{"id":25846,"date":"2025-03-03T17:27:41","date_gmt":"2025-03-03T09:27:41","guid":{"rendered":"http:\/\/192.168.10.115\/?p=25846"},"modified":"2025-03-03T17:27:41","modified_gmt":"2025-03-03T09:27:41","slug":"2025-03-03-%e6%b8%af%e7%a7%91%e5%a4%a7%e5%8d%8e%e4%b8%ba%e8%af%ba%e4%ba%9a%e5%8f%91%e5%b8%83occ-llm%ef%bc%9a%e5%a4%a7%e6%a8%a1%e5%9e%8b%e8%b5%8b%e8%83%bd%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/03\/03\/25846\/","title":{"rendered":"2025-03-03 \u6e2f\u79d1\u5927&amp;\u534e\u4e3a\u8bfa\u4e9a\u53d1\u5e03Occ-LLM\uff1a\u5927\u6a21\u578b\u8d4b\u80fd\u81ea\u52a8\u9a7e\u9a76\uff0c\u7a7a\u95f4\u611f\u77e5\u80fd\u529b\u98de\u8dc3"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/27115882017\">https:\/\/zhuanlan.zhihu.com\/p\/27115882017<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">01 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class=\"wp-block-list\">\n<li>\u5360\u4f4d\u7c7b\u522b\u5206\u5e03\u5931\u8861<\/li>\n\n\n\n<li>\u4ee5\u53ca\u5927\u91cf\u4f53\u7d20\uff08voxels\uff09\u8868\u5f81\u7a7a\u6c14\u5bfc\u81f4\u7684\u4f4e\u6548\u5b66\u4e60\u4e0e\u5185\u5b58\u74f6\u9888<\/li>\n<\/ul>\n\n\n\n<p>\u4e3a\u6b64\uff0c\u672c\u6587\u63d0\u51fa\u521b\u65b0\u6027\u65b9\u6cd5\u2014\u2014<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=254445782&amp;content_type=Article&amp;match_order=1&amp;q=%E8%BF%90%E5%8A%A8%E5%88%86%E7%A6%BB%E5%8F%98%E5%88%86%E8%87%AA%E7%BC%96%E7%A0%81%E5%99%A8&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u8fd0\u52a8\u5206\u79bb\u53d8\u5206\u81ea\u7f16\u7801\u5668<\/a><\/p>\n\n\n\n<p>\uff08Motion Separation Variational Autoencoder, MS-VAE\uff09\u3002\u8be5\u65b9\u6cd5\u5728\u5360\u4f4d\u573a\u666f\u4e2d\u5206\u79bb\u52a8\u6001\u5b9e\u4f53\uff08\u5982\u8f66\u8f86\u3001\u884c\u4eba\uff09\u4e0e\u9759\u6001\u7ed3\u6784\uff08\u5982\u9053\u8def\u3001\u7eff\u5316\uff09\u5bf9\u5e94\u7684\u4f53\u7d20\uff0c\u901a\u8fc7\u7c7b\u4f3c\u6b8b\u5dee\u5b66\u4e60\u7684\u673a\u5236\uff0c\u5f3a\u5316\u6a21\u578b\u5bf9\u52a8\u6001\u8f68\u8ff9\u7684\u805a\u7126\u80fd\u529b\u5e76\u4f18\u5316\u9759\u6001\u573a\u666f\u91cd\u5efa\u3002\u8fd9\u79cd\u5206\u79bb\u7b56\u7565\u663e\u8457\u964d\u4f4e\u4e86\u5b66\u4e60\u96be\u5ea6\uff0c\u63d0\u5347\u4e86\u6574\u4f53\u6a21\u578b\u6027\u80fd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-d0e6efef1dbd94927d9b58e1b658b529_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u25b2\u56fe1\uff5c Occ-LLM \u6982\u89c8\u00a9\ufe0f\u3010\u6df1\u84ddAI\u3011\u7f16\u8bd1<\/figcaption><\/figure>\n\n\n\n<p>\u4f5c\u8005\u63d0\u51fa\u7684\u5360\u4f4d\u5927\u8bed\u8a00\u6a21\u578b\uff08Occ-LLM\uff09\u7ecf\u8fc7\u7cfb\u7edf\u5316\u8bbe\u8ba1\uff0c\u53ef\u652f\u6301\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u591a\u573a\u666f\u5e94\u7528\u3002\u5982\u56fe1\u6240\u793a\uff0c\u5176\u6838\u5fc3\u529f\u80fd\u5305\u62ec4D\u5360\u4f4d\u573a\u666f\u9884\u6d4b\u3001\u81ea\u8f66\u89c4\u5212\u53ca\u57fa\u4e8e\u5360\u4f4d\u7684\u573a\u666f\u95ee\u7b54\uff08QA\uff09\uff0c\u8fd9\u4e9b\u529f\u80fd\u5bf9\u63d0\u5347\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u5b89\u5168\u6027\u3001\u6548\u7387\u4e0e\u53ef\u9760\u6027\u81f3\u5173\u91cd\u8981\u3002<\/p>\n\n\n\n<p><strong>\u672c\u6587\u4e3b\u8981\u8d21\u732e\u5982\u4e0b\uff1a<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u9996\u4e2a\u9762\u5411\u81ea\u52a8\u9a7e\u9a76\u7684\u5360\u4f4d\u5927\u8bed\u8a00\u6a21\u578b\uff08Occ-LLM\uff09\uff0c\u5176\u573a\u666f\u7406\u89e3\u80fd\u529b\u663e\u8457\u4f18\u4e8e\u73b0\u6709\u65b9\u6848\uff1b<\/li>\n\n\n\n<li>\u8bbe\u8ba1\u8fd0\u52a8\u5206\u79bb\u53d8\u5206\u81ea\u7f16\u7801\u5668\uff08MS-VAE\uff09\uff0c\u901a\u8fc7\u89e3\u8026\u52a8\u6001\/\u9759\u6001\u4f53\u7d20\u9ad8\u6548\u5904\u7406\u6d77\u91cf\u5360\u4f4d\u6570\u636e\uff0c\u5168\u9762\u63d0\u5347\u7cfb\u7edf\u6027\u80fd\u6307\u6807\uff1b<\/li>\n\n\n\n<li>\u9a8c\u8bc1Occ-LLM\u7684\u591a\u4efb\u52a1\u6cdb\u5316\u80fd\u529b\uff0c\u5305\u62ec4D\u573a\u666f\u9884\u6d4b\u3001\u81ea\u8f66\u89c4\u5212\u4e0e\u573a\u666f\u95ee\u7b54\uff0c\u8bc1\u660e\u5176\u5728\u81ea\u52a8\u9a7e\u9a76\u591a\u7ef4\u4efb\u52a1\u4e2d\u7684\u4f18\u8d8a\u6027\uff1b<\/li>\n\n\n\n<li>\u901a\u8fc7\u590d\u7528\u73b0\u6709\u5360\u4f4d\u9884\u6d4b\u65b9\u6cd5\uff0c\u5c55\u793aOcc-LLM\u7684\u5de5\u7a0b\u5b9e\u7528\u6027\uff0c\u4e3a\u5176\u5b9e\u9645\u90e8\u7f72\u63d0\u4f9b\u6280\u672f\u652f\u6491\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">02 \u76f8\u5173\u7814\u7a76<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>2.1. \u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b<\/strong><\/h3>\n\n\n\n<p>\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b\uff08MLLMs\uff09\u901a\u8fc7\u5c06\u5927\u8bed\u8a00\u6a21\u578b\uff08LLMs\uff09\u7684\u9ad8\u7ea7\u63a8\u7406\u80fd\u529b\u4e0e\u56fe\u50cf\u3001\u89c6\u9891\u548c\u97f3\u9891\u6570\u636e\u76f8\u7ed3\u5408\u3002\u8fd9\u4e9b\u6a21\u578b\u5728\u96f6\u6837\u672c\u548c\u5c11\u6837\u672c\u56fe\u50cf\u5206\u7c7b\u3001\u5206\u5272\u548c\u76ee\u6807\u68c0\u6d4b\u7b49\u4efb\u52a1\u4e2d\u8868\u73b0\u51fa\u8272\uff0c\u4e3b\u8981\u5f97\u76ca\u4e8e\u89c6\u89c9\u4e0e\u6587\u672c\u6570\u636e\u4e4b\u95f4\u7684\u534f\u540c\u4f5c\u7528\u3002\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\uff0cLLMs\u901a\u8fc7\u589e\u5f3a\u573a\u666f\u7406\u89e3\u3001\u63d0\u4f9b\u66f4\u4e30\u5bcc\u7684\u8bed\u4e49\u4e0a\u4e0b\u6587\u4ee5\u53ca\u4f18\u5316\u51b3\u7b56\u8fc7\u7a0b\uff0c\u5f25\u8865\u4e86\u5f53\u524d\u7cfb\u7edf\u7684\u5173\u952e\u7f3a\u9677\u3002\u76ee\u524d\u5df2\u6709\u591a\u79cd\u65b9\u6cd5\u63d0\u51fa\u5229\u7528LLMs\u63d0\u5347\u81ea\u52a8\u9a7e\u9a76\u80fd\u529b\u3002\u57fa\u4e8e\u89c6\u89c9\u7684\u65b9\u6cd5\uff0c\u5982DriveGPT4\uff0c\u901a\u8fc7\u89e3\u6790\u89c6\u9891\u8f93\u5165\u751f\u6210\u4e0e\u9a7e\u9a76\u76f8\u5173\u7684\u6587\u672c\u54cd\u5e94\uff0c\u800cHiLM-D\u7b49\u6a21\u578b\u5219\u901a\u8fc7\u9ad8\u5206\u8fa8\u7387\u89c6\u89c9\u6570\u636e\u63d0\u5347\u5371\u9669\u8bc6\u522b\u548c\u610f\u56fe\u9884\u6d4b\u80fd\u529b\u3002\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7684\u65b9\u6cd5\u5219\u5229\u7528\u77e2\u91cf\u5316\u7684\u89c6\u89c9\u5d4c\u5165\uff0c\u8d4b\u4e88LLMs\u73af\u5883\u611f\u77e5\u80fd\u529b\uff0c\u4ece\u800c\u5b9e\u73b0\u5bf9\u9a7e\u9a76\u573a\u666f\u7684\u8be6\u7ec6\u5206\u6790\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>2.2. \u5360\u7528\u7f51\u7edc<\/strong><\/h3>\n\n\n\n<p>3D\u8bed\u4e49\u5360\u636e\u7f51\u683c\u6280\u672f\u901a\u8fc7\u663e\u5f0f\u5efa\u6a213D\u7f51\u683c\u4e2d\u6bcf\u4e2a\u4f53\u7d20\u7684\u5360\u636e\u72b6\u6001\uff0c\u63d0\u4f9b\u4e86\u66f4\u7cbe\u7ec6\u7684\u73af\u5883\u8868\u793a\u3002SSCNet\u9996\u6b21\u5f15\u5165\u4e86\u8bed\u4e49\u573a\u666f\u8865\u5168\u4efb\u52a1\uff0c\u5c06\u51e0\u4f55\u4e0e\u8bed\u4e49\u4fe1\u606f\u76f8\u7ed3\u5408\u3002\u540e\u7eed\u7814\u7a76\u901a\u5e38\u5229\u7528\u5305\u542b\u663e\u5f0f\u6df1\u5ea6\u4fe1\u606f\u7684\u51e0\u4f55\u8f93\u5165\u3002MonoScene\u63d0\u51fa\u4e86\u9996\u4e2a\u5355\u76ee\u8bed\u4e49\u573a\u666f\u8865\u5168\u65b9\u6cd5\uff0c\u4f7f\u75283D UNet\u5904\u7406\u901a\u8fc7\u89c6\u7ebf\u6295\u5f71\u751f\u6210\u7684\u4f53\u7d20\u7279\u5f81\u3002\u57fa\u4e8e\u8fc1\u79fb\u67b6\u6784\u7684\u5404\u79cd\u7f51\u7edc\u4e5f\u88ab\u8bbe\u8ba1\u51fa\u6765\u3002\u6b64\u5916\uff0c\u591a\u9879\u5e76\u884c\u7814\u7a76\u81f4\u529b\u4e8e\u4e3a3D\u8bed\u4e49\u5360\u636e\u9884\u6d4b\u63d0\u51fa\u73af\u89c6\u57fa\u51c6\uff0c\u63a8\u52a8\u4e86\u5360\u636e\u793e\u533a\u7684\u5feb\u901f\u53d1\u5c55\u3002OccWorld\u57fa\u4e8e3D\u5360\u636e\u5b66\u4e60\u4e86\u4e00\u4e2a\u4e16\u754c\u6a21\u578b\uff0c\u56e0\u5176\u53ef\u89e3\u91ca\u6027\u548c\u9ad8\u6548\u6027\u800c\u5907\u53d7\u5173\u6ce8\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">03 \u65b9\u6cd5\u7cbe\u6790<\/h2>\n\n\n\n<p>\u5982\u56fe2\u6240\u793a\uff0cOcc-LLM\u6846\u67b6\u5c06\u5927\u8bed\u8a00\u6a21\u578b\uff08LLMs\uff09\u4e0e\u5360\u636e\u8868\u793a\u76f8\u7ed3\u5408\uff0c\u4ee5\u63d0\u5347\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u6027\u80fd\u3002\u8be5\u6846\u67b6\u589e\u5f3a\u4e86\u7a7a\u95f4\u4e0e\u8bed\u4e49\u7406\u89e3\u80fd\u529b\uff0c\u8f85\u52a9\u573a\u666f\u89e3\u6790\u4e0e\u51b3\u7b56\u5236\u5b9a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-f23763f741eca756ba9611c988610f49_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u25b2\u56fe2\uff5c Occ-LLM \u67b6\u6784\u6982\u89c8\u00a9\ufe0f\u3010\u6df1\u84ddAI\u3011\u7f16\u8bd1<\/figcaption><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>3.1. \u8fd0\u52a8\u5206\u79bb\u53d8\u5206\u81ea\u7f16\u7801\u5668\uff08MS-VAE\uff09<\/strong><\/h3>\n\n\n\n<p>\u57fa\u4e8e\u5df2\u6709\u7684\u591a\u6a21\u6001LLM\u96c6\u6210\u65b9\u6cd5\uff0c\u4f5c\u8005\u7684\u76ee\u6807\u662f\u8bad\u7ec3\u4e00\u4e2a\u53d8\u5206\u81ea\u7f16\u7801\u5668\uff08VAE\uff09\u4ee5\u4fc3\u8fdb\u6a21\u6001\u878d\u5408\u5e76\u964d\u4f4e\u8ba1\u7b97\u6210\u672c\u3002\u76f4\u63a5\u5c06\u5360\u636e\u8868\u793a\u96c6\u6210\u5230LLMs\u4e2d\u9762\u4e34\u8bf8\u591a\u6311\u6218\uff0c\u4f8b\u5982\u5360\u636e\u7c7b\u522b\u5206\u5e03\u4e0d\u5e73\u8861\u4ee5\u53ca\u7a7a\u6c14\u4f53\u7d20\u5360\u4e3b\u5bfc\u5730\u4f4d\uff0c\u5bfc\u81f4\u6570\u636e\u8868\u793a\u7a00\u758f\u4e14\u4f4e\u6548\u3002\u4e3a\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0c\u672c\u6587\u63d0\u51fa\u4e86<strong>\u8fd0\u52a8\u5206\u79bb\u53d8\u5206\u81ea\u7f16\u7801\u5668\uff08MS-VAE\uff09<\/strong>\uff0c\u8be5\u6a21\u578b\u5728\u5360\u636e\u7f51\u683c\u4e2d\u5206\u79bb\u52a8\u6001\u4e0e\u9759\u6001\u6210\u5206\uff0c\u4ece\u800c\u63d0\u9ad8\u7f16\u7801\u6548\u7387\uff0c\u5e76\u5c06\u91cd\u70b9\u8f6c\u5411\u5bf9\u81ea\u52a8\u9a7e\u9a76\u81f3\u5173\u91cd\u8981\u7684\u52a8\u6001\u5143\u7d20\u3002\u56e0\u6b64\uff0cMS-VAE\u5b9e\u73b0\u4e86\u66f4\u5e73\u8861\u4e14\u6709\u6548\u7684LLM\u6846\u67b6\u96c6\u6210\u3002<\/p>\n\n\n\n<p>MS-VAE\u7684\u6838\u5fc3\u601d\u60f3\u662f\u8bad\u7ec3\u4e24\u4e2a\u72ec\u7acb\u7684VQVAE\uff0c\u5206\u522b\u5bf9\u52a8\u6001\u4e0e\u9759\u6001\u5360\u636e\u4f53\u7d20\u8fdb\u884c\u7f16\u7801\u548c\u89e3\u7801\u3002\u7136\u800c\uff0c\u5728\u4fdd\u6301\u5355\u4e00\u7f16\u7801\u5668\u4e0e\u89e3\u7801\u5668\u7684\u540c\u65f6\uff0c\u5229\u7528\u4e24\u4e2a\u4e0d\u540c\u7684\u7801\u672c\u5206\u522b\u5904\u7406\u52a8\u6001\u4e0e\u9759\u6001\u4f53\u7d20\uff0c\u4e5f\u80fd\u53d6\u5f97\u4e0d\u9519\u7684\u6548\u679c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"699\" height=\"776\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/0301.png\" alt=\"\" class=\"wp-image-25847\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/0301.png 699w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/0301-270x300.png 270w\" sizes=\"(max-width: 699px) 100vw, 699px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"695\" height=\"379\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/0302.png\" alt=\"\" class=\"wp-image-25848\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/0302.png 695w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/0302-300x164.png 300w\" sizes=\"(max-width: 695px) 100vw, 695px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>3.2. \u57fa\u4e8eLLM\u7684\u5360\u7528\u7f51\u7edc\u7684\u9884\u5904\u7406<\/strong><\/h3>\n\n\n\n<p><strong>\u5206\u5757\u5316\u5904\u7406\u3002<\/strong>\u5728\u4f7f\u7528MS-VAE\u5bf9\u539f\u59cb\u5360\u636e\u8868\u793a\u8fdb\u884c\u7f16\u7801\u540e\uff0c\u751f\u6210\u7684\u6f5c\u5728\u8868\u793a\u4ecd\u7136\u8f83\u4e3a\u5e9e\u5927\u3002\u4e3a\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0c\u672c\u6587\u91c7\u7528\u4e86\u4e00\u79cd\u7c7b\u4f3c\u4e8e\u89c6\u89c9Transformer\uff08ViT\uff09\u7684\u65b9\u6cd5\uff0c\u5c06\u5360\u636e\u6f5c\u5728\u7a7a\u95f4\u5212\u5206\u4e3a\u5c0f\u7f51\u683c\u5e76\u5c55\u5e73\u3002\u89c2\u5bdf\u8868\u660e\uff0c\u5206\u5757\u5927\u5c0f\u5bf9\u5360\u636e\u91cd\u5efa\u7684\u8d28\u91cf\u6709\u663e\u8457\u5f71\u54cd\u3002\u8fd9\u662f\u56e0\u4e3a\u9884\u6d4b\u672a\u6765\u5360\u636e\u5e27\u6d89\u53ca\u611f\u77e5\u548c\u4f4e\u7ea7\u89c6\u89c9\u4efb\u52a1\u3002\u4f8b\u5982\uff0c\u611f\u77e5\u4efb\u52a1\u901a\u5e38\u53d7\u76ca\u4e8e\u8f83\u5927\u7684\u5206\u5757\u5927\u5c0f\uff0c\u6709\u52a9\u4e8e\u66f4\u597d\u5730\u7406\u89e3\u8f93\u5165\u6570\u636e\u7684\u8bed\u4e49\u4fe1\u606f\u3002\u800c\u4f4e\u7ea7\u89c6\u89c9\u4efb\u52a1\u5219\u901a\u5e38\u91c7\u7528\u8f83\u5c0f\u7684\u5206\u5757\u5927\u5c0f\u4ee5\u5b9e\u73b0\u66f4\u9ad8\u8d28\u91cf\u7684\u6570\u636e\u91cd\u5efa\u3002\u901a\u8fc7\u6d88\u878d\u5b9e\u9a8c\uff0c\u5206\u5757\u5927\u5c0f\u4e3a10\u65f6\u6548\u679c\u6700\u4f73\u3002<\/p>\n\n\n\n<p><strong>\u5e27\u5206\u79bb\u3002<\/strong>\u6bcf\u5e27\u5c55\u5e73\u540e\u7684\u5360\u636e\u6f5c\u5728\u8868\u793a\u8f83\u957f\uff0c\u76f4\u63a5\u62fc\u63a5\u591a\u5e27\u7684\u5c55\u5e73\u5360\u636e\u6f5c\u5728\u8868\u793a\u4f1a\u5bfc\u81f4\u751f\u6210\u5360\u636e\u7684\u4f4d\u7f6e\u6f02\u79fb\u3002\u8fd9\u79cd\u6f02\u79fb\u8868\u73b0\u4e3a\u524d\u4e00\u5e27\u7684\u90e8\u5206\u5360\u636e\u51fa\u73b0\u5728\u540e\u7eed\u5e27\u4e2d\uff0c\u5bfc\u81f4\u7ea7\u8054\u9519\u4f4d\uff08\u5982\u56fe3\u6240\u793a\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-99c76582e7b137e95d4a8df1d4554eb1_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u25b2\u56fe3\uff5c \u7ea7\u8054\u9519\u4f4d\u6f14\u793a\u00a9\ufe0f\u3010\u6df1\u84ddAI\u3011\u7f16\u8bd1<\/figcaption><\/figure>\n\n\n\n<p>\u4e3a\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u7b80\u5355\u4f46\u6709\u6548\u7684\u89e3\u51b3\u65b9\u6848\uff1a\u5728\u6bcf\u5e27\u5360\u636e\u6f5c\u5728\u8868\u793a\u7684\u5f00\u5934\u548c\u7ed3\u5c3e\u6dfb\u52a0\u7279\u5b9a\u7684\u6587\u672c\u6807\u8bb0\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u5728\u5f00\u5934\u4f7f\u7528\u201c\u201d\uff0c\u5728\u7ed3\u5c3e\u4f7f\u7528\u201c\u201d\u3002\u8fd9\u4e9b\u6807\u8bb0\u5728\u63a8\u7406\u8fc7\u7a0b\u4e2d\u660e\u786e\u754c\u5b9a\u4e86\u5e27\u4e4b\u95f4\u7684\u95f4\u9694\uff0c\u6709\u6548\u6d88\u9664\u4e86\u6f02\u79fb\u95ee\u9898\u3002<\/p>\n\n\n\n<p><strong>\u9884\u878d\u5408\u3002<\/strong>\u901a\u8fc7\u5f15\u5165\u4e86\u4e00\u79cd\u9884\u878d\u5408\u65b9\u6cd5\uff0c\u4ee5\u66f4\u597d\u5730\u5efa\u7acb\u5360\u636e\u8868\u793a\u4e0e\u81ea\u8f66\u52a8\u4f5c\u4e4b\u95f4\u7684\u8054\u7cfb\u3002\u8be5\u65b9\u6cd5\u9996\u5148\u901a\u8fc7\u591a\u4e2aMLP\u5c42\u5bf9\u81ea\u8f66\u52a8\u4f5c\u8fdb\u884c\u7f16\u7801\u3002\u7c7b\u4f3c\u4e8eSE-Net\u7684\u65b9\u6cd5\uff0c\u968f\u540e\u5c06\u7f16\u7801\u540e\u7684\u52a8\u4f5c\u6f5c\u5728\u8868\u793a\u4f5c\u4e3a\u6743\u91cd\u6765\u8c03\u5236\u5360\u636e\u8868\u793a\u3002\u8fd9\u79cd\u6280\u672f\u589e\u5f3a\u4e86\u5360\u636e\u8868\u793a\u4e0e\u81ea\u8f66\u52a8\u4f5c\u4e4b\u95f4\u7684\u4e00\u81f4\u6027\uff0c\u4ece\u800c\u63d0\u5347\u4e86\u6574\u4f53\u6a21\u578b\u6027\u80fd\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>3.3. \u4e0b\u6e38\u4efb\u52a1<\/strong><\/h3>\n\n\n\n<p>Occ-LLM\u6846\u67b6\u652f\u6301\u591a\u79cd\u5bf9\u63d0\u5347\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u81f3\u5173\u91cd\u8981\u7684\u4e0b\u6e38\u4efb\u52a1\uff0c\u5305\u62ec4D\u5360\u636e\u9884\u6d4b\u3001\u81ea\u8f66\u89c4\u5212\u4ee5\u53ca\u57fa\u4e8e\u5360\u636e\u7684\u573a\u666f\u95ee\u7b54\u3002\u4efb\u52a1\u5207\u6362\u901a\u8fc7\u7279\u5b9a\u63d0\u793a\u8bcd\u8fdb\u884c\u7ba1\u7406\uff1a\u201c&lt;4-D occupancy forecasting and self-ego planning&gt;\u201d\u542f\u52a84D\u5360\u636e\u9884\u6d4b\u4e0e\u81ea\u8f66\u89c4\u5212\u7684\u8054\u5408\u4efb\u52a1\uff0c\u800c\u201c\u201d\u5219\u89e6\u53d1\u95ee\u7b54\u4efb\u52a1\u3002\u8fd9\u4e9b\u4efb\u52a1\u5171\u540c\u589e\u5f3a\u4e86\u60c5\u5883\u611f\u77e5\u4e0e\u51b3\u7b56\u80fd\u529b\u30024D\u5360\u636e\u9884\u6d4b\u7528\u4e8e\u9884\u6d4b\u73af\u5883\u52a8\u6001\uff0c\u8fd9\u5bf9\u9884\u5224\u5371\u9669\u81f3\u5173\u91cd\u8981\u3002\u81ea\u8f66\u89c4\u5212\u5219\u5229\u7528\u8fd9\u4e9b\u9884\u6d4b\u7ed3\u679c\u5b9e\u73b0\u5b89\u5168\u9ad8\u6548\u7684\u5bfc\u822a\u3002\u57fa\u4e8e\u5360\u636e\u7684\u573a\u666f\u95ee\u7b54\u7528\u4e8e\u89e3\u6790\u590d\u6742\u60c5\u5883\uff0c\u8f85\u52a9\u505a\u51fa\u660e\u667a\u51b3\u7b56\u3002\u8fd9\u4e9b\u529f\u80fd\u5171\u540c\u663e\u8457\u63d0\u5347\u4e86\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u5b89\u5168\u6027\u3001\u53ef\u9760\u6027\u548c\u6548\u7387\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">04 \u5b9e\u9a8c\u7ed3\u679c<\/h2>\n\n\n\n<p>\u672c\u6587\u4ee5Llama2\u4e3a\u57fa\u7840\u6a21\u578b\uff0c\u5e76\u4f7f\u7528\u4ea4\u5e76\u6bd4\uff08IoU\uff09\u548c\u5e73\u5747\u4ea4\u5e76\u6bd4\uff08mIoU\uff09\u6307\u6807\u8bc4\u4f304D\u5360\u636e\u9884\u6d4b\u3002\u81ea\u8f66\u89c4\u5212\u80fd\u529b\u5219\u901a\u8fc7L2\u8ddd\u79bb\u6307\u6807\u8fdb\u884c\u8bc4\u4f30\u3002<\/p>\n\n\n\n<p>\u4f5c\u8005\u91c7\u7528<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=254445782&amp;content_type=Article&amp;match_order=1&amp;q=Nuscenes%E6%95%B0%E6%8D%AE%E9%9B%86&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Nuscenes\u6570\u636e\u96c6<\/a><\/p>\n\n\n\n<p>\uff0c\u8be5\u6570\u636e\u96c6\u5305\u542b1000\u4e2a\u573a\u666f\u3002\u8fd9\u4e9b\u573a\u666f\u88ab\u5212\u5206\u4e3a700\u4e2a\u7528\u4e8e\u8bad\u7ec3\uff0c150\u4e2a\u7528\u4e8e\u9a8c\u8bc1\uff0c150\u4e2a\u7528\u4e8e\u6d4b\u8bd5\u3002\u6bcf\u4e2a\u573a\u666f\u5305\u542b\u7ea650\u5e27\uff0c\u5bf9\u5e94\u4e00\u4e2a\u5360\u636e\u573a\u666f\u3002\u5360\u636e\u8868\u793a\u7684\u7ef4\u5ea6\u4e3a(200,200,16)\uff0c\u5176\u4e2d\u524d\u4e24\u4e2a\u7ef4\u5ea6(200,200)\u8868\u793a\u957f\u5ea6\u548c\u5bbd\u5ea6\uff0c16\u8868\u793a\u9ad8\u5ea6\u3002\u8be5\u6570\u636e\u96c6\u914d\u7f6e\u4f7f\u80fd\u591f\u5168\u9762\u8bc4\u4f30\u548c\u9a8c\u8bc1\u6a21\u578b\u5728\u5404\u79cd\u573a\u666f\u4e0b\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>4.1. \u4e0eSORT\u65b9\u6cd5\u5b9e\u9a8c\u5bf9\u6bd4\u7ed3\u679c<\/strong><\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-67a4269d0f9c67e18712e8c78abd38f2_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u25b2\u88681\uff5c 4D\u5360\u636e\u9884\u6d4b\u548c\u8fd0\u52a8\u89c4\u5212\u5b9a\u91cf\u5b9e\u9a8c\u7ed3\u679c \u00a9\ufe0f\u3010\u6df1\u84ddAI\u3011\u7f16\u8bd1<\/figcaption><\/figure>\n\n\n\n<p><strong>4D\u5360\u636e\u9884\u6d4b\u4e0e\u81ea\u8f66\u89c4\u5212<\/strong>\uff1a\u88681\u5c06Occ-LLM\u4e0e\u5f53\u524d\u6700\u5148\u8fdb\u76844D\u5360\u636e\u9884\u6d4b\u548c\u8fd0\u52a8\u89c4\u5212\u65b9\u6cd5\u8fdb\u884c\u4e86\u6bd4\u8f83\uff0c\u63d0\u4f9b\u4e861\u79d2\u30012\u79d2\u548c3\u79d2\u65f6\u95f4\u95f4\u9694\u7684\u4ea4\u5e76\u6bd4\uff08IoU\uff09\u3001\u5e73\u5747\u4ea4\u5e76\u6bd4\uff08mIoU\uff09\u4ee5\u53caL2\u8ddd\u79bb\u7b49\u6307\u6807\u3002\u5982\u56fe4\u6240\u793a\uff0c\u8be5\u65b9\u6cd5\u5728\u51c6\u786e\u6027\u548c\u4e00\u81f4\u6027\u4e0a\u5747\u4f18\u4e8e\u73b0\u6709\u6280\u672f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-eeca5933f0860fc4a3a0b211db499639_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u25b2\u56fe4\uff5c Occ-LLM \u76844D\u5360\u7528\u9884\u6d4b\u5b9a\u6027\u7ed3\u679c\u00a9\ufe0f\u3010\u6df1\u84ddAI\u3011\u7f16\u8bd1<\/figcaption><\/figure>\n\n\n\n<p>\u8bc4\u4f30\u7684\u65b9\u6cd5\u5305\u62ec\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7684\u65b9\u6cd5\uff0c\u5982IL\u3001NMP\u548cFF\uff0c\u4ee5\u53ca\u57fa\u4e8e\u6444\u50cf\u5934\u7684\u65b9\u6cd5\uff0c\u5982UniAD\u3001VAD-Base\u548cOccNet\u3002\u4f5c\u8005\u8fd8\u5c06\u9884\u6d4b\u7684\u5360\u636e\u6570\u636e\u96c6\u6210\u5230Occ-LLM\u6846\u67b6\u4e2d\uff0c\u901a\u8fc7BevFormer+Ours\u7b49\u6a21\u578b\u5b9e\u73b0\u4e86\u66f4\u9ad8\u7684\u6027\u80fd\uff0c\u5e73\u5747IoU\u8fbe\u523023.79%\uff0cmIoU\u4e3a10.21%\uff0cL2\u8ddd\u79bb\u4e3a0.43\u7c73\u3002<\/p>\n\n\n\n<p>\u4e0e\u57fa\u4e8e\u5360\u636e\u7684\u65b9\u6cd5\u76f8\u6bd4\uff0cOcc-LLM\u8d85\u8d8a\u4e86OccWorld\uff0c\u5e73\u5747IoU\u8fbe\u523032.52%\uff0cmIoU\u4e3a20.99%\uff0cL2\u8ddd\u79bb\u4e3a0.28\u7c73\uff0c\u5c55\u73b0\u4e86\u66f4\u9ad8\u7684\u51c6\u786e\u6027\u548c\u53ef\u9760\u6027\uff0c\u9002\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u3002<\/p>\n\n\n\n<p><strong>\u95ee\u7b54\u4efb\u52a1\uff1a<\/strong>Occ-LLM\u5c55\u793a\u4e86\u4e13\u4e3a\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u8bbe\u8ba1\u7684\u9ad8\u7ea7\u95ee\u7b54\u80fd\u529b\u3002\u5982\u56fe5\u6240\u793a\uff0c\u8be5\u7cfb\u7edf\u80fd\u591f\u6709\u6548\u89e3\u6790\u591a\u89c6\u89d2\u6444\u50cf\u5934\u8f93\u5165\uff0c\u9884\u6d4b\u5360\u636e\u60c5\u51b5\uff0c\u5e76\u51c6\u786e\u56de\u7b54\u6709\u5173\u9a7e\u9a76\u73af\u5883\u7684\u67e5\u8be2\u3002\u5b83\u80fd\u591f\u8bc6\u522b\u573a\u666f\u4e2d\u7684\u5173\u952e\u7269\u4f53\uff0c\u4e3a\u81ea\u8f66\u63a8\u8350\u5b89\u5168\u64cd\u4f5c\uff0c\u5e76\u63cf\u8ff0\u6f5c\u5728\u5371\u9669\uff0c\u4f8b\u5982\u51c6\u5907\u8fc7\u9a6c\u8def\u7684\u884c\u4eba\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-9ec6fec1973f861f044227aa143786d4_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u25b2\u56fe5\uff5c Occ-LLM \u95ee\u7b54\u4efb\u52a1\u7684\u5b9a\u6027\u5b9e\u9a8c\u7ed3\u679c\u00a9\ufe0f\u3010\u6df1\u84ddAI\u3011\u7f16\u8bd1<\/figcaption><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>4.2. \u6d88\u878d\u5b9e\u9a8c<\/strong><\/h3>\n\n\n\n<p>\u4e3a\u5b9a\u91cf\u8bc4\u4f30\u7cfb\u7edf\u6027\u80fd\uff0cOcc-LLM\u4e0e<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=254445782&amp;content_type=Article&amp;match_order=1&amp;q=DriveLM&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">DriveLM<\/a><\/p>\n\n\n\n<p>\u6a21\u578b\u8fdb\u884c\u4e86\u5bf9\u6bd4\u8bc4\u4f30\uff0c\u4f7f\u7528\u4e86BLEU\u3001ROUGE L\u3001CIDEr\u548cGPT Score\u7b49\u6807\u51c6\u6307\u6807\uff0c\u7ed3\u679c\u5982\u88682\u6240\u793a\u3002\u8fd9\u4e9b\u8bc4\u4f30\u6307\u6807\u7684\u8be6\u7ec6\u4fe1\u606f\u89c1\u3002Occ-LLM\u5728\u6240\u6709\u6307\u6807\u4e0a\u5747\u4f18\u4e8eDriveLM\uff0c\u53d6\u5f97\u4e86\u66f4\u9ad8\u7684\u5206\u6570\u3002\u8fd9\u4e9b\u7ed3\u679c\u9a8c\u8bc1\u4e86Occ-LLM\u5728\u81ea\u52a8\u9a7e\u9a76\u73af\u5883\u4e2d\u63d0\u4f9b\u51c6\u786e\u4e14\u4e0a\u4e0b\u6587\u76f8\u5173\u7b54\u6848\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-88b9fb7c2a8df1e57a121e40fbf8eb81_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u25b2\u88682\uff5c \u95ee\u7b54\u4efb\u52a1\u7684\u5b9a\u91cf\u8bc4\u4f30\u7ed3\u679c\u00a9\ufe0f\u3010\u6df1\u84ddAI\u3011\u7f16\u8bd1<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-e863d490bdd244007f9338351646374c_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u25b2\u88683\uff5c MS-VAE\u4e0eOccWorld&amp;#39;s VAE\u7684\u5bf9\u6bd4\u7ed3\u679c\u00a9\ufe0f\u3010\u6df1\u84ddAI\u3011\u7f16\u8bd1<\/figcaption><\/figure>\n\n\n\n<p><strong>OccWorld\u7684VAE\u4e0e\u63d0\u51fa\u7684MS-VAE\u7684\u5bf9\u6bd4\u5206\u6790\uff1a<\/strong>\u88683\u6bd4\u8f83\u4e86OccWorld\u7684VAE \u4e0e\u672c\u6587\u7684MS-VAE\uff0c\u5c55\u793a\u4e86\u91cd\u5efa\u6027\u80fd\u7684\u663e\u8457\u63d0\u5347\u3002\u901a\u8fc7\u589e\u52a03D\u5377\u79ef\u5c42\u548c\u8fd0\u52a8\u5206\u79bb\u7b56\u7565\uff0cIoU\u548cmIoU\u5747\u6709\u6240\u63d0\u9ad8\uff0cMS-VAE\u7684IoU\u8fbe\u523062.74%\uff0cmIoU\u4e3a71.08%\uff0c\u800cOccWorld\u7684VAE\u5206\u522b\u4e3a59.07%\u548c60.50%\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-0614b8f71b22b3b3a6ec5f58629d14c9_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u25b2\u88684\uff5c \u4e0d\u540c\u5206\u5757\u5927\u5c0f\u7684\u5bf9\u6bd4\u5206\u6790\u00a9\ufe0f\u3010\u6df1\u84ddAI\u3011\u7f16\u8bd1<\/figcaption><\/figure>\n\n\n\n<p><strong>\u4e0d\u540c\u5206\u5757\u5927\u5c0f\u5728\u5206\u5757\u5316\u5904\u7406\u4e2d\u7684\u5bf9\u6bd4\u5206\u6790\uff1a<\/strong>\u88684\u7814\u7a76\u4e86\u4e0d\u540c\u5206\u5757\u5927\u5c0f\u5bf9\u91cd\u5efa\u6027\u80fd\u7684\u5f71\u54cd\u3002\u5206\u5757\u5927\u5c0f\u4e3a10\u65f6\u8868\u73b0\u6700\u4f73\uff0c\u5728\u8bad\u7ec3\u96c6\u4e0a\u7684IoU\u4e3a32.48%\uff0cmIoU\u4e3a26.16%\uff0c\u5728\u9a8c\u8bc1\u96c6\u4e0a\u5206\u522b\u4e3a27.12%\u548c26.83%\uff0c\u5728\u7ec6\u8282\u6355\u6349\u4e0e\u6548\u7387\u4e4b\u95f4\u53d6\u5f97\u4e86\u5e73\u8861\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-511e3d517effc423d374672a136779a0_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u25b2\u88685\uff5c Occ-LLM\u6d88\u878d\u7814\u7a76\u7ed3\u679c\u00a9\ufe0f\u3010\u6df1\u84ddAI\u3011\u7f16\u8bd1<\/figcaption><\/figure>\n\n\n\n<p><strong>Occ-LLM\u6a21\u5757\u7684\u6d88\u878d\u7814\u7a76\uff1a<\/strong>\u88685\u5c55\u793a\u4e86Occ-LLM\u6a21\u5757\u7684\u6d88\u878d\u7814\u7a76\u3002\u57fa\u7ebf\u6a21\u578b\u7684IoU\u4e3a20.67%\uff0cmIoU\u4e3a16.63%\uff0cL2\u8ddd\u79bb\u4e3a0.82\u7c73\u3002\u6dfb\u52a0\u9884\u878d\u5408\u6a21\u5757\u540e\uff0c\u8fd9\u4e9b\u6307\u6807\u6709\u6240\u63d0\u5347\uff0c\u800c\u7ed3\u5408\u8fd0\u52a8\u5206\u79bb\uff08MS\uff09\u6a21\u5757\u540e\uff0cIoU\u8fdb\u4e00\u6b65\u63d0\u5347\u81f332.52%\uff0cmIoU\u8fbe\u523020.99%\uff0cL2\u8ddd\u79bb\u964d\u81f30.28\u7c73\uff0c\u51f8\u663e\u4e86MS\u6a21\u5757\u7684\u4f18\u52bf\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">05 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[&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-25846","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":3,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/25846"}],"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=25846"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/25846\/revisions"}],"predecessor-version":[{"id":25849,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/25846\/revisions\/25849"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=25846"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=25846"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=25846"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}