6027\u80fd\uff0c\u5e76\u5c55\u793a\u4e86\u5bf9\u672a\u6765\u5468\u56f4\u73af\u5883\u66f4\u51c6\u786e\u7684\u7406\u89e3\u3002<\/p>\n\n\n\n<p><strong>\u5360\u7528\u91cd\u5efa<\/strong><\/p>\n\n\n\n<p>\u5c3d\u53ef\u80fd\u538b\u7f29\u7684\u540c\u65f6\u7cbe\u786e\u91cd\u5efa\u5360\u7528\u5bf9\u4e8e\u4e0b\u6e38\u4efb\u52a1\u5982\u9884\u6d4b\u548c\u751f\u6210\u81f3\u5173\u91cd\u8981\u3002\u5728\u8fd9\u91cc\uff0c\u4f5c\u8005\u5c06Occ-VAE\u4e0e\u4f7f\u7528\u5360\u7528\u6807\u8bb0\u5668\u7684\u73b0\u6709\u65b9\u6cd5\u8fdb\u884c\u6bd4\u8f83\uff0c\u5e76\u8bc4\u4f30\u5b83\u4eec\u7684\u91cd\u5efa\u7cbe\u5ea6\u3002\u5360\u7528\u91cd\u5efa\u7684\u5b9a\u91cf\u7ed3\u679c\u5982\u88681\u6240\u793a\u3002\u4f5c\u8005\u5728IoU\u548cmIoU\u6307\u6807\u4e0a\u90fd\u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u91cd\u5efa\u6027\u80fd\uff0c\u5206\u522b\u4e3a83.1%\u7684mIoU\u548c77.3%\u7684IoU\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"251\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-215-1024x251.png\" alt=\"\" class=\"wp-image-17205\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-215-1024x251.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-215-300x74.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-215-768x188.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-215.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>4D\u5360\u7528\u9884\u6d4b<\/strong><\/p>\n\n\n\n<p>\u4f5c\u8005\u5728\u5404\u79cd\u8bbe\u7f6e\u4e0b\u5c06\u5176\u65b9\u6cd5\u4e0e\u73b0\u6709\u76844D\u5360\u7528\u9884\u6d4b\u65b9\u6cd5\u8fdb\u884c\u6bd4\u8f83\u3002\u8fd9\u4e9b\u8bbe\u7f6e\u5305\u62ec\u4f7f\u7528\u5730\u9762\u5b9e\u51b53D\u5360\u7528\u6570\u636e\uff08-O\uff09\u4f5c\u4e3a\u8f93\u5165\uff0c\u4ee5\u53ca\u4f7f\u7528\u73b0\u6210\u76843D\u5360\u7528\u9884\u6d4b\u5668\uff08-F\uff09\u7684\u9884\u6d4b\u7ed3\u679c\u4f5c\u4e3a\u8f93\u5165\u3002\u6309\u7167Wei et 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class=\"wp-block-heading\"><strong><\/strong><strong>\u53c2\u8003<\/strong><strong><\/strong><\/h2>\n\n\n\n<p>[1] DOME: Taming Diffusion Model into High-Fidelity Controllable Occupancy World Model<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5728\u4efb\u4f55\u4e00\u7ec4\u4e1c\u897f\u4e2d\uff0c\u6700\u91cd\u8981\u7684\u53ea\u5360\u5176\u4e2d\u4e00\u5c0f\u90e8\u5206\uff0c\u7ea6 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