{"id":24567,"date":"2025-02-07T16:41:40","date_gmt":"2025-02-07T08:41:40","guid":{"rendered":"http:\/\/192.168.10.115\/?p=24567"},"modified":"2025-02-07T16:41:40","modified_gmt":"2025-02-07T08:41:40","slug":"2025-02-07-%e7%ab%af%e5%88%b0%e7%ab%af%e6%96%b0sota%ef%bc%81gpvl%ef%bc%9a3d%e8%a7%86%e8%a7%89%e8%af%ad%e8%a8%80%e9%a2%84%e8%ae%ad%e7%bb%83%e7%9a%84%e7%94%9f%e6%88%90%e5%bc%8f%e8%a7%84%e5%88%92","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/02\/07\/24567\/","title":{"rendered":"2025-02-07 \u7aef\u5230\u7aef\u65b0SOTA\uff01GPVL\uff1a3D\u89c6\u89c9\u8bed\u8a00\u9884\u8bad\u7ec3\u7684\u751f\u6210\u5f0f\u89c4\u5212\u65b0\u6846\u67b6\uff01"},"content":{"rendered":"\n<p>\u81ea\u52a8\u9a7e\u9a76\u662f\u4e00\u9879\u5177\u6709\u6311\u6218\u6027\u7684\u4efb\u52a1\uff0c\u9700\u8981\u5bf9\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7684\u5468\u56f4\u73af\u5883\u6709\u6df1\u523b\u7684\u4e86\u89e3\uff0c\u4ee5\u786e\u4fdd\u5b89\u5168\u548c\u9ad8\u6548\u7684\u5b9e\u9645\u90e8\u7f72\u3002\u4f18\u79c0\u7684<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=253007352&amp;content_type=Article&amp;match_order=1&amp;q=%E8%87%AA%E5%8A%A8%E9%A9%BE%E9%A9%B6%E7%B3%BB%E7%BB%9F&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf<\/a><\/p>\n\n\n\n<p>\u5fc5\u987b\u80fd\u591f\u5168\u9762\u611f\u77e5\u9a7e\u9a76\u73af\u5883\uff0c\u5e76\u6839\u636e\u9053\u8def\u4fe1\u606f\u51c6\u786e\u505a\u51fa\u89c4\u5212\u51b3\u7b56\u3002\u6700\u8fd1\uff0c\u63d0\u51fa\u4e86\u51e0\u79cd\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6846\u67b6\uff0c\u5e76\u901a\u8fc7\u4f20\u611f\u5668\u6570\u636e\u4e86\u89e3\u9a7e\u9a76\u573a\u666f\u5e76\u8f93\u51fa\u89c4\u5212\u51b3\u7b56\uff0c\u53d6\u5f97\u4e86\u53ef\u559c\u7684\u6210\u679c\u3002\u4e00\u4e9b\u65e9\u671f\u7684\u65b9\u6cd5\u76f4\u63a5\u83b7\u5f97\u9884\u6d4b\u7684\u89c4\u5212\u8f68\u8ff9\uff0c\u800c\u6ca1\u6709\u5f7b\u5e95\u4e86\u89e3\u9a7e\u9a76\u573a\u666f\uff0c\u5bfc\u81f4\u53ef\u89e3\u91ca\u6027\u6709\u9650\u4e14\u96be\u4ee5\u6536\u655b\u7684\u95ee\u9898\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-45cde0c0fd92d4bfa179a6b432d898c9_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u901a\u8fc7\u4e0a\u56fe\u53ef\u4ee5\u770b\u51fa\uff0c\u5927\u591a\u6570\u65b9\u6848\u5229\u7528\u4f20\u611f\u5668\u4fe1\u606f\u5c06\u591a\u4e2a\u89c6\u89c9\u4efb\u52a1\uff08\u4f8b\u5982\uff1a3D \u7269\u4f53\u68c0\u6d4b\u548c<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=253007352&amp;content_type=Article&amp;match_order=1&amp;q=%E8%BF%90%E5%8A%A8%E9%A2%84%E6%B5%8B&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u8fd0\u52a8\u9884\u6d4b<\/a>\uff09\u96c6\u6210\u5230\u4e00\u4e2a\u7f51\u7edc\u4e2d\uff0c\u4ee5\u63d0\u9ad8\u89c4\u5212\u6027\u80fd\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u4ec5\u57fa\u4e8e\u89c6\u89c9\u7684\u65b9\u6cd5\u96be\u4ee5\u7ed3\u5408\u4e0a\u4e0b\u6587\u7ebf\u7d22\u8fdb\u884c\u5b89\u5168\u51b3\u7b56\uff0c\u9700\u8981\u8fdb\u4e00\u6b65\u7684\u8fdb\u884c\u4f18\u5316\u3002\u968f\u7740<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=253007352&amp;content_type=Article&amp;match_order=1&amp;q=%E5%A4%A7%E8%AF%AD%E8%A8%80%E6%A8%A1%E5%9E%8B&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u5927\u8bed\u8a00\u6a21\u578b<\/a> (LLM) \u7684\u5feb\u901f\u53d1\u5c55\uff0c\u51fa\u8272\u7684\u63a8\u7406\u80fd\u529b\u5f15\u8d77\u4e86\u4eba\u4eec\u7684\u6781\u5927\u5174\u8da3\uff0c\u5e76\u4fc3\u8fdb\u4e86\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u5e94\u7528\u3002\u5982\u4e0a\u56fe(b)\u6240\u793a\uff0c\u6700\u8fd1\u7684\u51e0\u79cd\u65b9\u6cd5\u5f15\u5165\u4e86<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=253007352&amp;content_type=Article&amp;match_order=1&amp;q=%E5%A4%9A%E6%A8%A1%E6%80%81%E5%A4%A7%E8%AF%AD%E8%A8%80%E6%A8%A1%E5%9E%8B&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b<\/a><\/p>\n\n\n\n<p>(MLLM) \u6765\u4ea7\u751f\u9a7e\u9a76\u89e3\u91ca\u548c\u8bed\u8a00\u6ce8\u5165\u89c4\u5212\u7ed3\u679c\u3002<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p><strong>\u539f\u6587\u94fe\u63a5\uff1a<\/strong><a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/mp.weixin.qq.com\/s\/2avdFj5x3OiVYSkEgJWWGA%3Ftoken%3D1994907168%26lang%3Dzh_CN\" target=\"_blank\" rel=\"noreferrer noopener\">\u7aef\u5230\u7aef\u65b0SOTA\uff01GPVL\uff1a3D\u89c6\u89c9\u8bed\u8a00\u9884\u8bad\u7ec3\u7684\u751f\u6210\u5f0f\u89c4\u5212\u65b0\u6846\u67b6\uff01<\/a><\/p>\n<\/blockquote>\n\n\n\n<p>\u5c3d\u7ba1\u5982\u6b64\uff0c\u8fd9\u4e9b\u5728 2D \u89c6\u89c9\u8bed\u8a00\u6570\u636e\u96c6\u4e0a\u9884\u5148\u8bad\u7ec3\u7684\u6a21\u578b\u5728\u7406\u89e3\u9a7e\u9a76\u573a\u666f\u4e2d\u590d\u6742\u7684 3D \u7a7a\u95f4\u5173\u7cfb\u65b9\u9762\u4ecd\u5b58\u5728\u56f0\u96be\u3002\u56e0\u6b64\uff0c\u51e0\u79cd\u6709\u6548\u7684\u7b56\u7565\u88ab\u8bbe\u8ba1\u6765\u514b\u670d\u4e0a\u8ff0\u6311\u6218\uff0c\u4f8b\u5982\u76f4\u63a5\u4f7f\u7528\u68c0\u6d4b\u5230\u7684\u5173\u952e\u7269\u4f53\u7684 3D \u8fb9\u754c\u6846\u5e76\u5c06<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=253007352&amp;content_type=Article&amp;match_order=1&amp;q=%E9%B8%9F%E7%9E%B0%E5%9B%BE&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u9e1f\u77b0\u56fe<\/a><\/p>\n\n\n\n<p>(BEV) \u7279\u5f81\u4e0e\u53ef\u5b66\u4e60\u67e5\u8be2\u76f8\u7ed3\u5408\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u5148\u8fdb\u7684\u7b56\u7565\u4ec5\u4ec5\u6574\u5408\u4e86 2D \u548c 3D \u89c6\u89c9\u4fe1\u606f\uff0c\u800c\u6ca1\u6709\u5145\u5206\u89e3\u51b3 3D \u89c6\u89c9\u7279\u5f81\u4e0e\u8bed\u8a00\u8868\u793a\u7684\u5bf9\u9f50\u95ee\u9898\u3002<\/p>\n\n\n\n<p>\u9488\u5bf9\u4e0a\u8ff0\u63d0\u5230\u7684\u76f8\u5173\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u7684\u91c7\u75283D\u89c6\u89c9\u8bed\u8a00\u9884\u8bad\u7ec3\u8303\u5f0f\u7684\u751f\u6210\u89c4\u5212\u6846\u67b6\uff0c\u79f0\u4e3aGPVL\u3002\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u7684\u5927\u91cf\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u4e0eSOTA\u7684\u7b97\u6cd5\u6a21\u578b\u76f8\u6bd4\uff0c\u6240\u63d0\u51fa\u7684\u65b9\u6848\u53d6\u5f97\u4e86\u51fa\u8272\u7684\u6027\u80fd\u3002\u6b64\u5916\uff0c\u6240\u63d0\u51fa\u7684 GPVL \u5728\u5904\u7406\u5404\u79cd\u573a\u666f\u4e2d\u7684\u9ad8\u7ea7\u547d\u4ee4\u65f6\u8868\u73b0\u51fa\u5f3a\u5927\u7684\u6cdb\u5316\u80fd\u529b\u548c\u5b9e\u65f6\u6f5c\u529b\u3002<\/p>\n\n\n\n<p>\u6587\u7ae0\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/pdf\/2501.08861\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/pdf\/2501.08861<\/a>\uff1b<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_19924726075_1\"><strong>\u7f51\u7edc\u7ed3\u6784&amp;\u7ec6\u8282\u68b3\u7406<\/strong><\/h2>\n\n\n\n<p>\u5728\u8be6\u7ec6\u4ecb\u7ecd\u672c\u6587\u63d0\u51fa\u7684<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=253007352&amp;content_type=Article&amp;match_order=2&amp;q=%E7%AE%97%E6%B3%95%E6%A8%A1%E5%9E%8B&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u7b97\u6cd5\u6a21\u578b<\/a><\/p>\n\n\n\n<p>\u6280\u672f\u7ec6\u8282\u4e4b\u524d\uff0c\u4e0b\u56fe\u5c55\u793a\u4e86\u63d0\u51fa\u7684GPVL\u7b97\u6cd5\u6a21\u578b\u7684\u6574\u4f53\u7f51\u7edc\u7ed3\u6784\u56fe\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-e8dcf523a6e48aedaf157ef6721b3a7d_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u901a\u8fc7\u4e0a\u56fe\u53ef\u4ee5\u770b\u51fa\uff0cGPVL\u7b97\u6cd5\u6a21\u578b\u5305\u62ec\u4e09\u4e2a\u5173\u952e\u90e8\u5206\uff0c\u4e3b\u5e72\u7f51\u7edc\u57fa\u4e8e\u63d0\u53d6\u7684BEV\u7279\u5f81\u751f\u6210\u6709\u76d1\u7763\u7684\u68c0\u6d4b\u3001\u5730\u56fe\u548c\u8fd0\u52a8\u7279\u5f81\uff1b\u5176\u6b21\uff0c3D\u89c6\u89c9\u8bed\u8a00\u9884\u8bad\u7ec3\u6a21\u5757\u65e8\u5728\u5c06\u89c6\u89c9\u548c\u8bed\u8a00\u7279\u5f81\u5bf9\u9f50\u5230\u5171\u540c\u7684<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=253007352&amp;content_type=Article&amp;match_order=1&amp;q=%E8%AF%AD%E4%B9%89%E7%A9%BA%E9%97%B4&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u8bed\u4e49\u7a7a\u95f4<\/a><\/p>\n\n\n\n<p>\u4e2d\uff1b\u6700\u540e\u8de8\u6a21\u6001\u8bed\u8a00\u6a21\u578b\u4ee5\u751f\u6210\u7684\u65b9\u5f0f\u8f93\u51fa\u53ef\u9760\u7684\u51b3\u7b56\u548c\u8f68\u8ff9\u7ed3\u679c\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_19924726075_2\"><strong>GPVL\u7b97\u6cd5\u6a21\u578b\u65b9\u6cd5\u6982\u89c8<\/strong><\/h3>\n\n\n\n<p>\u6574\u4f53\u800c\u8a00\uff0c\u672c\u6587\u63d0\u51fa\u7684GPVL\u7b97\u6cd5\u6a21\u578b\u7684\u76ee\u6807\u662f\u751f\u6210\u81ea\u8f66\u7684\u5b89\u5168\u9a7e\u9a76\u8f68\u8ff9\u3002\u4e3a\u4e86\u83b7\u5f97\u4ee4\u4eba\u6ee1\u610f\u7684\u89c4\u5212\u7ed3\u679c\uff0c\u63d0\u51fa\u4e86 GPVL \u6765\u5efa\u7acb 3D \u89c6\u89c9\u7279\u5f81\u4e0e\u8bed\u8a00\u8868\u793a\u4e4b\u95f4\u7684\u8bed\u4e49\u5173\u8054\uff0c\u5e76\u4ee5<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=253007352&amp;content_type=Article&amp;match_order=1&amp;q=%E8%87%AA%E5%9B%9E%E5%BD%92&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u81ea\u56de\u5f52<\/a><\/p>\n\n\n\n<p>\u7684\u65b9\u5f0f\u751f\u6210\u9ad8\u8d28\u91cf\u8def\u7ebf\u3002<\/p>\n\n\n\n<p>\u5177\u4f53\u800c\u8a00\uff0c\u9488\u5bf9\u8f93\u5165\u7684\u591a\u89c6\u89d2\u56fe\u7247\uff0c\u6211\u4eec\u9996\u5148\u4f7f\u7528\u9884\u8bad\u7ec3\u7684BEVFormer\u4e2d\u7684Encoder\u6a21\u5757\u6765\u63d0\u53d6BEV\u7279\u5f81\u3002\u5728\u6b64\u4e4b\u540e\uff0cBEV\u7279\u5f81\u5582\u5165\u5230\u68c0\u6d4b\u3001\u8fd0\u52a8\u4ee5\u53ca\u5730\u56feTransformer\u4e2d\u6765\u540c\u65f6\u5b66\u4e603D\u76ee\u6807\u6846\u3001\u4ee3\u7406\u8fd0\u52a8\u4ee5\u53ca\u5730\u56fe\u5143\u7d20\uff0c\u8fdb\u800c\u5f97\u5230\u68c0\u6d4b\u7279\u5f81\u3001\u8fd0\u52a8\u7279\u5f81\u4ee5\u53ca\u5730\u56fe\u7279\u5f81\u3002\u7136\u540e\uff0c\u68c0\u6d4b\u3001\u8fd0\u52a8\u4ee5\u53ca\u5730\u56fe\u7279\u5f81\u88ab\u9001\u5165\u5230\u5177\u6709\u591a\u4e2atransformer\u5c42\u5806\u53e0\u7ec4\u6210\u7684\u89c6\u89c9\u6ce8\u610f\u529b\u6a21\u5757\u4e2d\u751f\u6210\u5177\u6709\u6ce8\u610f\u529b\u7684\u89c6\u89c9\u7279\u5f81\u4ee5\u53ca\u62fc\u63a5\u540e\u7684\u7279\u5f81\u3002\u540c\u65f6\uff0c\u73af\u5883\u771f\u503c\u63cf\u8ff0\u88ab\u96c6\u6210\u5230\u4e86\u57fa\u4e8eBERT\u7684\u6587\u5b57\u6ce8\u610f\u529b\u6a21\u5757\u4e2d\u7528\u4e8e\u83b7\u5f97\u5404\u81ea\u7684\u6587\u5b57\u8868\u8fbe\u3002\u6b64\u5916\uff0c\u8fdb\u4e00\u6b65\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u5206\u7ec4\u5bf9\u9f50\u6a21\u5757\uff0c\u5c06\u8fd9\u4e9b\u89c6\u89c9\u548c\u8bed\u8a00\u7279\u5f81\u6295\u5c04\u5230\u5171\u4eab\u8bed\u4e49\u7a7a\u95f4\u4e2d\u3002\u6700\u540e\uff0c\u5c06\u6240\u6709\u7279\u5f81\u62fc\u63a5\u7684\u7ed3\u679c\u7279\u5f81\u4e0e\u81ea\u8f66\u7684\u5bfc\u822aprompt\u4e00\u8d77\u8f93\u5165\u5230\u8bed\u8a00\u6a21\u578b\u4e2d\uff0c\u4ee5\u81ea\u7136\u8bed\u8a00\u7684\u683c\u5f0f\u751f\u6210\u53ef\u9760\u7684\u8f68\u8ff9\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_19924726075_3\"><strong>3D \u89c6\u89c9\u8bed\u8a00\u9884\u8bad\u7ec3<\/strong><\/h3>\n\n\n\n<p>3D\u89c6\u89c9\u8bed\u8a00\u9884\u8bad\u7ec3\u6a21\u5757\u65e8\u5728\u901a\u8fc7\u5bf9\u6bd4\u5b66\u4e60\u65b9\u5f0f\u5efa\u7acb\u89c6\u89c9\u548c\u8bed\u8a00\u6a21\u5f0f\u4e4b\u95f4\u7684\u591a\u5c42\u6b21\u5bf9\u9f50\u3002\u4ee5\u524d\u7684\u51e0\u79cd\u65b9\u6cd5\u5df2\u7ecf\u5f15\u5165\u4e86\u9884\u8bad\u7ec3\u7684LLM\u6765\u589e\u5f3a\u5bf9\u9a7e\u9a76\u573a\u666f\u7684\u611f\u77e5\u548c\u7406\u89e3\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u8981\u4e48\u7f3a\u4e4f3D\u7a7a\u95f4\u4fe1\u606f\uff0c\u8981\u4e48\u5728\u4e0d\u540c\u8868\u793a\u4e4b\u95f4\u8868\u73b0\u51fa\u8bed\u4e49\u5dee\u8ddd\uff0c\u8fd9\u963b\u788d\u4e86\u57fa\u4e8e\u63d0\u53d6\u7279\u5f81\u7684\u51c6\u786e\u76ee\u6807\u5b9a\u4f4d\u548c\u8f68\u8ff9\u63a8\u65ad\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u6211\u4eec\u63d0\u51fa\u7684GPVL\u6a21\u578b\u5229\u7528\u76d1\u7763\u68c0\u6d4b\u3001\u8fd0\u52a8\u548c\u5730\u56fe\u7279\u5f81\u6765\u611f\u77e5\u76ee\u6807\u76843D\u7a7a\u95f4\u5206\u5e03\uff0c\u5e76\u901a\u8fc73D\u89c6\u89c9\u8bed\u8a00\u9884\u8bad\u7ec3\u6a21\u5757\u6700\u5927\u9650\u5ea6\u5730\u51cf\u5c11\u4e0d\u540c\u7279\u5f81\u4e4b\u95f4\u7684\u8bed\u4e49\u5dee\u8ddd\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_19924726075_4\"><strong>BEV-injected Visual Features<\/strong><\/h3>\n\n\n\n<p>\u5728\u63d0\u51fa\u7684GPVL\u7b97\u6cd5\u4e2d\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u4e09\u79cd\u76ee\u6807\uff0c\u5305\u62ec\u524d\u666f\u76ee\u6807\u3001\u4ee3\u7406\u8fd0\u52a8\u548c\u5730\u56fe\u5143\u7d20\u3002\u6211\u4eec\u9996\u5148\u5229\u7528\u89c6\u89c9\u5d4c\u5165\u5c42\u6765\u7f16\u7801\u68c0\u6d4b\u3001\u8fd0\u52a8\u4ee5\u53ca\u5730\u56fe\u7279\u5f81\u5230\u76f8\u540c\u7684\u901a\u9053\u7ef4\u5ea6\u3002\u7136\u540e\uff0c\u5f15\u5165\u4e86 Transformer \u7ed3\u6784\uff0c\u901a\u8fc7\u957f\u8ddd\u79bb<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=253007352&amp;content_type=Article&amp;match_order=1&amp;q=%E6%B3%A8%E6%84%8F%E5%8A%9B%E6%9C%BA%E5%88%B6&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u6ce8\u610f\u529b\u673a\u5236<\/a><\/p>\n\n\n\n<p>\u5efa\u7acb\u7d27\u51d1\u7684\u4ea4\u4e92\uff0c\u4ee5\u589e\u5f3a\u89c6\u89c9\u7279\u5f81\u3002\u6574\u4e2a\u51fd\u6570\u53ef\u4ee5\u8868\u793a\u6210\u5982\u4e0b\u7684\u5f62\u5f0f<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-52289fc0fe249e37329b07eeadb4f055_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u968f\u540e\uff0c\u5c06\u6ce8\u610f\u529b\u68c0\u6d4b\u3001\u8fd0\u52a8\u548c\u5730\u56fe\u7279\u5f81\u6cbf\u7a7a\u95f4\u7ef4\u5ea6\u8fdb\u884c\u6574\u5408\uff0c\u4ee5\u83b7\u5f97<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=253007352&amp;content_type=Article&amp;match_order=1&amp;q=%E5%85%A8%E5%B1%80%E8%A7%86%E8%A7%89&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u5168\u5c40\u89c6\u89c9<\/a><\/p>\n\n\n\n<p>\u7279\u5f81\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-e30bb752c07a132583eddda336dd85de_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_19924726075_5\"><strong>Environmental Linguistic Features<\/strong><\/h3>\n\n\n\n<p>\u4e3a\u4e86\u8d4b\u4e88\u6a21\u578b\u8bed\u8a00\u611f\u77e5\u80fd\u529b\uff0c\u6211\u4eec\u5229\u7528 BERT \u7ed3\u6784\u63d0\u51fa\u4e86\u4e00\u4e2a\u6587\u672c\u6ce8\u610f\u6a21\u5757\u3002\u8be5\u6a21\u5757\u5904\u7406\u611f\u77e5\u548c\u89c4\u5212\u6807\u7b7e\uff0c\u4f8b\u5982\u8fb9\u754c\u6846\u3001\u672a\u6765\u8f68\u8ff9\u548c\u5730\u56fe\u5143\u7d20\uff0c\u5e76\u4f7f\u7528\u9884\u5b9a\u4e49\u6a21\u677f\u5c06\u5176\u8f6c\u6362\u4e3a\u7279\u5b9a\u4e8e\u9a7e\u9a76\u7684\u8bed\u8a00\u63d0\u793a\u3002\u968f\u540e\u5c06\u4e0e\u68c0\u6d4b\u3001\u8fd0\u52a8\u548c\u5730\u56fe\u7279\u5f81\u76f8\u5173\u7684\u63cf\u8ff0\u8f93\u5165\u5230\u6587\u672c\u6ce8\u610f\u6a21\u5757\u4e2d\uff0c\u4ee5\u751f\u6210\u76f8\u5e94\u7684\u8bed\u8a00\u8868\u793a\u3002\u73b0\u5728\uff0c\u6574\u4e2a\u8fc7\u7a0b\u53ef\u4ee5\u8868\u8ff0\u4e3a\u5982\u4e0b\u7684\u5f62\u5f0f<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-aaeb3e106d4e09d4af92a67e3b1b19bf_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u968f\u540e\uff0c\u8fd9\u4e9b\u63cf\u8ff0\u6027\u7279\u5f81\u88ab\u62fc\u63a5\u8d77\u6765\uff0c\u5f62\u6210\u5168\u5c40\u6587\u672c\u8868\u5f81\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-326d624ccd3448f383bbf6daefc864f0_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_19924726075_6\"><strong>Group-wise Alignment<\/strong><\/h3>\n\n\n\n<p>\u4e3a\u4e86\u5145\u5206\u5229\u7528\u4e0d\u540c\u7279\u5f81\u4e4b\u95f4\u7684\u591a\u7ea7\u5173\u8054\uff0c\u6211\u4eec\u5229\u7528\u5bf9\u6bd4\u5b66\u4e60\u8bbe\u8ba1\u4e86\u5206\u7ec4\u5bf9\u9f50\u7b56\u7565\u3002\u8003\u8651\u4e86\u56db\u79cd\u7c7b\u578b\u7684 3D \u89c6\u89c9\u8bed\u8a00 (VL) \u5bf9\u9f50\u7ec4\uff0c\u5305\u62ec\u68c0\u6d4b\u76f8\u5173 VL \u7ec4\u3001\u8fd0\u52a8\u76f8\u5173 VL \u7ec4\u3001\u5730\u56fe\u76f8\u5173 VL \u7ec4\u548c\u5168\u5c40 VL \u7ec4\u3002\u4f8b\u5982\uff0c\u5728\u4e00\u6279K\u4e2a\u8bad\u7ec3\u6837\u672c\u4e2d\uff0c<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=253007352&amp;content_type=Article&amp;match_order=1&amp;q=%E5%AF%B9%E9%BD%90%E5%87%BD%E6%95%B0&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u5bf9\u9f50\u51fd\u6570<\/a><\/p>\n\n\n\n<p>\u65e8\u5728\u5c06\u5339\u914d\u7684 VL \u6837\u672c\u89c6\u4e3a\u6b63\u6837\u672c\uff0c\u5c06\u4e0d\u5339\u914d\u7684 VL \u6837\u672c\u89c6\u4e3a\u8d1f\u6837\u672c\u3002\u7ed9\u5b9a\u89c6\u89c9\u7279\u5f81\u548c\u6587\u672c\u7279\u5f81\u4f5c\u4e3a\u8f93\u5165\uff0c\u5bf9\u6bd4\u635f\u5931\u5b9a\u4e49\u4e3a\u5982\u4e0b\u7684\u5f62\u5f0f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-78e6c067f26fdb07829c9c8bc687ee02_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5728\u8be5\u6a21\u5757\u4e2d\uff0c\u5f15\u5165\u4e86\u53ef\u5b66\u4e60\u7684\u6743\u91cd\u6765\u63a2\u7d22\u4e0d\u540c\u8868\u793a\u4e4b\u95f4\u7684\u7ec6\u7c92\u5ea6\u5173\u7cfb\u3002\u4f8b\u5982\uff0c\u68c0\u6d4b\u76f8\u5173\u7684 VL \u7ec4\u7684\u76f8\u4f3c\u5ea6\u51fd\u6570\u53ef\u4ee5\u8868\u793a\u4e3a\u5982\u4e0b\u7684\u5f62\u5f0f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-cdc3c25078278e060f58db8b2f0d88e0_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56e0\u6b64\uff0c\u603b\u7684\u7ec4\u5bf9\u9f50\u635f\u5931\u53ef\u4ee5\u7528\u5982\u4e0b\u7684\u516c\u5f0f\u8fdb\u884c\u8868\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-1cb52849380f621bc1481e5b96bc655f_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_19924726075_7\"><strong>Planning via Cross-modal Language Model<\/strong><\/h3>\n\n\n\n<p>\u81ea\u8f66\u4e0e\u4ee3\u7406\u76f4\u63a5\u7684\u4ea4\u4e92\u662f\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\u7684\u4e00\u4e2a\u91cd\u8981\u95ee\u9898\u3002\u5148\u524d\u7684\u7814\u7a76\u5c1d\u8bd5\u5f15\u5165\u53ef\u5b66\u4e60\u67e5\u8be2\u6765\u4e3a\u81ea\u8f66\u7684\u67e5\u8be2\u7279\u5f81\u5efa\u6a21\u81ea\u8f66\u4e0e\u4ee3\u7406\u4e4b\u95f4\u7684\u5173\u7cfb\uff0c\u5e76\u5c06\u5176\u53d1\u9001\u5230\u591a\u5c42<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=253007352&amp;content_type=Article&amp;match_order=1&amp;q=%E6%84%9F%E7%9F%A5%E6%9C%BA&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u611f\u77e5\u673a<\/a>\u4ee5\u83b7\u53d6\u9884\u671f\u7684\u672a\u6765\u8f68\u8ff9\u3002\u867d\u7136\u6b64\u7b56\u7565\u53ef\u4ee5\u5728\u7279\u5b9a\u7684<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=253007352&amp;content_type=Article&amp;match_order=1&amp;q=%E5%9F%BA%E5%87%86%E6%95%B0%E6%8D%AE%E9%9B%86&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u57fa\u51c6\u6570\u636e\u96c6<\/a><\/p>\n\n\n\n<p>\u4e0a\u5448\u73b0\u826f\u597d\u7684\u6027\u80fd\uff0c\u4f46\u76f4\u63a5\u4f7f\u7528 MLP \u751f\u6210\u8f68\u8ff9\u53ef\u80fd\u4f1a\u5bfc\u81f4\u8fc7\u5ea6\u62df\u5408\uff0c\u5e76\u4e14\u96be\u4ee5\u63a8\u65ad\u751f\u6210\u7684\u8f68\u8ff9\u8def\u5f84\u70b9\u4e4b\u95f4\u7684\u4e0a\u4e0b\u6587\u5173\u7cfb\u3002\u9762\u5bf9\u8fd9\u4e9b\u6311\u6218\uff0c\u6211\u4eec\u5f00\u53d1\u4e86\u4e00\u79cd\u7528\u4e8e\u751f\u6210\u89c4\u5212\u7684\u8de8\u6a21\u6001\u8bed\u8a00\u6a21\u578b\uff0c\u4ee5\u4f7f GPVL \u80fd\u591f\u4ee5\u5408\u7406\u548c\u7a33\u5065\u7684\u65b9\u5f0f\u505a\u51fa\u5b89\u5168\u51b3\u7b56\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_19924726075_8\"><strong>Ego-agent Cross-modal Decoder<\/strong><\/h3>\n\n\n\n<p>\u6240\u63d0\u51fa\u7684\u6a21\u578b\u4e3a\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7684\u5f53\u524d\u72b6\u6001\u5236\u5b9a\u8bed\u8a00\u63d0\u793a\uff0c\u5305\u62ec\u5176\u9ad8\u7ea7\u9a7e\u9a76\u547d\u4ee4\u548c\u4f4d\u7f6e\u3002\u4fe1\u606f\u63d0\u793a\u88ab\u53d1\u9001\u5230\u6587\u672c\u5d4c\u5165\u5c42\uff0c\u4ee5\u4ea7\u751f\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7684\u521d\u59cb\u8bed\u8a00\u8868\u793a\u3002\u540c\u65f6\uff0c\u8bbe\u8ba1\u7684\u573a\u666f\u5b57\u5e55\u6a21\u578b\u751f\u6210\u89c6\u89c9\u63cf\u8ff0\uff08\u4f8b\u5982\uff0c\u4ea4\u901a\u4fe1\u53f7\u706f\u3001\u6807\u5fd7\u3001\u5173\u952e\u7269\u4f53\u548c\u5929\u6c14\uff09\u3002\u968f\u540e\uff0c\u73af\u5883\u89c6\u89c9\u7279\u5f81\u548c\u63d0\u793a\u7279\u5f81\u88ab\u8f93\u5165\u5230\u8bed\u8a00\u6a21\u578b\u4e2d\uff0c\u4ee5\u5b66\u4e60\u5177\u6709\u4e30\u5bcc\u9a7e\u9a76\u573a\u666f\u548c\u5bfc\u822a\u4fe1\u606f\u7684\u89c4\u5212\u7279\u5f81\u3002\u8be5\u8fc7\u7a0b\u53ef\u4ee5\u8868\u8ff0\u4e3a\u5982\u4e0b\u7684\u5f62\u5f0f<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-f0b0dd0603f3c3a2879a7956e0328822_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6700\u540e\uff0c\u9884\u6d4b\u51fa\u6765\u7684\u7279\u5f81\u88ab\u9001\u5165\u5230\u7ebf\u6027\u5c42\u548cSoftmax\u51fd\u6570\u4e2d\u751f\u6210\u8bcd\u5411\u91cf<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-ac00020b421061a292a614171229f2fa_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_19924726075_9\"><strong>Generative Planning<\/strong><\/h3>\n\n\n\n<p>\u4e0e\u5927\u591a\u6570\u89c6\u89c9\u5b57\u5e55\u4efb\u52a1\u7c7b\u4f3c\uff0c\u5f15\u5165<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=253007352&amp;content_type=Article&amp;match_order=1&amp;q=%E4%BA%A4%E5%8F%89%E7%86%B5%E6%8D%9F%E5%A4%B1&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u4ea4\u53c9\u71b5\u635f\u5931<\/a>\u4ee5\u8bed\u8a00\u5efa\u6a21\u65b9\u5f0f\u8f93\u51fa\u8f68\u8ff9\u3002\u5728\u8bad\u7ec3\u671f\u95f4\uff0c\u6bcf\u4e2a\u6837\u672c\u90fd\u914d\u5907\u4e00\u4e2a\u63d0\u793a\u5b57\u5e55\u771f\u503c\u4f5c\u4e3a\u53c2\u8003\uff0c\u5176\u4e2d\u5305\u62ec\u9ad8\u7ea7\u547d\u4ee4\u548c\u81ea\u8f66\u7684\u672a\u6765\u8f68\u8ff9\uff0c<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=253007352&amp;content_type=Article&amp;match_order=1&amp;q=%E6%8D%9F%E5%A4%B1%E5%87%BD%E6%95%B0&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u635f\u5931\u51fd\u6570<\/a><\/p>\n\n\n\n<p>\u8868\u793a\u4e3a\u5982\u4e0b\u7684\u5f62\u5f0f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-93aa333d72c7d0dc4442c9591a99fc2d_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_19924726075_10\"><strong>\u5b9e\u9a8c\u7ed3\u679c&amp;\u8bc4\u4ef7\u6307\u6807<\/strong><\/h2>\n\n\n\n<p>\u672c\u6587\u5c06\u6240\u63d0\u51fa\u7684\u7b97\u6cd5\u6a21\u578b\u4e0e13\u79cd\u81ea\u52a8\u9a7e\u9a76\u65b9\u6cd5\u8fdb\u884c\u4e86\u6bd4\u8f83\uff0c\u5176\u4e2d\u5305\u62ec8\u79cd\u4f20\u7edf<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=253007352&amp;content_type=Article&amp;match_order=1&amp;q=%E9%9D%9E%E8%87%AA%E5%9B%9E%E5%BD%92%E6%96%B9%E6%B3%95&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u975e\u81ea\u56de\u5f52\u65b9\u6cd5<\/a><\/p>\n\n\n\n<p>\u548c 5 \u79cdLLM\u6ce8\u5165\u81ea\u56de\u5f52\u65b9\u6cd5\u3002<\/p>\n\n\n\n<p>\u4e0b\u8868\u5c55\u793a\u4e86\u6240\u63d0\u51fa\u7684 GPVL\u7b97\u6cd5\u6a21\u578b\u4e0e\u5176\u4ed6SOTA\u7b97\u6cd5\u6a21\u578b\u7684\u7edf\u8ba1\u7ed3\u679c\u6bd4\u8f83\u3002\u603b\u4f53\u800c\u8a00\uff0cGPVL \u7684\u8868\u73b0\u6027\u80fd\u660e\u663e\u4f18\u4e8e\u5176\u4ed6\u65b9\u6cd5\u3002\u5177\u4f53\u800c\u8a00\uff0c\u4e0e VAD\u7b97\u6cd5\u6a21\u578b\u76f8\u6bd4\uff0cGPVL \u5728 L2 \u8ddd\u79bb\u5ea6\u91cf\u4e2d\u83b7\u5f97\u4e86\u6700\u4f4e\u7684\u5f97\u5206\uff0c\u5e76\u4e14\u660e\u663e\u51cf\u5c11\u4e86\u89c4\u5212\u4f4d\u79fb\u8bef\u5dee\uff081s \u65f6 0.18m\u30012s \u65f6 0.28m\u30013s \u65f6 0.34m \u548c\u5e73\u5747 0.27m\uff09\uff0c\u8868\u660e\u8f68\u8ff9\u9884\u6d4b\u7684\u51c6\u786e\u6027\u66f4\u9ad8\u3002<\/p>\n\n\n\n<p>\u6b64\u5916\uff0cGPVL \u5728\u5927\u591a\u6570\u78b0\u649e\u7387\u6307\u6807\u4e2d\u8868\u73b0\u51fa\u6700\u4f73\u6027\u80fd\uff0c\u51f8\u663e\u4e86\u5176\u5728\u907f\u514d\u78b0\u649e\u65b9\u9762\u7684\u5353\u8d8a\u5b89\u5168\u6027\u548c\u7a33\u5065\u6027\u3002\u4e0e\u5f15\u5165\u8f85\u52a9\u4efb\u52a1\u6216\u4f7f\u7528 LLM \u7684\u65b9\u6cd5\u76f8\u6bd4\uff0c\u6240\u63d0\u51fa\u7684\u65b9\u6cd5\u4fdd\u6301\u4e86\u76f8\u5f53\u7684\u89c4\u5212\u6027\u80fd\uff0c\u5b9e\u73b0\u4e86 188.7 \u6beb\u79d2\u7684\u5ef6\u8fdf\u548c 5.3 fps \u7684\u63a8\u7406\u901f\u5ea6\uff0c\u5177\u6709\u5b9e\u9645\u5e94\u7528\u7684\u6f5c\u529b\u3002\u6839\u636eBEV-Planner\u7684\u62a5\u544a\uff0c\u6240\u63d0\u51fa\u7684\u65b9\u6848\u6392\u9664\u4e86\u81ea\u8f66\u72b6\u6001\u4fe1\u606f\u4ee5\u9632\u6b62\u6377\u5f84\u5b66\u4e60\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-eb944cd73d81096c82b61cafecf6067d_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u4e0b\u8868\u663e\u793a\u4e86\u5728\u5de6\u8f6c\u3001\u53f3\u8f6c\u548c<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=253007352&amp;content_type=Article&amp;match_order=1&amp;q=%E7%9B%B4%E8%A1%8C%E5%91%BD%E4%BB%A4&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u76f4\u884c\u547d\u4ee4<\/a>\u65b9\u9762\u8bc4\u4f30\u7684 L2 \u548c\u78b0\u649e\u5f97\u5206\u3002\u5f88\u660e\u663e\uff0cGPVL \u5728\u6240\u6709\u6307\u6807\u4e0a\u7684\u8868\u73b0\u90fd\u660e\u663e\u4f18\u4e8e UniAD \u548c VAD\u3002\u5728 nuScenes \u6570\u636e\u96c6\u4e2d\uff0c87.7% \u7684\u8bad\u7ec3\u6837\u672c\u548c 88.2% \u7684\u9a8c\u8bc1\u6837\u672c\u7531\u7b80\u5355\u7684\u76f4\u884c\u573a\u666f\u7ec4\u6210\u3002\u56e0\u6b64\uff0cUniAD \u548c VAD \u66f4\u5bb9\u6613\u5728\u8fd9\u4e9b\u6837\u672c\u4e0a\u8fc7\u5ea6\u62df\u5408\u548c\u5b66\u4e60\u6377\u5f84\uff0c\u5bfc\u81f4\u5728\u66f4\u590d\u6742\u7684\u8f6c\u5f2f\u573a\u666f\u4e2d\u8868\u73b0\u4e0d\u4f73\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u6240\u63d0\u51fa\u7684\u65b9\u6cd5\u5728\u6240\u6709\u573a\u666f\u4e2d\u90fd\u83b7\u5f97\u4e86\u826f\u597d\u7684\u7ed3\u679c\uff0c\u5728\u5404\u79cd\u9a7e\u9a76\u60c5\u51b5\u4e0b\u90fd\u8868\u73b0\u51fa\u5f3a\u5927\u7684<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=253007352&amp;content_type=Article&amp;match_order=2&amp;q=%E6%B3%9B%E5%8C%96%E8%83%BD%E5%8A%9B&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u6cdb\u5316\u80fd\u529b<\/a><\/p>\n\n\n\n<p>\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-c981cfc87cd3aae50c913b3e7ececed1_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6b64\u5916\uff0c\u4e3a\u4e86\u66f4\u52a0\u76f4\u89c2\u7684\u5c55\u793a\u6211\u4eec\u7b97\u6cd5\u6a21\u578b\u7684\u6709\u6548\u6027\u3002\u4e0b\u56fe\u5c55\u793a\u4e86GPVL\u7b97\u6cd5\u6a21\u578b\u751f\u6210\u7684\u89c4\u5212\u7ed3\u679c\u4e0e VAD \u548c\u771f\u503c\u7684\u6bd4\u8f83\u3002\u4e3a\u4e86\u5145\u5206\u4e86\u89e3\u9a7e\u9a76\u573a\u666f\uff0c\u5305\u62ec\u591a\u89c6\u89d2\u6444\u50cf\u673a\u56fe\u50cf\uff0c\u5e76\u5728\u524d\u7f6e\u6444\u50cf\u673a\u56fe\u50cf\u4e2d\u53ef\u89c6\u5316\u89c4\u5212\u8f68\u8ff9\u3002<\/p>\n\n\n\n<p>\u603b\u4f53\u800c\u8a00\uff0c\u5f97\u76ca\u4e8e\u63d0\u51fa\u7684 3D \u89c6\u89c9\u8bed\u8a00\u9884\u8bad\u7ec3\u6a21\u5757\u548c\u8de8\u6a21\u6001\u8bed\u8a00\u6a21\u578b\uff0c\u8bbe\u8ba1\u7684\u6a21\u578b\u53ef\u4ee5\u751f\u6210\u51c6\u786e\u5408\u7406\u7684\u8f68\u8ff9\u3002\u4f8b\u5982\uff0c\u5728\u7b2c\u4e00\u4e2a\u573a\u666f\u4e2d\uff0c\u5f53\u6307\u793a\u81ea\u8f66\u76f4\u884c\u65f6\uff0cGPVL \u751f\u6210\u7684\u8f68\u8ff9\u5f15\u5bfc\u8f66\u8f86\u5b89\u5168\u5730\u7a7f\u8fc7\u57ce\u5e02\u9053\u8def\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0cVAD \u7684\u8f68\u8ff9\u6709\u4e0e\u8def\u8fb9\u76f8\u649e\u7684\u98ce\u9669\u3002\u5728\u7b2c\u4e09\u79cd\u60c5\u51b5\u4e0b\uff0cGPVL \u7684\u7ed3\u679c\u4e0e\u771f\u503c\u60c5\u51b5\u975e\u5e38\u4e00\u81f4\uff0c\u4f7f\u8f66\u8f86\u80fd\u591f\u5728\u8def\u53e3\u5b89\u5168\u5730\u5de6\u8f6c\u3002\u7136\u800c\uff0cVAD \u7684\u89c4\u5212\u51b3\u7b56\u66f4\u5177\u4fb5\u7565\u6027\uff0c\u53ef\u80fd\u4f1a\u5bfc\u81f4\u4e0e\u8fce\u9762\u800c\u6765\u7684\u8f66\u8f86\u76f8\u649e\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-9f6599abea7a4ce0883951f9ecc123ad_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u4e0b\u8868\u4e2d\u7684\u6d88\u878d\u5b9e\u9a8c\u7ed3\u679c\u7cfb\u7edf\u5730\u8c03\u67e5\u4e86 GPVL <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=253007352&amp;content_type=Article&amp;match_order=1&amp;q=%E5%85%B3%E9%94%AE%E7%BB%84%E4%BB%B6&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u5173\u952e\u7ec4\u4ef6<\/a>\u5bf9 nuScenes \u6570\u636e\u96c6\u7684\u8d21\u732e\u3002\u5982\u679c\u6ca1\u6709\u611f\u77e5\u6a21\u5757\uff0cGPVL \u5f88\u96be\u68c0\u6d4b\u524d\u666f\u7269\u4f53\u3001\u9884\u6d4b\u8fd0\u52a8\u548c\u6784\u5efa\u5730\u56fe\uff0c\u4ece\u800c\u5bfc\u81f4\u66f4\u9ad8\u7684 L2 \u548c\u78b0\u649e\u5206\u6570\u3002\u7981\u7528 VLP \u548c GA \u7ec4\u4ef6\u4f1a\u663e\u8457\u964d\u4f4e\u6027\u80fd\uff0c\u51f8\u663e\u51fa\u6a21\u578b\u5728\u89c6\u89c9\u548c\u8bed\u8a00\u7406\u89e3\u4e4b\u95f4\u67b6\u8d77\u6865\u6881\u7684\u5f3a\u5927\u80fd\u529b\u3002\u6ca1\u6709 GA \u4f1a\u5bfc\u81f4\u660e\u663e\u7684\u6027\u80fd\u4e0b\u964d\uff0c\u8868\u660e\u5176\u5728\u7ec6\u7c92\u5ea6\u7279\u5f81\u5173\u8054\u4e2d\u7684\u91cd\u8981\u6027\u3002\u6392\u9664 CLM \u4f1a\u589e\u52a0 L2 \u548c\u78b0\u649e\u5206\u6570\uff0c\u5f3a\u8c03\u5176\u5728\u751f\u6210\u5408\u7406\u89c4\u5212\u51b3\u7b56\u4e2d\u7684\u4f5c\u7528\u3002\u6700\u540e\uff0c\u5982\u4e0b\u8868\u7b2c\u516d\u884c\u6240\u793a\uff0c\u6240\u6709\u6a21\u5757\u7684\u96c6\u6210\u4ea7\u751f\u4e86\u6700\u4f73\u6027\u80fd\uff0c\u5c55\u793a\u4e86\u7ec4\u5408\u7cfb\u7edf\u7684<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=253007352&amp;content_type=Article&amp;match_order=1&amp;q=%E5%8D%8F%E5%90%8C%E6%95%88%E5%BA%94&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u534f\u540c\u6548\u5e94<\/a><\/p>\n\n\n\n<p>\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-e1e1492f949887ceed45b7eb89ca98cd_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u4e3a\u4e86\u9a8c\u8bc1\u6a21\u578b\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u6211\u4eec\u5728\u7531\u4e24\u4e2a\u4e0d\u540c\u7684\u57ce\u5e02\u73af\u5883\uff08\u5373\u6ce2\u58eb\u987f\u548c\u65b0\u52a0\u5761\uff09\u6784\u5efa\u7684\u6570\u636e\u96c6\u4e0a\u5bf9\u6a21\u578b\u8fdb\u884c\u4e86\u8bad\u7ec3\u548c\u6d4b\u8bd5\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u4e24\u7ec4\u5b9e\u9a8c\uff1a\uff081\uff09\u5728\u6ce2\u58eb\u987f\u8bad\u7ec3\u5e76\u5728\u65b0\u52a0\u5761\u6d4b\u8bd5\uff0c\uff082\uff09\u5728\u65b0\u52a0\u5761\u8bad\u7ec3\u5e76\u5728\u6ce2\u58eb\u987f\u6d4b\u8bd5\u3002\u5982\u4e0b\u8868\u6240\u793a\uff0c\u4e24\u7ec4\u4e2dGPVL\u7684\u8bc4\u4f30\u5206\u6570\u660e\u663e\u4f18\u4e8eUniAD\u548cVAD\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-e9406d6901ab68438ef2d5cf16fad78f_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6b64\u5916\uff0c\u5728\u6d4b\u8bd5\u56fe\u50cf\u4e2d\u5f15\u5165\u4e86\u56db\u79cd\u566a\u58f0\uff08\u5373\u96e8\uff0c\u96fe\uff0c\u96ea\u548c\u9ed1\u6697\uff09\u4ee5\u9a8c\u8bc1GPVL\u7684\u7a33\u5065\u6027\uff0c\u5982\u88685\u6240\u793a\uff0c\u8fd9\u4e9b\u566a\u58f0\u6761\u4ef6\u5bf9UniAD\u548cVAD\u6709\u663e\u8457\u7684\u8d1f\u9762\u5f71\u54cd\uff0c\u800c\u5bf9GPVL\u7684\u5f71\u54cd\u8f83\u5c0f\u3002\u56e0\u6b64\uff0cGPVL\u5728\u5404\u79cd\u73b0\u5b9e\u573a\u666f\u4e2d\u7684\u51fa\u8272\u8868\u73b0\u8bc1\u660e\u4e86\u5176\u80fd\u591f\u63d0\u9ad8\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u7a33\u5065\u6027\u548c\u5b89\u5168\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-fd440a12e962233d98c6b260bec9e599_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_19924726075_11\"><strong>\u7ed3\u8bba<\/strong><\/h2>\n\n\n\n<p>\u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u4f7f\u75283D\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u7684\u751f\u6210\u89c4\u5212\u7684\u7b97\u6cd5\u6846\u67b6\u7528\u4e8e\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u3002\u6240\u63d0\u51fa\u7684GPVL \u6784\u5efa\u4e86\u4e00\u4e2a\u7edf\u4e00\u7684\u6846\u67b6\uff0c\u4e0d\u4ec5\u53ef\u4ee5\u6267\u884c\u53ef\u9760\u7684\u89c4\u5212\uff0c\u800c\u4e14\u5728\u5404\u79cd\u9a7e\u9a76\u573a\u666f\u4e2d\u8868\u73b0\u51fa\u5353\u8d8a\u7684\u6cdb\u5316\u80fd\u529b\u3002\u5728 nuScenes \u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u7684\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0cGPVL\u7684\u8868\u73b0\u660e\u663e\u4f18\u4e8e\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\u3002\u5728\u672a\u6765\u7684\u5de5\u4f5c\u4e2d\uff0c\u6240\u63d0\u51fa\u7684 GPVL \u6709\u671b\u4fc3\u8fdb\u66f4\u5b89\u5168\u3001\u66f4\u53ef\u9760\u7684\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u7684\u53d1\u5c55\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u81ea\u52a8\u9a7e\u9a76\u662f\u4e00\u9879\u5177\u6709\u6311\u6218\u6027\u7684\u4efb\u52a1\uff0c\u9700\u8981\u5bf9\u81ea\u52a8\u9a7e\u9a76 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-24567","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/24567"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=24567"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/24567\/revisions"}],"predecessor-version":[{"id":24568,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/24567\/revisions\/24568"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=24567"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=24567"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=24567"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}