{"id":18794,"date":"2024-11-07T17:21:58","date_gmt":"2024-11-07T09:21:58","guid":{"rendered":"http:\/\/192.168.10.115\/?p=18794"},"modified":"2024-11-07T17:21:58","modified_gmt":"2024-11-07T09:21:58","slug":"2024-11-07-lvlm%e8%b5%8b%e8%83%bd%e7%ab%af%e5%88%b0%e7%ab%af%ef%bc%81%e5%9c%b0%e5%b9%b3%e7%ba%bf%e5%8d%8e%e7%a7%91%e8%81%94%e6%89%8b%e6%89%93%e9%80%a0%e6%9b%b4%e5%bc%ba%e8%87%aa%e5%8a%a8%e9%a9%be","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/11\/07\/18794\/","title":{"rendered":"2024-11-07 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LVLM \u8981\u4e48\u4ec5\u652f\u6301\u524d\u89c6\u8f93\u5165\uff0c\u8fd9\u4f1a\u9650\u5236\u7a7a\u95f4\u611f\u77e5\u5e76\u589e\u52a0\u5b89\u5168\u98ce\u9669\uff0c\u8981\u4e48\u53ef\u4ee5\u9002\u5e94\u591a\u56fe\u50cf\u8f93\u5165\u4f46\u4ecd\u7136\u7f3a\u4e4f\u8be6\u7ec6\u8bbe\u8ba1\u6216\u6709\u6548\u6027\u9a8c\u8bc1\u3002\u6211\u4eec\u63d0\u51fa\u7684Senna\uff0c\u5b83\u652f\u6301\u591a\u56fe\u50cf\u8f93\u5165\u6765\u7f16\u7801\u73af\u89c6\u6570\u636e\uff0c\u8fd9\u5bf9\u4e8e\u4e86\u89e3\u9a7e\u9a76\u573a\u666f\u548c\u786e\u4fdd\u5b89\u5168\u81f3\u5173\u91cd\u8981\u3002<\/li>\n\n\n\n<li><strong>\u5982\u4f55\u6709\u6548\u5730\u8bad\u7ec3\u9a7e\u9a76 LVLM\uff1f<\/strong>\u5728\u5f00\u53d1\u7528\u4e8e\u9a7e\u9a76\u4efb\u52a1\u7684 LVLM \u4e4b\u540e\uff0c\u6700\u540e\u4e00\u6b65\u662f\u786e\u4fdd\u6709\u6548\u7684\u8bad\u7ec3\uff0c\u8fd9\u9700\u8981\u5408\u9002\u7684\u6570\u636e\u548c\u7b56\u7565\u3002\u6211\u4eec\u5f15\u5165\u4e86\u4e00\u7cfb\u5217\u9762\u5411\u89c4\u5212\u7684\u95ee\u7b54\uff0c\u65e8\u5728\u589e\u5f3a VLM \u5bf9\u9a7e\u9a76\u573a\u666f\u4e2d\u89c4\u5212\u76f8\u5173\u7ebf\u7d22\u7684\u7406\u89e3\uff0c\u6700\u7ec8\u5b9e\u73b0\u66f4\u51c6\u786e\u7684\u89c4\u5212\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u9488\u5bf9\u4e0a\u8ff0\u76f8\u5173\u95ee\u9898\u7684\u8ba8\u8bba\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u5c06 LVLM \u4e0e\u7aef\u5230\u7aef\u6a21\u578b\u76f8\u7ed3\u5408\u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\uff0c\u5b9e\u73b0\u4e86\u4ece\u9ad8\u7ea7\u51b3\u7b56\u5230\u4f4e\u7ea7\u8f68\u8ff9\u9884\u6d4b\u7684\u7ed3\u6784\u5316\u89c4\u5212\u3002\u8be5\u7b97\u6cd5\u79f0\u4e4b\u4e3aSenna\u3002\u5e76\u4e14\u5728nuScenes\u6570\u636e\u96c6\u548cDriveX\u5927\u89c4\u6a21\u6570\u636e\u96c6\u4e0a\u7684\u5927\u91cf\u5b9e\u9a8c\u4e5f\u8bc1\u660e\u4e86Senna\u7684SOTA\u89c4\u5212\u6027\u80fd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"511\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-261-1024x511.png\" alt=\"\" class=\"wp-image-18795\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-261-1024x511.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-261-300x150.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-261-768x383.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-261.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2410.22313<\/p>\n\n\n\n<p><strong>\u7f51\u7edc\u7ed3\u6784&amp;\u6280\u672f\u7ec6\u8282\u68b3\u7406<\/strong><\/p>\n\n\n\n<p>\u5728\u8be6\u7ec6\u4ecb\u7ecd\u672c\u6587\u63d0\u51fa\u7684\u7b97\u6cd5\u6a21\u578b\u7684\u7f51\u7edc\u67b6\u6784\u7ec6\u8282\u4e4b\u524d\uff0c\u4e0b\u56fe\u5c55\u793a\u4e86\u6211\u4eec\u63d0\u51fa\u7684Senna\u7b97\u6cd5\u6a21\u578b\u7684\u6574\u4f53\u7f51\u7edc\u7ed3\u6784\u56fe\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"418\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-262-1024x418.png\" alt=\"\" class=\"wp-image-18796\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-262-1024x418.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-262-300x123.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-262-768x314.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-262.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u6574\u4f53\u800c\u8a00\uff0c\u8f93\u5165\u7684\u573a\u666f\u4fe1\u606f\u5305\u62ec\u591a\u89c6\u89d2\u56fe\u50cf\u5e8f\u5217\u3001\u7528\u6237\u6307\u4ee4\u548c\u5bfc\u822a\u547d\u4ee4\u3002\u7528\u6237\u6307\u4ee4\u4f5c\u4e3a\u63d0\u793a\u8f93\u5165\u5230Senna-VLM\u4e2d\uff0c\u5176\u4ed6\u6307\u4ee4\u5219\u540c\u65f6\u53d1\u9001\u7ed9Senna-VLM\u548cSenna-E2E\u3002Senna-VLM\u5c06\u56fe\u50cf\u548c\u6587\u672c\u4fe1\u606f\u5206\u522b\u7f16\u7801\u4e3a\u56fe\u50cf\u548c\u6587\u672c\u6807\u8bb0\uff0c\u7136\u540e\u7531LLM\u8fdb\u884c\u5904\u7406\u3002LLM\u751f\u6210\u9ad8\u7ea7\u51b3\u7b56\uff0c\u8fd9\u4e9b\u51b3\u7b56\u901a\u8fc7\u5143\u52a8\u4f5c\u7f16\u7801\u5668\u7f16\u7801\u4e3a\u9ad8\u7ef4\u7279\u5f81\u3002Senna-E2E\u6839\u636e\u573a\u666f\u4fe1\u606f\u548cSenna-VLM\u751f\u6210\u7684\u5143\u52a8\u4f5c\u7279\u5f81\u9884\u6d4b\u6700\u7ec8\u7684\u89c4\u5212\u8f68\u8ff9\u3002\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u7cfb\u5217\u9762\u5411\u89c4\u5212\u7684QA\u6765\u8bad\u7ec3Senna-VLM\uff0c\u8fd9\u4e9bQA\u4e0d\u9700\u8981\u4eba\u5de5\u6ce8\u91ca\uff0c\u5e76\u4e14\u53ef\u4ee5\u5b8c\u5168\u901a\u8fc7\u81ea\u52a8\u6807\u8bb0\u6d41\u7a0b\u5927\u89c4\u6a21\u751f\u6210\u3002<\/p>\n\n\n\n<p><strong>\u9a7e\u9a76\u573a\u666f\u7406\u89e3<\/strong><\/p>\n\n\n\n<p>\u4e86\u89e3\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u5173\u952e\u56e0\u7d20\u5bf9\u4e8e\u5b89\u5168\u51c6\u786e\u5730\u8fdb\u884c\u89c4\u5212\u81f3\u5173\u91cd\u8981\u3002\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u7cfb\u5217\u9762\u5411\u89c4\u5212\u7684 QA\uff0c\u4ee5\u589e\u5f3a Senna-VLM \u5bf9\u9a7e\u9a76\u573a\u666f\u7684\u7406\u89e3\u3002\u6bcf\u79cd\u7c7b\u578b\u7684 QA \u7684\u7ec6\u8282\u5982\u4e0b\u56fe\u6240\u793a\u3002\u7528\u4e8e\u751f\u6210\u8fd9\u4e9b QA \u7684\u539f\u59cb\u6570\u636e\uff08\u4f8b\u5982 3D \u7269\u4f53\u68c0\u6d4b\u6846\u548c\u7269\u4f53\u8ddf\u8e2a\u8f68\u8ff9\uff09\u53ef\u4ee5\u901a\u8fc7\u81ea\u52a8\u6ce8\u91ca\u7cfb\u7edf\u83b7\u5f97\u3002\u6b64\u5916\uff0c\u63cf\u8ff0\u6027 QA \u53ef\u4ee5\u7531 GPT-4o \u7b49 LVLM \u751f\u6210\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"515\" height=\"703\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-263.png\" alt=\"\" class=\"wp-image-18797\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-263.png 515w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-263-220x300.png 220w\" sizes=\"(max-width: 515px) 100vw, 515px\" \/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u573a\u666f\u63cf\u8ff0<\/strong>\uff1a\u6211\u4eec\u5229\u7528\u9884\u5148\u8bad\u7ec3\u7684 LVLM \u6839\u636e\u73af\u89c6\u56fe\u50cf\u751f\u6210\u9a7e\u9a76\u573a\u666f\u63cf\u8ff0\u3002\u4e3a\u4e86\u907f\u514d\u751f\u6210\u4e0e\u89c4\u5212\u65e0\u5173\u7684\u5197\u4f59\u4fe1\u606f\uff0c\u6211\u4eec\u5728\u63d0\u793a\u4e2d\u6307\u5b9a\u4e86\u6240\u9700\u7684\u4fe1\u606f\uff0c\u5305\u62ec\uff1a\u4ea4\u901a\u72b6\u51b5\u3001\u73af\u5883\uff08\u4f8b\u5982\u57ce\u5e02\u3001\u4e61\u6751\u7b49\uff09\u3001\u9053\u8def\u7c7b\u578b\uff08\u4f8b\u5982\u94fa\u88c5\u9053\u8def\u3001\u9ad8\u901f\u516c\u8def\uff09\u3001\u5929\u6c14\u72b6\u51b5\u3001\u4e00\u5929\u4e2d\u7684\u65f6\u95f4\u4ee5\u53ca\u9053\u8def\u72b6\u51b5\uff08\u4f8b\u5982\u9053\u8def\u662f\u5426\u5e73\u5766\u6216\u662f\u5426\u6709\u4efb\u4f55\u969c\u788d\u7269\uff09\u3002\u901a\u8fc7\u4ee5\u8fd9\u79cd\u65b9\u5f0f\u6784\u5efa\u63d0\u793a\uff0c\u6211\u4eec\u53ef\u4ee5\u83b7\u5f97\u7b80\u6d01\u4e14\u4fe1\u606f\u4e30\u5bcc\u7684\u573a\u666f\u63cf\u8ff0\u3002<\/li>\n\n\n\n<li><strong>\u4ea4\u901a\u706f\u4fe1\u53f7\u68c0\u6d4b<\/strong>\uff1a\u4ea4\u901a\u4fe1\u53f7\u706f\u6709\u591a\u79cd\u7c7b\u578b\uff0c\u4f46\u8fd9\u91cc\u6211\u4eec\u4e3b\u8981\u5173\u6ce8\u6700\u5173\u952e\u7684\u4e00\u79cd\uff1a\u4ea4\u901a\u4fe1\u53f7\u706f\u3002\u4ea4\u901a\u4fe1\u53f7\u706f\u7684\u72b6\u6001\u53ef\u5206\u4e3a\u56db\u79cd\uff1a\u7ea2\u8272\u3001\u7eff\u8272\u3001\u9ec4\u8272\u548c\u65e0\uff0c\u5176\u4e2d\u65e0\u8868\u793a\u5728\u81ea\u8f66\u524d\u65b9\u672a\u68c0\u6d4b\u5230\u4ea4\u901a\u4fe1\u53f7\u706f\u3002<\/li>\n\n\n\n<li><strong>VRU\u8bc6\u522b<\/strong>\uff1a\u901a\u8fc7\u8bc6\u522b\u73af\u5883\u4e2d\u7684VRU\uff0c\u6211\u4eec\u589e\u5f3a\u4e86 Senna \u5bf9\u8fd9\u4e9b\u5173\u952e\u7269\u4f53\u7684\u611f\u77e5\uff0c\u5e76\u63d0\u9ad8\u4e86\u89c4\u5212\u7684\u5b89\u5168\u6027\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u4f7f\u7528\u771f\u503c 3D \u68c0\u6d4b\u7ed3\u679c\u6765\u83b7\u53d6 VRU \u7684\u7c7b\u522b\u548c\u4f4d\u7f6e\uff0c\u7136\u540e\u4ee5\u6587\u672c\u5f62\u5f0f\u63cf\u8ff0\u8fd9\u4e9b\u4fe1\u606f\u3002\u4f4d\u7f6e\u4fe1\u606f\u4ee5\u81ea\u8f66\u4e3a\u4e2d\u5fc3\uff0c\u5305\u62ec\u6bcf\u4e2a VRU \u76f8\u5bf9\u4e8e\u81ea\u8f66\u7684\u6a2a\u5411\u548c\u7eb5\u5411\u8ddd\u79bb\u3002\u6211\u4eec\u4ec5\u4f7f\u7528 Senna-VLM \u6765\u9884\u6d4b\u8ddd\u79bb\u7684\u6574\u6570\u90e8\u5206\uff0c\u4ee5\u5728\u6784\u5efa\u8ddd\u79bb\u611f\u77e5\u7684\u540c\u65f6\u964d\u4f4e\u5b66\u4e60\u590d\u6742\u6027\u3002<\/li>\n\n\n\n<li><strong>\u8fd0\u52a8\u610f\u56fe\u9884\u6d4b<\/strong>\uff1a\u51c6\u786e\u9884\u6d4b\u5176\u4ed6\u8f66\u8f86\u7684\u672a\u6765\u8fd0\u52a8\u610f\u56fe\u662f\u5b89\u5168\u89c4\u5212\u7684\u5148\u51b3\u6761\u4ef6\u3002\u6211\u4eec\u8fd8\u91c7\u7528\u4e86\u5143\u52a8\u4f5c\u65b9\u6cd5\uff0c\u4f7f Senna \u80fd\u591f\u9884\u6d4b\u5468\u56f4\u8f66\u8f86\u7684\u672a\u6765\u884c\u4e3a\u3002\u8fd9\u589e\u5f3a\u4e86 Senna \u5bf9\u573a\u666f\u52a8\u6001\u7279\u5f81\u7684\u7406\u89e3\uff0c\u4f7f\u5176\u80fd\u591f\u505a\u51fa\u66f4\u660e\u667a\u7684\u51b3\u7b56\u3002<\/li>\n\n\n\n<li><strong>\u5143\u52a8\u4f5c\u89c4\u5212<\/strong>\uff1a\u4e3a\u4e86\u907f\u514d\u4f7f\u7528 LVLM \u8fdb\u884c\u7cbe\u786e\u7684\u8f68\u8ff9\u9884\u6d4b\uff0c\u6211\u4eec\u5c06\u81ea\u8eab\u8f66\u8f86\u7684\u672a\u6765\u8f68\u8ff9\u8f6c\u6362\u4e3a\u5143\u52a8\u4f5c\u4ee5\u8fdb\u884c\u9ad8\u7ea7\u89c4\u5212\u3002\u5177\u4f53\u800c\u8a00\uff0c\u5143\u52a8\u4f5c\u5305\u62ec\u6a2a\u5411\u548c\u7eb5\u5411\u51b3\u7b56\u3002\u6a2a\u5411\u5143\u52a8\u4f5c\u5305\u62ec\u5de6\u8f6c\u3001\u76f4\u884c\u548c\u53f3\u8f6c\uff0c\u800c\u7eb5\u5411\u5143\u52a8\u4f5c\u5305\u62ec\u52a0\u901f\u3001\u4fdd\u6301\u3001\u51cf\u901f\u548c\u505c\u6b62\u3002\u6a2a\u5411\u5143\u52a8\u4f5c\u662f\u6839\u636e\u9884\u6d4b\u7684\u672a\u6765\u65f6\u95f4\u6b65\u957f T \u5185\u7684\u6a2a\u5411\u4f4d\u79fb\u786e\u5b9a\u7684\uff0c\u7eb5\u5411\u5143\u52a8\u4f5c\u662f\u6839\u636e\u9884\u6d4b\u671f\u95f4\u7684\u901f\u5ea6\u53d8\u5316\u786e\u5b9a\u7684\u3002\u6700\u7ec8\u7684\u5143\u52a8\u4f5c\u5305\u62ec\u6a2a\u5411\u548c\u7eb5\u5411\u5143\u52a8\u4f5c\u3002<\/li>\n\n\n\n<li><strong>\u89c4\u5212\u89e3\u91ca<\/strong>\uff1a\u6211\u4eec\u8fd8\u4f7f\u7528\u57fa\u4e8e\u8f66\u8f86\u771f\u5b9e\u672a\u6765\u8fd0\u52a8\u7684 LVLM \u751f\u6210\u89c4\u5212\u89e3\u91ca\u3002\u6362\u53e5\u8bdd\u8bf4\uff0c\u6211\u4eec\u5411 LVLM \u544a\u77e5\u8f66\u8f86\u7684\u5b9e\u9645\u672a\u6765\u8fd0\u52a8\uff08\u4f8b\u5982\u52a0\u901f\u548c\u5de6\u8f6c\uff09\uff0c\u5e76\u8981\u6c42\u5b83\u4eec\u5206\u6790\u6b64\u7c7b\u51b3\u7b56\u80cc\u540e\u7684\u539f\u56e0\u3002\u5728\u63d0\u793a\u4e2d\uff0c\u6211\u4eec\u901a\u8fc7\u8003\u8651\u4ee5\u4e0b\u5f71\u54cd\u89c4\u5212\u7684\u56e0\u7d20\u6765\u6307\u5bfc\u6a21\u578b\u5206\u6790\u51b3\u7b56\uff1a\u5176\u4ed6\u4ea4\u901a\u53c2\u4e0e\u8005\u7684\u884c\u4e3a\u3001\u5bfc\u822a\u4fe1\u606f\u3001\u9053\u8def\u72b6\u51b5\u548c\u4ea4\u901a\u4fe1\u53f7\u706f\u72b6\u6001\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>Senna-VLM<\/strong><\/p>\n\n\n\n<p>Senna-VLM \u7531\u56db\u4e2a\u7ec4\u4ef6\u7ec4\u6210\u3002\u89c6\u89c9\u7f16\u7801\u5668\u4ee5\u591a\u89c6\u89d2\u56fe\u50cf\u5e8f\u5217\u4f5c\u4e3a\u8f93\u5165\u5e76\u63d0\u53d6\u56fe\u50cf\u7279\u5f81\uff0c\u7136\u540e\u7531Driving Vision Adapter\u8fdb\u4e00\u6b65\u7f16\u7801\u548c\u538b\u7f29\uff0c\u4ea7\u751f\u56fe\u50cf\u6807\u8bb0\u3002\u6587\u672c\u7f16\u7801\u5668\u5c06\u7528\u6237\u6307\u4ee4\u548c\u5bfc\u822a\u547d\u4ee4\u7f16\u7801\u4e3a\u6587\u672c\u6807\u8bb0\u3002\u56fe\u50cf\u548c\u6587\u672c\u6807\u8bb0\u5747\u8f93\u5165\u5230 LLM \u4e2d\uff0c\u540e\u8005\u9884\u6d4b\u9ad8\u7ea7\u51b3\u7b56\u3002\u5728\u5b9e\u8df5\u4e2d\uff0c\u6211\u4eec\u4f7f\u7528 Vicuna-v1.5-7b\u4f5c\u4e3a\u6211\u4eec\u7684 LLM\u3002\u6700\u540e\uff0c\u5143\u52a8\u4f5c\u7f16\u7801\u5668\u5bf9\u51b3\u7b56\u8fdb\u884c\u7f16\u7801\u5e76\u8f93\u51fa\u5143\u52a8\u4f5c\u7279\u5f81\u3002<\/p>\n\n\n\n<p>\u6211\u4eec\u4f7f\u7528 CLIP \u7684 ViT-L\/14 \u4f5c\u4e3a\u89c6\u89c9\u7f16\u7801\u5668\uff0c\u7531\u4e8e\u591a\u5e45\u56fe\u50cf\u8f93\u5165\uff0c\u5bfc\u81f4\u56fe\u50cf token \u6570\u91cf\u8fc7\u591a\uff0c\u4e0d\u4ec5\u51cf\u6162\u4e86 VLM \u7684\u8bad\u7ec3\u548c\u63a8\u7406\u901f\u5ea6\uff0c\u8fd8\u4f1a\u5bfc\u81f4\u6a21\u578b\u5d29\u6e83\u548c\u89e3\u7801\u5931\u8d25\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u5f15\u5165\u4e86 Driving Vision Adapter \u6a21\u5757\u3002\u8be5\u6a21\u5757\u4e0d\u4ec5\u5c06\u56fe\u50cf\u7279\u5f81\u6620\u5c04\u5230LLM\u7279\u5f81\u7a7a\u95f4\uff0c\u800c\u4e14\u8fd8\u5bf9\u56fe\u50cf\u7279\u5f81\u8fdb\u884c\u989d\u5916\u7684\u7f16\u7801\u548c\u538b\u7f29\uff0c\u4ee5\u51cf\u5c11\u56fe\u50cf\u6807\u8bb0\u7684\u6570\u91cf\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u91c7\u7528\u4e00\u7ec4\u56fe\u50cf\u67e5\u8be2\u6765\u5bf9\u56fe\u50cf\u7279\u5f81\u8fdb\u884c\u7f16\u7801\u5e76\u8f93\u51fa\u56fe\u50cf\u6807\u8bb0\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"717\" height=\"59\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-264.png\" alt=\"\" class=\"wp-image-18798\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-264.png 717w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-264-300x25.png 300w\" sizes=\"(max-width: 717px) 100vw, 717px\" \/><\/figure>\n\n\n\n<p>\u5176\u4e2d\uff0cMHSA\u4ee3\u8868\u7684\u662f\u591a\u5934\u81ea\u6ce8\u610f\u529b\u673a\u5236\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u8ba9 Senna-VLM \u80fd\u591f\u533a\u5206\u4e0d\u540c\u89c6\u56fe\u4e2d\u7684\u56fe\u50cf\u7279\u5f81\u5e76\u5efa\u7acb\u7a7a\u95f4\u7406\u89e3\uff0c\u6211\u4eec\u4e3a\u9a7e\u9a76\u573a\u666f\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u7b80\u5355\u800c\u6709\u6548\u7684\u73af\u89c6\u63d0\u793a\u3002\u4ee5\u6b63\u9762\u89c6\u56fe\u4e3a\u4f8b\uff0c\u76f8\u5e94\u7684\u63d0\u793a\u662f\uff1aFRONT VIEW: \\n image \\n\uff0c\u5176\u4e2d image \u662f LLM \u7684\u7279\u6b8a\u6807\u8bb0\uff0c\u5728\u751f\u6210\u8fc7\u7a0b\u4e2d\u5c06\u88ab\u56fe\u50cf\u6807\u8bb0\u66ff\u6362\u3002\u4e0b\u56fe\u8bf4\u660e\u4e86\u6211\u4eec\u63d0\u51fa\u7684\u591a\u89c6\u56fe\u63d0\u793a\u548c\u56fe\u50cf\u7f16\u7801\u65b9\u6cd5\u7684\u8bbe\u8ba1\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"430\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-265.png\" alt=\"\" class=\"wp-image-18799\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-265.png 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-265-300x179.png 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure>\n\n\n\n<p>\u6700\u540e\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u5143\u52a8\u4f5c\u7f16\u7801\u5668\uff0c\u5c06LLM\u8f93\u51fa\u7684\u9ad8\u7ea7\u51b3\u7b56\u8f6c\u6362\u4e3a\u5143\u52a8\u4f5c\u7279\u5f81\u3002\u5143\u52a8\u4f5c\u7f16\u7801\u5668\u4f7f\u7528\u4e00\u7ec4\u53ef\u5b66\u4e60\u7684\u5d4c\u5165\u5b9e\u73b0\u4ece\u5143\u52a8\u4f5c\u5230\u5143\u52a8\u4f5c\u7279\u5f81\u7684\u4e00\u5bf9\u4e00\u6620\u5c04\uff0c\u4e0b\u9762\u7684\u516c\u5f0f\u8bf4\u660e\u4e86\u751f\u6210\u5143\u52a8\u4f5c\u7279\u5f81\u7684\u8fc7\u7a0b<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"661\" height=\"56\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-266.png\" alt=\"\" class=\"wp-image-18800\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-266.png 661w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-266-300x25.png 300w\" sizes=\"(max-width: 661px) 100vw, 661px\" \/><\/figure>\n\n\n\n<p>\u968f\u540e\uff0c\u5143\u52a8\u4f5c\u7279\u5f81\u5c06\u88ab\u8f93\u5165\u5230 SennaE2E \u4e2d\u4ee5\u9884\u6d4b\u89c4\u5212\u8f68\u8ff9\u3002<\/p>\n\n\n\n<p><strong>Senna-E2E<\/strong><\/p>\n\n\n\n<p>Senna-E2E \u6269\u5c55\u4e86 VADv2\u3002\u5177\u4f53\u6765\u8bf4\uff0cSenna-E2E \u7684\u8f93\u5165\u5305\u62ec\u591a\u89c6\u89d2\u56fe\u50cf\u5e8f\u5217\u3001\u5bfc\u822a\u547d\u4ee4\u548c\u5143\u52a8\u4f5c\u7279\u5f81\u3002\u5b83\u7531\u4e09\u4e2a\u6a21\u5757\u7ec4\u6210\uff1a\u611f\u77e5\u6a21\u5757\uff0c\u7528\u4e8e\u68c0\u6d4b\u52a8\u6001\u7269\u4f53\u5e76\u751f\u6210\u5c40\u90e8\u5730\u56fe\uff1b\u8fd0\u52a8\u9884\u6d4b\u6a21\u5757\uff0c\u7528\u4e8e\u9884\u6d4b\u52a8\u6001\u7269\u4f53\u7684\u672a\u6765\u8f68\u8ff9\uff1b\u89c4\u5212\u6a21\u5757\uff0c\u4f7f\u7528\u4e00\u7ec4\u901a\u8fc7\u6ce8\u610f\u529b\u673a\u5236\u4e0e\u573a\u666f\u7279\u5f81\u4ea4\u4e92\u7684\u89c4\u5212\u6807\u8bb0\u6765\u9884\u6d4b\u89c4\u5212\u8f68\u8ff9\u3002\u6211\u4eec\u5c06\u5143\u52a8\u4f5c\u7279\u5f81\u96c6\u6210\u4e3a Senna-E2E \u7684\u9644\u52a0\u4ea4\u4e92\u6807\u8bb0\u3002\u7531\u4e8e\u5143\u52a8\u4f5c\u7279\u5f81\u91c7\u7528\u5d4c\u5165\u5411\u91cf\u7684\u5f62\u5f0f\uff0c\u56e0\u6b64 Senna-VLM \u53ef\u4ee5\u8f7b\u677e\u4e0e\u5176\u4ed6\u7aef\u5230\u7aef\u6a21\u578b\u7ed3\u5408\u3002Senna-E2E\u7684\u8f68\u8ff9\u89c4\u5212\u8fc7\u7a0b\u53ef\u4ee5\u8868\u8ff0\u5982\u4e0b<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"524\" height=\"65\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-267.png\" alt=\"\" class=\"wp-image-18801\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-267.png 524w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-267-300x37.png 300w\" sizes=\"(max-width: 524px) 100vw, 524px\" \/><\/figure>\n\n\n\n<p><strong>\u8bad\u7ec3\u7b56\u7565<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u4e3a Senna-VLM \u63d0\u51fa\u4e86\u4e00\u79cd\u4e09\u9636\u6bb5\u8bad\u7ec3\u7b56\u7565\u3002\u7b2c\u4e00\u9636\u6bb5\u662f\u6df7\u5408\u9884\u8bad\u7ec3\uff0c\u6211\u4eec\u4f7f\u7528\u5355\u56fe\u50cf\u6570\u636e\u8bad\u7ec3Driving Vision Adapter\uff0c\u540c\u65f6\u4fdd\u6301 Senna-VLM \u4e2d\u5176\u4ed6\u6a21\u5757\u7684\u53c2\u6570\u4e0d\u53d8\u3002\u8fd9\u6837\u53ef\u4ee5\u5c06\u56fe\u50cf\u7279\u5f81\u6620\u5c04\u5230 LLM \u7279\u5f81\u7a7a\u95f4\u3002\u6df7\u5408\u662f\u6307\u4f7f\u7528\u6765\u81ea\u591a\u4e2a\u6765\u6e90\u7684\u6570\u636e\uff0c\u5305\u62ec LLaVA\u4e2d\u4f7f\u7528\u7684\u6307\u4ee4\u8ddf\u8e2a\u6570\u636e\u548c\u6211\u4eec\u63d0\u51fa\u7684\u9a7e\u9a76\u573a\u666f\u63cf\u8ff0\u6570\u636e\u3002\u7b2c\u4e8c\u9636\u6bb5\u662f\u9a7e\u9a76\u5fae\u8c03\uff0c\u6211\u4eec\u6839\u636e\u4e4b\u524d\u63d0\u51fa\u7684\u9762\u5411\u89c4\u5212\u7684 QA \u5bf9 Senna-VLM \u8fdb\u884c\u5fae\u8c03\uff0c\u4e0d\u5305\u62ec\u5143\u52a8\u4f5c\u89c4\u5212 QA\u3002\u5728\u6b64\u9636\u6bb5\uff0c\u4f7f\u7528\u73af\u89c6\u591a\u56fe\u50cf\u8f93\u5165\u800c\u4e0d\u662f\u5355\u56fe\u50cf\u8f93\u5165\u3002\u7b2c\u4e09\u9636\u6bb5\u662f\u89c4\u5212\u5fae\u8c03\uff0c\u6211\u4eec\u4ec5\u4f7f\u7528\u5143\u52a8\u4f5c\u89c4\u5212 QA \u8fdb\u4e00\u6b65\u5fae\u8c03 Senna-VLM\u3002<\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c&amp;\u8bc4\u4ef7\u6307\u6807<\/strong><\/p>\n\n\n\n<p>\u4e0b\u56fe\u7684\u5b9e\u9a8c\u7ed3\u679c\u5c55\u793a\u4e86 Senna \u5728\u9ad8\u7ea7\u89c4\u5212\u548c\u573a\u666f\u63cf\u8ff0\u65b9\u9762\u7684\u8868\u73b0\uff0c\u5e76\u4e0e\u6700\u5148\u8fdb\u7684\u5f00\u6e90 LVLM\uff08\u5305\u62ec QwenVL\u3001LLaVA \u548c VILA\uff09\u8fdb\u884c\u4e86\u6bd4\u8f83\u3002\u524d\u4e09\u884c\u7684\u7ed3\u679c\u662f\u901a\u8fc7\u76f4\u63a5\u8bc4\u4f30\u539f\u59cb\u6a21\u578b\u83b7\u5f97\u7684\u3002\u53ef\u4ee5\u770b\u51fa\uff0c\u4f7f\u7528\u9884\u8bad\u7ec3\u6743\u91cd\u7684\u6a21\u578b\u5728\u9a7e\u9a76\u4efb\u52a1\u4e0a\u8868\u73b0\u4e0d\u4f73\uff0c\u56e0\u4e3a\u5b83\u4eec\u7684\u8bad\u7ec3\u76ee\u6807\u662f\u9762\u5411\u4e00\u822c\u7406\u89e3\u548c\u5bf9\u8bdd\uff0c\u800c\u4e0d\u662f\u4e13\u95e8\u9488\u5bf9\u9a7e\u9a76\u76f8\u5173\u4efb\u52a1\u800c\u91cf\u8eab\u5b9a\u5236\u7684\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"222\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-268-1024x222.png\" alt=\"\" class=\"wp-image-18802\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-268-1024x222.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-268-300x65.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-268-768x166.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-268.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u4e3a\u4e86\u8fdb\u4e00\u6b65\u9a8c\u8bc1 Senna \u7684\u4f18\u52bf\uff0c\u6211\u4eec\u8fd8\u4f7f\u7528\u76f8\u540c\u7684\u8bad\u7ec3\u6d41\u7a0b\u5728 DriveX \u6570\u636e\u96c6\u4e0a\u5bf9\u8fd9\u4e9b\u6a21\u578b\u8fdb\u884c\u4e86\u5fae\u8c03\u3002Senna \u5728\u9ad8\u7ea7\u89c4\u5212\u548c\u573a\u666f\u63cf\u8ff0\u65b9\u9762\u5747\u4f18\u4e8e\u5176\u4ed6\u65b9\u6cd5\u3002\u4e0e\u5176\u4ed6\u65b9\u6cd5\u7684\u6700\u4f73\u7ed3\u679c\u76f8\u6bd4\uff0cSenna \u5c06\u89c4\u5212\u51c6\u786e\u7387\u63d0\u9ad8\u4e86 10.44%\u3002\u6b64\u5916\uff0c\u5728\u51cf\u901f\u7b49\u6700\u5173\u952e\u7684\u9a7e\u9a76\u5b89\u5168\u51b3\u7b56\u4e2d\uff0cF1 \u5f97\u5206\u4ece 52.68 \u63d0\u5347\u81f3 61.99\uff0c\u63d0\u5347\u5e45\u5ea6\u8fbe 17.67%\uff0c\u51f8\u663e\u4e86Senna\u5728\u9a7e\u9a76\u573a\u666f\u5206\u6790\u548c\u7a7a\u95f4\u7406\u89e3\u65b9\u9762\u7684\u5353\u8d8a\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u6b64\u5916\uff0c\u6211\u4eec\u5728\u4e0b\u8868\u4e2d\u5c55\u793a\u4e86 Senna \u5728 nuScenes \u6570\u636e\u96c6\u4e0a\u7684\u8f68\u8ff9\u89c4\u5212\u6027\u80fd\u3002\u4e3a\u4e86\u8fdb\u884c\u516c\u5e73\u6bd4\u8f83\uff0c\u6211\u4eec\u7528 VAD \u66ff\u6362 VADv2 \u4f5c\u4e3a\u7aef\u5230\u7aef\u6a21\u578b\u3002\u4e0e\u4e4b\u524d\u5c06 LVLM \u4e0e\u7aef\u5230\u7aef\u6a21\u578b\u76f8\u7ed3\u5408\u7684 SOTA \u65b9\u6cd5\u76f8\u6bd4\uff0cSenna \u6709\u6548\u5730\u5c06\u5e73\u5747\u89c4\u5212\u4f4d\u79fb\u8bef\u5dee\u964d\u4f4e\u4e86 29.03%\uff0c\u78b0\u649e\u7387\u964d\u4f4e\u4e86 20.00%\u3002\u4e3a\u4e86\u907f\u514d\u4e0e\u4f7f\u7528\u81ea\u8f66\u72b6\u6001\u7279\u5f81\u76f8\u5173\u7684\u6f5c\u5728\u95ee\u9898\uff0c\u6211\u4eec\u8fd8\u62a5\u544a\u4e86\u672a\u4f7f\u7528\u81ea\u8f66\u72b6\u6001\u7279\u5f81\u7684\u7ed3\u679c\u3002\u901a\u8fc7\u4f7f\u7528\u6765\u81ea DriveX \u6570\u636e\u96c6\u7684\u9884\u8bad\u7ec3\u6743\u91cd\u521d\u59cb\u5316\u6a21\u578b\u5e76\u5728 nuScenes \u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u5fae\u8c03\uff0cSenna \u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u89c4\u5212\u6027\u80fd\u3002\u4e0e VAD \u76f8\u6bd4\uff0c\u5e73\u5747\u89c4\u5212\u4f4d\u79fb\u8bef\u5dee\u663e\u7740\u964d\u4f4e\u4e86 40.28%\uff0c\u5e73\u5747\u78b0\u649e\u7387\u964d\u4f4e\u4e86 45.45%\u3002\u901a\u8fc7\u5728 DriveX \u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u9884\u8bad\u7ec3\uff0c\u7136\u540e\u5728 nuScenes \u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u5fae\u8c03\uff0cSenna \u7684\u6027\u80fd\u5f97\u5230\u663e\u8457\u589e\u5f3a\uff0c\u5c55\u793a\u4e86\u5176\u5f3a\u5927\u7684\u6cdb\u5316\u548c\u53ef\u8f6c\u79fb\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"621\" height=\"391\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-269.png\" alt=\"\" class=\"wp-image-18803\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-269.png 621w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-269-300x189.png 300w\" sizes=\"(max-width: 621px) 100vw, 621px\" \/><\/figure>\n\n\n\n<p>\u4e0b\u8868\u5c55\u793a\u4e86DriveX \u6570\u636e\u96c6\u4e0a\u7684\u8f68\u8ff9\u89c4\u5212\u7ed3\u679c\u3002\u9664\u4e86\u7aef\u5230\u7aef\u6a21\u578b VADv2 \u4e4b\u5916\uff0c\u6211\u4eec\u8fd8\u5f15\u5165\u4e86\u4e24\u4e2a\u989d\u5916\u7684\u6bd4\u8f83\u6a21\u578b\u3002\u7b2c\u4e00\u4e2a\u6a21\u578b\u5c06\u771f\u503c\u89c4\u5212\u5143\u52a8\u4f5c\u4f5c\u4e3a\u989d\u5916\u7684\u8f93\u5165\u7279\u5f81\uff0c\u65e8\u5728\u9a8c\u8bc1\u6211\u4eec\u63d0\u51fa\u7684\u7ed3\u6784\u5316\u89c4\u5212\u7b56\u7565\u7684\u6027\u80fd\u4e0a\u9650\u3002\u7b2c\u4e8c\u4e2a\u6a21\u578b\u662f\u6211\u4eec\u590d\u73b0\u7684 DriveVLM\uff0c\u5b83\u9884\u6d4b\u4f4e\u9891\u8f68\u8ff9\u800c\u4e0d\u662f\u5143\u52a8\u4f5c\uff0c\u5145\u5f53 LVLM \u548c\u7aef\u5230\u7aef\u6a21\u578b\u4e4b\u95f4\u7684\u8fde\u63a5\u5668\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"575\" height=\"217\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-270.png\" alt=\"\" class=\"wp-image-18804\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-270.png 575w, 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