{"id":22520,"date":"2024-12-20T16:57:34","date_gmt":"2024-12-20T08:57:34","guid":{"rendered":"http:\/\/192.168.10.115\/?p=22520"},"modified":"2024-12-20T16:57:34","modified_gmt":"2024-12-20T08:57:34","slug":"2024-12-20-%e5%85%ad%e5%a4%a7%e6%95%b0%e6%8d%ae%e9%9b%86%e5%85%a8%e9%83%a8sota%ef%bc%81%e6%9c%80%e6%96%b0drivemm%ef%bc%9a%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e4%b8%80%e4%bd%93%e5%8c%96%e5%a4%9a","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/12\/20\/22520\/","title":{"rendered":"2024-12-20 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class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"718\" height=\"294\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1035.png\" alt=\"\" class=\"wp-image-22521\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1035.png 718w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1035-300x123.png 300w\" sizes=\"(max-width: 718px) 100vw, 718px\" \/><\/figure>\n\n\n\n<p>\u603b\u7ed3\u6765\u8bf4\uff0c\u672c\u6587\u7684\u4e3b\u8981\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u578b\u7684\u4e00\u4f53\u5316\u591a\u6a21\u6001\u5927\u6a21\u578bDriveMM\uff0c\u5b83\u5177\u6709\u6267\u884c\u5404\u79cdAD\u4efb\u52a1\u7684\u901a\u7528\u80fd\u529b\u548c\u6709\u6548\u8f6c\u79fb\u5230\u65b0\u6570\u636e\u96c6\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/li>\n\n\n\n<li>\u4ecb\u7ecd\u4e86\u8bc4\u4f30\u81ea\u52a8\u9a7e\u9a76LMM\u7684\u7efc\u5408\u57fa\u51c6\uff0c\u5176\u4e2d\u5305\u62ec\u516d\u4e2a\u516c\u5171\u6570\u636e\u96c6\u3001\u56db\u79cd\u8f93\u5165\u7c7b\u578b\u548c\u5341\u4e09\u4e2a\u5177\u6709\u6311\u6218\u6027\u7684\u4efb\u52a1\u3002\u636e\u6211\u4eec\u6240\u77e5\uff0c\u8fd9\u662f\u9996\u6b21\u4f7f\u7528\u591a\u4e2a\u57fa\u51c6\u6765\u8bc4\u4f30\u81ea\u52a8\u9a7e\u9a76LLM\u3002<\/li>\n\n\n\n<li>\u63d0\u51fa\u4e86\u4e00\u4e2a\u5927\u6a21\u578b\u539f\u5219\uff0c\u7528\u4e8e\u5bf9\u4e0d\u540c\u7684\u591a\u6a21\u6001\u6570\u636e\u548cAD\u6570\u636e\u8fdb\u884c\u9884\u8bad\u7ec3\u548c\u5fae\u8c03\u3002DriveMM\u5c55\u793a\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\uff0c\u5e76\u5728\u6240\u6709\u8bc4\u4f30\u7684\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u59cb\u7ec8\u4f18\u4e8e\u5728\u5355\u4e2a\u6570\u636e\u96c6\u4e0a\u8bad\u7ec3\u7684\u6a21\u578b\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"716\" height=\"237\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1036.png\" alt=\"\" class=\"wp-image-22522\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1036.png 716w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1036-300x99.png 300w\" sizes=\"(max-width: 716px) 100vw, 716px\" \/><\/figure>\n\n\n\n<p><strong>\u76f8\u5173\u5de5\u4f5c\u56de\u987e<\/strong><\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>Vision-Language Driving Datasets<\/strong><\/h3>\n\n\n\n<p>\u8fd1\u5e74\u6765\uff0c\u5df2\u7ecf\u5f00\u53d1\u4e86\u8bb8\u591a\u89c6\u89c9\u8bed\u8a00\u9a71\u52a8\u6570\u636e\u96c6\uff0c\u65e8\u5728\u8bad\u7ec3\u548c\u8bc4\u4f30\u4e3aAD\u573a\u666f\u8bbe\u8ba1\u7684LMM\u3002DRAMA\u3001CODA-LM\u548cDriveVLM\u4e13\u6ce8\u4e8e\u98ce\u9669\u76ee\u6807\u548c\u6781\u7aef\u60c5\u51b5\u5b66\u4e60\u3002\u9664\u4e86\u5355\u89c6\u56fe\u6570\u636e\u5916\uff0c\u8bb8\u591a\u7814\u7a76\u8fd8\u57fa\u4e8enuScenes\u6570\u636e\u96c6\u6784\u5efa\u4e86\u591a\u89c6\u56fe\u6570\u636e\u3002\u4f8b\u5982\uff0cNuScenes QA\u4e3a3D\u5bf9\u8c61\u5173\u7cfb\u5f15\u5165\u4e86\u81ea\u7531\u5f62\u5f0f\u7684\u95ee\u7b54\u6ce8\u91ca\u3002DriveLM\u3001OmniDrive\u548cNuInstruct\u4f7f\u7528\u539f\u59cb\u6807\u6ce8\u548cLLM\u751f\u6210\u89c6\u89c9\u95ee\u7b54\u5bf9\uff0c\u6db5\u76d6\u611f\u77e5\u3001\u63a8\u7406\u548c\u8ba1\u5212\u3002\u6b64\u5916\uff0cMAPLM\u96c6\u6210\u4e86\u591a\u89c6\u56fe\u6570\u636e\u548cLiDAR\u6570\u636e\u6765\u5206\u6790\u548c\u8bc6\u522b\u8def\u9762\u72b6\u51b5\u3002\u5728\u8fd9\u7bc7\u8bba\u6587\u4e2d\uff0c\u6211\u4eec\u6269\u5145\u548c\u6807\u51c6\u5316\u4e86\u591a\u4e2a\u9a7e\u9a76\u6570\u636e\u96c6\uff0c\u4e3a\u4e0d\u540c\u7684\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u8bad\u7ec3\u4e86\u4e00\u4e2a\u5168\u9762\u7684LMM\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>LMMs for Autonomous Driving<\/strong><\/h3>\n\n\n\n<p>LMM\u5728\u5404\u79cd\u4efb\u52a1\u4e2d\u8868\u73b0\u51fa\u4e86\u4ee4\u4eba\u5370\u8c61\u6df1\u523b\u7684\u8868\u73b0\u3002\u6700\u8fd1\uff0c\u7814\u7a76\u4eba\u5458\u5f00\u59cb\u63a2\u7d22LLM\u5728AD\u9886\u57df\u7684\u6f5c\u529b\u3002\u65e9\u671f\u7684\u5de5\u4f5c\uff0cDiLu\u548cGPT Driver\u8bd5\u56fe\u5229\u7528GPT-3.5\u548cGPT-4\u4f5c\u4e3a\u9a7e\u9a76\u89c4\u5212\u5de5\u5177\u3002\u968f\u540e\uff0cDriveGPT4\u548cRDA Driver\u5f15\u5165\u4e86\u7aef\u5230\u7aef\u7684LMM\uff0c\u53ef\u4ee5\u751f\u6210\u63a7\u5236\u4fe1\u53f7\u6216\u8f68\u8ff9\u3002\u4e0e\u901a\u8fc7\u8bed\u8a00\u5904\u7406\u9a7e\u9a76\u64cd\u4f5c\u7684\u65b9\u6cd5\u4e0d\u540c\uff0cLMDrive\u548cDriveMLM\u4f7f\u7528\u89e3\u7801\u5668\u4ece\u9690\u85cf\u7684\u5d4c\u5165\u4e2d\u9884\u6d4b\u63a7\u5236\u4fe1\u53f7\u3002\u4e3a\u4e86\u63d0\u9ad8\u611f\u77e5\u548c\u63a8\u7406\u80fd\u529b\uff0c\u6709\u51e0\u79cd\u65b9\u6cd5\u65e8\u5728\u6539\u8fdb\u6a21\u578b\u67b6\u6784\u3002Reason2Drive\u63d0\u51fa\u4e86\u4e00\u79cd\u5148\u9a8c\u6807\u8bb0\u5668\u6765\u63d0\u53d6\u5c40\u90e8\u56fe\u50cf\u7279\u5f81\uff0cBEV-InMLLM\u5c06\u9e1f\u77b0\u56fe\uff08BEV\uff09\u8868\u793a\u6ce8\u5165\u5230LMM\u4e2d\u3002OmniDrive\u4f7f\u7528Q-Former3D\u5c062D\u9884\u8bad\u7ec3\u77e5\u8bc6\u4e0e\u57fa\u672c\u76843D\u7a7a\u95f4\u7406\u89e3\u76f8\u7ed3\u5408\u3002ELM\u5305\u542b\u4e00\u4e2a\u65f6\u95f4\u611f\u77e5\u4ee4\u724c\u9009\u62e9\u6a21\u5757\uff0c\u7528\u4e8e\u51c6\u786e\u67e5\u8be2\u65f6\u95f4\u7ebf\u7d22\u3002\u5c3d\u7ba1\u8fd9\u4e9b\u65b9\u6cd5\u5df2\u7ecf\u8bc1\u660e\u4e86\u4ee4\u4eba\u6ee1\u610f\u7684\u6027\u80fd\uff0c\u4f46\u5b83\u4eec\u7684\u9002\u7528\u6027\u4ec5\u9650\u4e8e\u7279\u5b9a\u7684\u573a\u666f\u548c\u4efb\u52a1\uff0c\u4f8b\u5982\u7279\u5b9a\u7684\u6570\u636e\u7c7b\u578b\u6216\u7279\u5b9a\u4e8e\u6570\u636e\u96c6\u7684\u4efb\u52a1\u3002\u6709\u9274\u4e8e\u6b64\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u4e00\u4f53\u5316\u7684LMM\uff0c\u65e8\u5728\u6709\u6548\u5730\u5904\u7406AD\u4e2d\u7684\u5404\u79cd\u9a7e\u9a76\u573a\u666f\u548c\u4efb\u52a1\u3002<\/p>\n\n\n\n<p><strong>DriveMM\u65b9\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n<p><strong>\u6982\u89c8<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u7684DriveMM\u662f\u4e00\u79cd\u4e00\u4f53\u5316\u7684LMM\uff0c\u65e8\u5728\u6709\u6548\u5730\u5904\u7406AD\u4e2d\u7684\u5404\u79cd\u9a7e\u9a76\u6570\u636e\u548c\u4efb\u52a1\u3002\u5f62\u5f0f\u4e0a\uff0c\u7ed9\u5b9a\u8f66\u8f86\u4f20\u611f\u5668\u6355\u83b7\u7684\u89c6\u89c9\u4fe1\u53f7Xv\u548c\u7528\u6237\u6307\u4ee4Xt\uff0cDriveMM F\uff08\u00b7\uff09\u63d0\u4f9b\u4e86\u4e0e\u9a7e\u9a76\u76f8\u5173\u7684\u5206\u6790\u548c\u5efa\u8bae\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"221\" height=\"24\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1037.png\" alt=\"\" class=\"wp-image-22523\"\/><\/figure>\n\n\n\n<p>Xv\u53ef\u4ee5\u8868\u793a\u5404\u79cd\u6570\u636e\u683c\u5f0f\uff0c\u5305\u62ec\u5355\u76ee\u3001\u73af\u89c6\u56fe\u50cf\u6216LiDAR\u6355\u83b7\u7684\u56fe\u50cf\u3001\u591a\u56fe\u50cf\u3001\u89c6\u9891\u548c\u591a\u89c6\u9891\uff0c\u800cXt\u5219\u5305\u542b\u4e0e\u611f\u77e5\u3001\u9884\u6d4b\u3001\u63a8\u7406\u3001\u51b3\u7b56\u7b49\u6709\u5173\u7684\u95ee\u9898\u3002\u901a\u8fc7\u6574\u5408\u4e0d\u540c\u7684\u6570\u636e\u548c\u4efb\u52a1\uff0cDriveMM\u53ef\u4ee5\u5728\u5e7f\u6cdb\u7684AD\u89c6\u89c9\u8bed\u8a00\u6570\u636e\u4e0a\u8fdb\u884c\u8bad\u7ec3\uff0c\u4ece\u800c\u5728\u4e0d\u540c\u7684\u6570\u636e\u96c6\u548c\u4efb\u52a1\u4e4b\u95f4\u5b9e\u73b0\u76f8\u4e92\u6539\u8fdb\u3002\u6b64\u5916\uff0c\u4e00\u65e6\u7ecf\u8fc7\u8bad\u7ec3\uff0cDriveMM\u53ef\u4ee5\u6709\u6548\u5730\u90e8\u7f72\u5728\u5404\u79cd\u73b0\u5b9e\u4e16\u754c\u7684AD\u573a\u666f\u4e2d\uff0c\u4f8b\u5982\u4e0d\u540c\u7684\u76f8\u673a\u548c\u96f7\u8fbe\u7cfb\u7edf\u914d\u7f6e\uff0c\u4ee5\u53ca\u5404\u79cdAD\u4efb\u52a1\u3002<\/p>\n\n\n\n<p>\u5728\u63a5\u4e0b\u6765\u7684\u90e8\u5206\u4e2d\uff0c\u6211\u4eec\u9996\u5148\u63cf\u8ff0DriveMM\u7684\u67b6\u6784\uff0c\u5b83\u80fd\u591f\u5904\u7406\u4e0d\u540c\u4f20\u611f\u5668\u6355\u83b7\u7684\u591a\u79cd\u7c7b\u578b\u7684\u6570\u636e\u3002\u4e3a\u4e86\u4fc3\u8fdb\u6a21\u578b\u5bf9AD\u573a\u666f\u7684\u7406\u89e3\uff0c\u6211\u4eec\u6536\u96c6\u4e86\u5177\u6709\u591a\u79cd\u6570\u636e\u683c\u5f0f\u548c\u4efb\u52a1\u7684\u4e0d\u540c\u6570\u636e\u96c6\uff0c\u7136\u540e\u589e\u5f3a\u548c\u6807\u51c6\u5316\u5b83\u4eec\u7684\u95ee\u7b54\u5bf9\uff0c\u4ee5\u52a0\u5f3a\u4e0d\u540c\u6570\u636e\u96c6\u4e4b\u95f4\u7684\u534f\u4f5c\u3002\u4e3a\u4e86\u5728\u5404\u79cd\u6570\u636e\u96c6\u548c\u4efb\u52a1\u4e0a\u6709\u6548\u5730\u8bad\u7ec3DriveMM\uff0c\u6211\u4eec\u91c7\u7528\u4e86\u4e00\u79cd\u8bfe\u7a0b\u5b66\u4e60\u65b9\u6cd5\u6765\u9010\u6b65\u63d0\u9ad8\u6a21\u578b\u7684\u80fd\u529b\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=\"698\" height=\"354\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1038.png\" alt=\"\" class=\"wp-image-22524\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1038.png 698w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1038-300x152.png 300w\" sizes=\"(max-width: 698px) 100vw, 698px\" \/><\/figure>\n\n\n\n<p>\u6211\u4eec\u7684\u76ee\u6807\u662f\u8bbe\u8ba1\u4e00\u4e2a\u9ad8\u6548\u7684\u6a21\u578b\u67b6\u6784\uff0c\u53ef\u4ee5\u540c\u6b65\u5904\u7406\u5e7f\u544a\u573a\u666f\u4e2d\u7684\u5355\u5e45\u56fe\u50cf\u3001\u591a\u5e45\u56fe\u50cf\u3001\u5355\u89c6\u56fe\u89c6\u9891\u548c\u591a\u89c6\u56fe\u89c6\u9891\u3002\u5982\u56fe2\u6240\u793a\uff0cDriveMM\u9075\u5faa\u4e86LLaVA\u7b49\u4e3b\u8981LMM\u7684\u8bbe\u8ba1\u3002\u5b83\u7531\u4e09\u4e2a\u90e8\u5206\u7ec4\u6210\uff1a\u89c6\u89c9\u7f16\u7801\u5668Fe\uff08\u00b7\uff09\u3001\u6295\u5f71\u4eeaFp\uff08\u00b7\uff09\u548cLLM Fl\uff08\u00b7\uff09\u3002<\/p>\n\n\n\n<p>\u89c6\u89c9\u7f16\u7801\u5668SigLIP\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"230\" height=\"28\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1039.png\" alt=\"\" class=\"wp-image-22525\"\/><\/figure>\n\n\n\n<p>\u4e4b\u540e\uff0c\u6295\u5f71\u4eea\u5c06\u56fe\u50cf\u7279\u5f81\u6295\u5f71\u5230\u5355\u8bcd\u5d4c\u5165\u7a7a\u95f4\u4e2d\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"215\" height=\"26\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1040.png\" alt=\"\" class=\"wp-image-22526\"\/><\/figure>\n\n\n\n<p>\u57fa\u4e8e\u89c6\u89c9\u6807\u8bb0Hv\u548c\u7528\u6237\u6307\u4ee4Xt\uff0cLLM\u9010\u6b65\u8ba1\u7b97\u76ee\u6807\u5355\u8bcd\u7684\u6982\u7387\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"324\" height=\"48\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1041.png\" alt=\"\" class=\"wp-image-22527\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1041.png 324w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1041-300x44.png 300w\" sizes=\"(max-width: 324px) 100vw, 324px\" \/><\/figure>\n\n\n\n<p>\u89c6\u89d2\u611f\u77e5\u63d0\u793a\u3002\u5728\u65b9\u7a0b\u5f0f\uff084\uff09\u4e2d\uff0c\u5178\u578b\u7684LMM[2,26]\u4f1a\u4f7fLLM\u8f93\u5165\u7684\u89c6\u89c9\u7279\u5f81\u53d8\u5e73\uff0c\u65e0\u6cd5\u533a\u5206\u89c6\u89d2\uff08\u5982\u524d\u89c6\u56fe\u6216\u540e\u89c6\u56fe\uff09\u548c\u683c\u5f0f\uff08\u5982\u56fe\u50cf\u6216\u89c6\u9891\uff09\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u611f\u77e5\u89c6\u89d2\u7684\u63d0\u793a\u3002\u5982\u88682\u6240\u793a\uff0c\u6211\u4eec\u4f7f\u7528\u4e0d\u540c\u7684\u5360\u4f4d\u7b26\uff08\u5373image\u548cvideo\uff09\u8fdb\u884c\u56fe\u50cf\u548c\u89c6\u9891\u8f93\u5165\uff0c\u5176\u4e2d\u5360\u4f4d\u7b26\u5728\u8f93\u5165LLM\u4e4b\u524d\u5c06\u88ab\u76f8\u5e94\u7684\u4ee4\u724c\u66ff\u6362\u3002\u6211\u4eec\u8fd8\u4e3a\u5177\u6709\u4e0d\u540c\u89c6\u89d2\u7684\u56fe\u50cf\/\u89c6\u9891\u5206\u914d\u4e86\u6570\u5b57\u6807\u7b7e\uff0c\u5e76\u5728\u6587\u4e2d\u89e3\u91ca\u4e86\u6bcf\u79cd\u56fe\u50cf\/\u89c6\u9891\u7684\u5177\u4f53\u76f8\u673a\u6216\u6fc0\u5149\u96f7\u8fbe\u3002\u4e3a\u4e86\u63d0\u9ad8\u8ba1\u7b97\u6548\u7387\uff0c\u6211\u4eec\u5bf9\u89c6\u9891\u7279\u5f81Hv\u5e94\u75282\u00d72\u7684\u7a7a\u95f4\u6c60\uff0c\u7136\u540e\u5c06\u5b83\u4eec\u5c55\u5e73\u4e3a\u89c6\u89c9\u6807\u8bb0\u3002DriveMM\u7ed3\u5408\u4e86\u89c6\u89d2\u548c\u6570\u636e\u683c\u5f0f\u7684\u4fe1\u606f\uff0c\u53ef\u4ee5\u66f4\u597d\u5730\u89e3\u91ca\u590d\u6742\u7684\u4ea4\u901a\u72b6\u51b5\uff0c\u8bc6\u522b\u591a\u4e2a\u5bf9\u8c61\u53ca\u5176\u7a7a\u95f4\u5173\u7cfb\uff0c\u5e76\u505a\u51fa\u66f4\u660e\u667a\u7684\u51b3\u7b56\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"336\" height=\"126\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1042.png\" alt=\"\" class=\"wp-image-22528\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1042.png 336w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1042-300x113.png 300w\" sizes=\"(max-width: 336px) 100vw, 336px\" \/><\/figure>\n\n\n\n<p><strong>\u6570\u636e<\/strong><\/p>\n\n\n\n<p>\u5728LMM\u7684\u8bad\u7ec3\u4e2d\uff0c\u6570\u636e\u5728\u542f\u7528\u548c\u6fc0\u6d3bLLM\u7406\u89e3\u591a\u6a21\u6001\u4fe1\u606f\u7684\u80fd\u529b\u65b9\u9762\u53d1\u6325\u7740\u81f3\u5173\u91cd\u8981\u7684\u4f5c\u7528\u3002\u4e3a\u4e86\u63d0\u9ad8DriveMM\u5728\u591a\u6a21\u6001AD\u573a\u666f\u4e2d\u7684\u7406\u89e3\u548c\u63a8\u7406\u80fd\u529b\uff0c\u6211\u4eec\u6784\u5efa\u4e86\u4e09\u4e2a\u4e0d\u540c\u7684\u6570\u636e\u96c6\uff1a\u4f20\u7edf\u591a\u6a21\u6001\u6570\u636e\u3001\u611f\u77e5\u6570\u636e\u548c\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\u3002<\/p>\n\n\n\n<p><strong>Conventional Multimodal Data<\/strong><\/p>\n\n\n\n<p>\u6700\u8fd1\u7684\u7814\u7a76\u8868\u660e\uff0c\u968f\u7740\u6570\u636e\u91cf\u7684\u589e\u52a0\uff0cLMM\u53ef\u4ee5\u5b9e\u73b0\u66f4\u9ad8\u7684\u6027\u80fd\u3002\u7136\u800c\uff0c\u4e0e\u5728\u7ebf\u53ef\u7528\u7684\u4e30\u5bcc\u56fe\u50cf\u6587\u672c\u6570\u636e\u76f8\u6bd4\uff0cAD\u56fe\u50cf\u6587\u672c\u6570\u636e\u660e\u663e\u6709\u9650\u3002\u4e3a\u4e86\u63d0\u9ad8DriveMM\u7684\u6027\u80fd\uff0c\u6211\u4eec\u4f7f\u7528\u5e7f\u6cdb\u7684\u591a\u6a21\u6001\u6570\u636e\u9884\u8bad\u7ec3\u4e86\u4e00\u4e2a\u57fa\u7840\u6a21\u578b\uff0c\u4ece\u800c\u80fd\u591f\u4f7f\u7528\u5355\u5e45\u56fe\u50cf\u3001\u591a\u5e45\u56fe\u50cf\u548c\u89c6\u9891\u8fdb\u884c\u63a8\u7406\u3002<\/p>\n\n\n\n<p>\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u6784\u5efa\u4e86\u4e00\u4e2a\u591a\u6a21\u6001\u6570\u636e\u96c6\uff0c\u5176\u4e2d\u5305\u62ec\u56fe\u50cf-\u6587\u672c\u5bf9\u548c\u5404\u79cd\u89c6\u89c9\u6307\u4ee4\u8c03\u6574\u6570\u636e\u3002\u56fe\u50cf-\u6587\u672c\u5bf9\u7684\u76ee\u6807\u662f\u5bf9\u9f50\u89c6\u89c9\u7f16\u7801\u5668\u548cLLM\uff0c\u4f7f\u6a21\u578b\u80fd\u591f\u5bf9\u56fe\u50cf\u6709\u57fa\u672c\u7684\u7406\u89e3\u3002\u6211\u4eec\u4f7f\u7528\u4e86\u591a\u4e2a\u6570\u636e\u96c6\uff0c\u5305\u62ecLCS-558K\u3001COCO118K\u3001CC3M\u3002\u4e3a\u4e86\u589e\u5f3a\u6a21\u578b\u5904\u7406\u5404\u79cd\u4f20\u611f\u5668\u914d\u7f6e\uff08\u5982\u5355\u89c6\u56fe\u548c\u591a\u89c6\u56fe\u76f8\u673a\uff09\u4e2d\u7684\u89c6\u89c9\u6570\u636e\u7684\u80fd\u529b\uff0c\u6211\u4eec\u5229\u7528OneVision\u6570\u636e\u4e2d\u7684\u89c6\u89c9\u6307\u4ee4\u8c03\u6574\u6570\u636e\uff0c\u5305\u62ec\u56fe\u50cf\u3001\u591a\u56fe\u50cf\u548c\u89c6\u9891\u3002<\/p>\n\n\n\n<p><strong>Perception Data<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u4f7fDriveMM\u5177\u5907AD\u611f\u77e5\u80fd\u529b\uff0c\u6211\u4eec\u521b\u5efa\u4e86\u4e00\u4e2a\u5168\u9762\u7684\u57fa\u7840\u6570\u636e\u96c6\uff0c\u5305\u62ec\u5404\u79cd\u6570\u636e\u683c\u5f0f\u3002\u5bf9\u4e8e\u5355\u5e45\u56fe\u50cf\u6570\u636e\uff0c\u6211\u4eec\u4f7f\u7528COCO\u548cObject365\u6570\u636e\u96c6\u3002\u6211\u4eec\u4ece\u56fe\u50cf\u4e2d\u968f\u673a\u9009\u62e9\u4e00\u4e2a\u7c7b\u522b\uff0c\u5e76\u4f7f\u7528\u57fa\u7840\u63d0\u793a\uff08\u4f8b\u5982\uff0c\u201c\u68c0\u6d4b\u56fe\u50cf\u4e2d\u7684\u6240\u6709\u201d\uff09\u6765\u63d0\u793a\u6a21\u578b\u68c0\u6d4b\u8be5\u7c7b\u522b\u4e2d\u7684\u6240\u6709\u5bf9\u8c61\u3002\u6211\u4eec\u7528\u8fb9\u754c\u6846[xmin\uff0cymin\uff0cxmax\uff0cymax]\u6216\u533a\u57df\u4e2d\u5fc3[xcenter\uff0cycenter]\u8868\u793a\u5bf9\u8c61\u7684\u4f4d\u7f6e\u3002\u57fa\u4e8e\u56fe\u50cf\u7684\u5927\u5c0f\uff0cx\u548cy\u503c\u57280\u5230100\u7684\u8303\u56f4\u5185\u8fdb\u884c\u5f52\u4e00\u5316\u3002\u5bf9\u4e8e\u591a\u89c6\u56fe\u56fe\u50cf\u548c\u591a\u89c6\u56fe\u89c6\u9891\uff0c\u6211\u4eec\u91c7\u7528nuScenes[3]\u6570\u636e\u96c6\u3002\u4e3a\u4e86\u7ed9\u6a21\u578b\u6ce8\u5165\u7a7a\u95f4\u610f\u8bc6\uff0c\u6211\u4eec\u5e0c\u671b\u5b83\u4e0d\u4ec5\u80fd\u9884\u6d4b\u7269\u4f53\u8fb9\u754c\u6846\uff0c\u8fd8\u80fd\u4f30\u8ba1\u76f8\u673a\u7684\u89c6\u89d2\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u7528[cam\uff0cxmin\uff0cymin\uff0cxmax\uff0cymax]\u6216[cam\uff0cxcenter\uff0cycenter]\u8868\u793a\u5bf9\u8c61\u7684\u4f4d\u7f6e\uff0c\u5176\u4e2dcam\u8868\u793a\u76f8\u673a\u89c6\u89d2\uff0c\u5982\u201ccam BACK\u201d\u3002\u56fe3\u5de6\u4e0b\u89d2\u5c55\u793a\u4e86\u611f\u77e5\u6570\u636e\u7684\u4e00\u4e2a\u793a\u4f8b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"693\" height=\"433\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1043.png\" alt=\"\" class=\"wp-image-22529\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1043.png 693w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1043-300x187.png 300w\" sizes=\"(max-width: 693px) 100vw, 693px\" \/><\/figure>\n\n\n\n<p><strong>Autonomous Driving Data<\/strong><\/p>\n\n\n\n<p>\u5728\u8fd9\u91cc\uff0c\u6211\u4eec\u6536\u96c6\u4e86\u4e0d\u540c\u7684\u6570\u636e\u96c6\u6765\u8bad\u7ec3\u4e00\u4e2a\u4e00\u4f53\u5316\u7684LMM\uff0c\u8be5LMM\u53ef\u4ee5\u540c\u6b65\u5904\u7406\u4e0d\u540c\u573a\u666f\u4e2d\u7684\u5404\u79cdAD\u4efb\u52a1\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u4f7f\u7528\u4e86\u516d\u4e2a\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\u96c6\uff1aCODA-LM\u3001MAPLM\u3001DriveLM\u3001LingoQA\u3001OmniDrive\u548cNuInstruct\u3002\u88681\u663e\u793a\u4e86\u516d\u4e2a\u6570\u636e\u96c6\u7684\u8be6\u7ec6\u63cf\u8ff0\u3002\u8fd9\u4e9b\u6570\u636e\u96c6\u5305\u62ec\u5404\u79cd\u4f20\u611f\u5668\u914d\u7f6e\uff0c\u5982\u6444\u50cf\u5934\u548c\u6fc0\u5149\u96f7\u8fbe\uff0c\u4ee5\u53ca\u4e0d\u540c\u7684AD\u4efb\u52a1\uff0c\u5305\u62ec\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u3002\u503c\u5f97\u4e00\u63d0\u7684\u662f\uff0c\u4e0d\u540c\u7684\u6570\u636e\u96c6\u53ef\u80fd\u4f1a\u8868\u73b0\u51fa\u4e0d\u540c\u7684\u95ee\u9898\u6a21\u6001\u3002\u4e3a\u4e86\u4fc3\u8fdb\u534f\u4f5c\u589e\u5f3a\uff0c\u6211\u4eec\u5bf9\u95ee\u7b54\u5bf9\u8fdb\u884c\u4e86\u5982\u4e0b\u6269\u5145\u548c\u6807\u51c6\u5316\u3002\u95ee\u7b54\u589e\u5f3a\u3002\u4e00\u4e9b\u6570\u636e\u96c6\u4ec5\u9650\u4e8e\u4e00\u7ec4\u56fa\u5b9a\u7684\u6a21\u677f\u3002\u4f8b\u5982\uff0cCODA-LM\u4ec5\u5305\u542b\u4e09\u4e2a\u95ee\u9898\u6a21\u677f\uff0c\u800cMAPLM\u5219\u4f7f\u7528\u4e86\u4e94\u4e2a\u3002\u8fd9\u963b\u788d\u4e86\u6a21\u578b\u63a8\u5e7f\u7684\u6f5c\u529b\u3002\u4e3a\u4e86\u514b\u670d\u8fd9\u4e00\u5c40\u9650\u6027\uff0c\u6211\u4eec\u4f7f\u7528GPT-4o-mini\u6765\u589e\u5f3a\u95ee\u7b54\u5bf9\u5e76\u589e\u52a0\u5176\u591a\u6837\u6027\u3002\u6b64\u5916\uff0c\u5f88\u5927\u4e00\u90e8\u5206\u95ee\u9898\u662f\u5f00\u653e\u5f0f\u7684\u3002\u4e3a\u4e86\u8fdb\u4e00\u6b65\u589e\u5f3a\u591a\u6837\u6027\uff0c\u6211\u4eec\u5c06\u4e00\u4e9b\u5f00\u653e\u5f0f\u95ee\u9898\u968f\u673a\u8f6c\u6362\u4e3a\u591a\u9879\u9009\u62e9\u9898\u3002\u56fe3\u53f3\u4e0b\u89d2\u5c55\u793a\u4e86\u4e00\u4e2a\u589e\u5f3a\u793a\u4f8b\u3002<\/p>\n\n\n\n<p>\u95ee\u7b54\u6807\u51c6\u5316\u3002\u4e0d\u540c\u7684\u6570\u636e\u96c6\u53ef\u80fd\u5728\u95ee\u7b54\u98ce\u683c\u4e0a\u8868\u73b0\u51fa\u4e0d\u4e00\u81f4\u3002\u4f8b\u5982\uff0cDriveLM\u4f7f\u7528\u201c&lt;c6\uff0cCAM BACK\uff0c1088.3\uff0c497.5&gt;\u201d\u6765\u8868\u793a\u4e00\u4e2a\u5bf9\u8c61\uff0c\u5176\u4e2d\u201cc6\u201d\u8868\u793a\u7c7bID\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0cNuInstruct\u4f7f\u7528\u201c&lt;car&gt;[c6\uff0c139\uff0c343\uff0c1511\uff0c900]\u201d\u7684\u683c\u5f0f\uff0c\u5176\u4e2d\u201cc6\u201d\u8868\u793a\u76f8\u673aID\u3002\u4e3a\u4e86\u786e\u4fdd\u8de8\u6570\u636e\u96c6\u7684\u517c\u5bb9\u6027\uff0c\u6211\u4eec\u6807\u51c6\u5316\u4e86\u5bf9\u8c61\u7684\u8868\u793a\u5e76\u660e\u786e\u6307\u5b9a\u4e86\u8868\u793a\u683c\u5f0f\u3002\u6b64\u5916\uff0c\u4e3a\u4e86\u9002\u5e94\u4e0d\u540c\u5927\u5c0f\u7684\u56fe\u50cf\u4e2d\u7684\u8fb9\u754c\u6846\uff0c\u6211\u4eec\u6839\u636e\u56fe\u50cf\u7684\u5927\u5c0f\u5c06\u8fb9\u754c\u6846\u7684\u5750\u6807\u6807\u51c6\u5316\u4e3a0\u5230100\u7684\u8303\u56f4\u3002\u4f8b\u5982\uff0c\u5bf9\u4e8eNuInstruct\u6570\u636e\u96c6\uff0c\u6211\u4eec\u5c06\u5bf9\u8c61\u91cd\u65b0\u8868\u793a\u4e3a\u201c&lt;car&gt;[CAM BACK 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