{"id":26296,"date":"2025-03-14T17:41:56","date_gmt":"2025-03-14T09:41:56","guid":{"rendered":"http:\/\/192.168.10.115\/?p=26296"},"modified":"2025-03-14T17:41:56","modified_gmt":"2025-03-14T09:41:56","slug":"2025-03-14-%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e8%ae%ba%e6%96%87%e9%80%9f%e9%80%92-hip-ad%e3%80%81uni-gaussians%e3%80%81colmdriver%e3%80%81jisam%e7%ad%89%e6%9c%80%e6%96%b0%e5%b7%a5%e4%bd%9c","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/03\/14\/26296\/","title":{"rendered":"2025-03-14 \u81ea\u52a8\u9a7e\u9a76\u8bba\u6587\u901f\u9012 | HiP-AD\u3001Uni-Gaussians\u3001CoLMDriver\u3001JiSAM\u7b49\u6700\u65b0\u5de5\u4f5c\uff082025.3.14\uff09"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/30125364498\">https:\/\/zhuanlan.zhihu.com\/p\/30125364498<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255047295&amp;content_type=Article&amp;match_order=1&amp;q=ICCV&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">ICCV<\/a>\u622a\u7a3f\u4e86\uff0c\u6700\u8fd1arxiv\u4e0a\u5f88\u591a\u5de5\u4f5c\u653e\u51fa\u6765\uff0c\u5feb\u901f\u548c\u5927\u5bb6\u8fc7\u4e00\u4e0b\u6700\u65b0\u7684\u6587\u7ae0\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4e0a\u4ea4&amp;\u4e0a\u6d77AI Lab\u63d0\u51fa\u9996\u4e2a\u5168\u6d41\u7a0bLLM\u534f\u540c\u9a7e\u9a76\u7cfb\u7edfCoLMDriver\uff1b<\/li>\n\n\n\n<li>Nullmax\u63d0\u51faHiP-AD\uff1a\u81ea\u52a8\u9a7e\u9a76\u5206\u5c42\u591a\u7c92\u5ea6\u7aef\u5230\u7aef\u89c4\u5212\u7b97\u6cd5\uff1b<\/li>\n\n\n\n<li>\u6e2f\u5927&amp;\u4e0a\u6d77AI Lab\u63d0\u51fa<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255047295&amp;content_type=Article&amp;match_order=1&amp;q=JiSAM&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">JiSAM<\/a><\/li>\n\n\n\n<li>\uff1a\u901a\u8fc7\u6700\u5c0f\u5316\u73b0\u5b9e\u4e16\u754c\u6570\u636e\u51cf\u8f7b\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u6807\u7b7e\u8d1f\u62c5\u548cCorner Case<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255047295&amp;content_type=Article&amp;match_order=1&amp;q=V-Max&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">V-Max<\/a>\uff1a\u81ea\u52a8\u9a7e\u9a76\u5f3a\u5316\u5b66\u4e60\u7684\u8fdb\u4e00\u6b65\u63a2\u7d22\uff1b<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255047295&amp;content_type=Article&amp;match_order=1&amp;q=Uni-Gaussians&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Uni-Gaussians<\/a>\uff1a\u89c6\u89c9&amp;\u70b9\u4e91\u8054\u5408\u91cd\u5efa\u5927\u4e00\u7edf\u6846\u67b6\uff0c\u89c6\u89c9\u91cd\u5efaPSNR\u903c\u8fd1OmniRe\uff0c\u70b9\u4e91\u91cd\u5efa\u5927\u5e45\u8d85\u8d8aLiDAR4D\uff1b<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_30125364498_0\">CoLMDriver<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aCoLMDriver: LLM-based Negotiation Benefits Cooperative Autonomous Driving<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2503.08683\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2503.08683<\/a><\/li>\n\n\n\n<li>\u4ee3\u7801\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/github.com\/cxliu0314\/CoLMDriver\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/github.com\/cxliu0314\/CoLMDriver<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-4716582c69c90134f60e7ada689d6a50_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u9996\u4e2a\u5168\u6d41\u7a0bLLM\u534f\u540c\u9a7e\u9a76\u7cfb\u7edf<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>CoLMDriver\u9996\u6b21\u5b9e\u73b0\u4e86\u4ece\u4f20\u611f\u5668\u8f93\u5165\u5230\u63a7\u5236\u4fe1\u53f7\u8f93\u51fa\u7684\u5b8c\u6574LLM\u534f\u540c\u9a7e\u9a76\u6846\u67b6\uff0c\u7a81\u7834\u4e86\u4f20\u7edf\u4f18\u5316\u4e0e\u5b66\u4e60\u65b9\u6cd5\u5728\u52a8\u6001\u4ea4\u4e92\u573a\u666f\u4e2d\u7684\u6cdb\u5316\u74f6\u9888\uff0c\u901a\u8fc7\u81ea\u7136\u8bed\u8a00\u534f\u5546\u673a\u5236\u5b9e\u73b0\u8f66\u8f86\u95f4\u7075\u6d3b\u51b3\u7b56\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>Actor-Critic\u53cd\u9988\u9a71\u52a8\u7684LLM\u534f\u5546\u6a21\u5757<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u57fa\u4e8e\u5f3a\u5316\u5b66\u4e60Actor-Critic\u8303\u5f0f\u7684\u591a\u8f6e\u8bed\u8a00\u534f\u5546\u673a\u5236\uff0c\u5229\u7528\u8bc4\u4f30\u5668\uff08Critic\uff09\u5bf9\u534f\u5546\u7ed3\u679c\u4ece\u5b89\u5168\u6027\uff08Safety\uff09\u3001<strong>\u6548\u7387\uff08Efficiency\uff09\u548c\u591a\u8f66\u5171\u8bc6\uff08Consensus\uff09<\/strong>\u4e09\u4e2a\u7ef4\u5ea6\u5b9e\u65f6\u53cd\u9988\uff0c\u5f15\u5bfcLLM\uff08Actor\uff09\u52a8\u6001\u4f18\u5316\u5408\u4f5c\u7b56\u7565\uff0c\u663e\u8457\u63d0\u5347\u534f\u5546\u6536\u655b\u901f\u5ea6\u4e0e\u7a33\u5b9a\u6027\uff08\u5b9e\u9a8c\u663e\u793a\u8bc4\u5206\u63d0\u534730%+\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u52a8\u6001\u65f6\u7a7a\u56fe\u5206\u7ec4\u673a\u5236<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u901a\u8fc7\u6784\u5efa\u65f6\u7a7a\u8f66\u8f86\u56fe\uff08Spatiotemporal Vehicle Graph\uff09\uff0c\u57fa\u4e8e\u8f66\u8f86\u8def\u5f84\u70b9\u9884\u6d4b\u7684<strong>\u5b89\u5168\u8bc4\u5206\uff08Safety Score\uff09<\/strong>\u52a8\u6001\u5212\u5206\u51b2\u7a81\u8f66\u8f86\u7ec4\uff0c\u7ed3\u5408\u6df1\u5ea6\u4f18\u5148\u641c\u7d22\uff08DFS\uff09\u4e0e\u5386\u53f2\u7ec4\u878d\u5408\u7b56\u7565\uff0c\u5b9e\u73b0\u9ad8\u6548\u5c40\u90e8\u534f\u5546\uff0c\u51cf\u5c11\u5197\u4f59\u901a\u4fe1\uff08\u5b9e\u9a8c\u9a8c\u8bc1\u5206\u7ec4\u673a\u5236\u63d0\u5347\u9a7e\u9a76\u8bc4\u520611%\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u610f\u56fe-\u8def\u5f84\u70b9\u534f\u540c\u751f\u6210\u67b6\u6784<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bbe\u8ba1\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u9a71\u52a8\u7684\u610f\u56fe\u89c4\u5212\u5668\u4e0eTransformer-based\u8def\u5f84\u70b9\u751f\u6210\u5668\uff0c\u5c06\u9ad8\u5c42\u8bed\u4e49\u610f\u56fe\uff08\u5982\u201c\u5de6\u8f6c\u201d\u201c\u51cf\u901f\u201d\uff09\u8f6c\u5316\u4e3a\u53ef\u6267\u884c\u7684\u51e0\u4f55\u8def\u5f84\u70b9\uff0c\u5e76\u901a\u8fc7PID\u63a7\u5236\u5668\u751f\u6210\u5b9e\u65f6\u63a7\u5236\u4fe1\u53f7\uff0c\u89e3\u51b3LLM\u5728\u8fde\u7eed\u7a7a\u95f4\u89c4\u5212\u4e2d\u7684\u56fa\u6709\u7f3a\u9677\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255047295&amp;content_type=Article&amp;match_order=1&amp;q=InterDrive&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">InterDrive<\/a><\/li>\n\n\n\n<li>\u9ad8\u4ea4\u4e92\u8bc4\u6d4b\u57fa\u51c6<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u57fa\u4e8eCARLA\u4eff\u771f\u5e73\u53f0\u6784\u5efa\u5305\u542b10\u7c7b\u6311\u6218\u6027\u573a\u666f\uff08\u5982\u65e0\u4fe1\u53f7\u706f\u4ea4\u53c9\u8def\u53e3\u3001\u8f66\u9053\u5408\u5e76\u3001\u5bc6\u96c6\u53d8\u9053\uff09\u7684InterDrive Benchmark\uff0c\u8986\u76d62-8\u8f66\u4ea4\u4e92\u4efb\u52a1\uff0c\u5f15\u5165<strong>\u5171\u8bc6\u6210\u529f\u7387\uff08Success Rate\uff09<\/strong>\u7b49\u6307\u6807\uff0c\u4e3a\u591a\u8f66\u534f\u540c\u9a7e\u9a76\u63d0\u4f9b\u6807\u51c6\u5316\u8bc4\u4f30\u4f53\u7cfb\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_30125364498_1\">HiP-AD<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aHiP-AD: Hierarchical and Multi-Granularity Planning with Deformable Attention for Autonomous Driving in a Single Decoder<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2503.08612\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2503.08612<\/a><\/li>\n\n\n\n<li>\u4ee3\u7801\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/github.com\/nullmax-vision\/HiP-AD\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/github.com\/nullmax-vision\/HiP-AD<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-aea4fd309081140fcc11b133bf28225e_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u591a\u7c92\u5ea6\u89c4\u5212\u67e5\u8be2\u8868\u793a\uff08Multi-Granularity Planning Query Representation\uff09<br>\u63d0\u51fa\u5206\u5c42\u8def\u5f84\u70b9\u8bbe\u8ba1\uff0c\u5c06\u89c4\u5212\u8f68\u8ff9\u89e3\u8026\u4e3a\u65f6\u95f4\uff08Temporal\uff09\u3001\u7a7a\u95f4\uff08Spatial\uff09\u548c\u9a7e\u9a76\u98ce\u683c\uff08Driving-Style\uff09\u4e09\u7c7b\u5f02\u6784\u8def\u5f84\u70b9\u3002\u901a\u8fc7\u591a\u7c92\u5ea6\u91c7\u6837\u7b56\u7565\uff08\u5982\u65f6\u95f4\u9891\u7387\u3001\u7a7a\u95f4\u95f4\u9694\u3001\u901f\u5ea6\u533a\u95f4\uff09\u589e\u5f3a\u8f68\u8ff9\u8868\u5f81\u591a\u6837\u6027\uff0c\u63d0\u4f9b\u5bc6\u96c6\u76d1\u7763\u4fe1\u53f7\u3002\u5176\u4e2d\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u65f6\u95f4\u8def\u5f84\u70b9\uff082Hz\/5Hz\uff09\u4f18\u5316\u7eb5\u5411\u63a7\u5236<\/li>\n\n\n\n<li>\u7a7a\u95f4\u8def\u5f84\u70b9\uff082m\/5m\u95f4\u9694\uff09\u63d0\u5347\u6a2a\u5411\u63a7\u5236\u7cbe\u5ea6<\/li>\n\n\n\n<li>\u9a7e\u9a76\u98ce\u683c\u8def\u5f84\u70b9\uff08\u4f4e\u901f\/\u4e2d\u901f\/\u9ad8\u901f\uff09\u5b9e\u73b0\u590d\u6742\u573a\u666f\u81ea\u9002\u5e94\u51b3\u7b56<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u51e0\u4f55\u611f\u77e5\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u673a\u5236\uff08Planning Deformable Attention\uff09<br>\u57fa\u4e8e\u89c4\u5212\u8f68\u8ff9\u7684\u51e0\u4f55\u5148\u9a8c\uff0c\u901a\u8fc7\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u52a8\u6001\u91c7\u6837\u56fe\u50cf\u7279\u5f81\u3002\u533a\u522b\u4e8e\u4f20\u7edf\u5168\u5c40\u6ce8\u610f\u529b\uff0c\u8be5\u673a\u5236\u4ec5\u5173\u6ce8\u8f68\u8ff9\u90bb\u57df\u5185\u7684\u89c6\u89c9\u7279\u5f81\uff0c\u5b9e\u73b0\u7a00\u758f\u573a\u666f\u8868\u5f81\u5b66\u4e60\uff0c\u6709\u6548\u907f\u514d\u78b0\u649e\u98ce\u9669\u3002<br><\/li>\n\n\n\n<li>\u7edf\u4e00\u89e3\u7801\u5668\u67b6\u6784\uff08Unified Decoder Framework\uff09<br>\u5728\u5355\u89e3\u7801\u5668\u5185\u5b8c\u6210\u611f\u77e5-\u9884\u6d4b-\u89c4\u5212\u5168\u6d41\u7a0b\u4ea4\u4e92\uff1a<br><\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u65f6\u5e8f\u4ea4\u4e92\u6a21\u5757 \uff1a\u878d\u5408\u5386\u53f2\u72b6\u6001\u4e0e\u5f53\u524d\u89c2\u6d4b<\/li>\n\n\n\n<li>\u534f\u540c\u4ea4\u4e92\u6a21\u5757 \uff1a\u5b9e\u73b0\u68c0\u6d4b\u3001\u5730\u56fe\u3001\u89c4\u5212\u4efb\u52a1\u7684BEV\u7a7a\u95f4\u8de8\u6a21\u6001\u5bf9\u9f50<\/li>\n\n\n\n<li>\u4efb\u52a1\u53ef\u53d8\u5f62\u6ce8\u610f\u529b \uff1a\u5dee\u5f02\u5316\u63d0\u53d6\u591a\u89c6\u89d2\u56fe\u50cf\u7279\u5f81\uff08\u68c0\u6d4b\/\u5730\u56fe\u4efb\u52a1\u91c7\u7528\u7a20\u5bc6\u91c7\u6837\uff0c\u89c4\u5212\u4efb\u52a1\u57fa\u4e8e\u8f68\u8ff9\u51e0\u4f55\u7ea6\u675f\u7a00\u758f\u91c7\u6837\uff09<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_30125364498_2\">JiSAM<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aJiSAM: Alleviate Labeling Burden and Corner Case Problems in Autonomous Driving via Minimal Real-World Data<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2503.08422\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2503.08422<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-e4071294d3771a74386069a681d436a6_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u4eff\u771f\u6570\u636e\u589e\u5f3a\u673a\u5236<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u57fa\u4e8e\u7403\u5750\u6807\u7cfb\u7684\u6296\u52a8\u589e\u5f3a\uff08Jittering Augmentation\uff09\uff0c\u901a\u8fc7\u6a21\u62dfLiDAR\u4f20\u611f\u5668\u566a\u58f0\u6a21\u578b\uff08r,\u03b8,\u03c6\u65b9\u5411\u9ad8\u65af\u566a\u58f0\uff09\u63d0\u5347\u4eff\u771f\u6570\u636e\u7684\u6837\u672c\u6548\u7387\uff0c\u514b\u670d\u4f20\u7edf\u4eff\u771f\u6570\u636e\u4fe1\u606f\u5bc6\u5ea6\u4f4e\u7684\u95ee\u9898\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u9886\u57df\u81ea\u9002\u5e94\u9aa8\u5e72\u7f51\u7edc<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bbe\u8ba1\u9886\u57df\u611f\u77e5\u8f93\u5165\u6a21\u5757\uff08Domain-aware Backbone\uff09\uff0c\u901a\u8fc7\u5206\u79bb\u4eff\u771f\/\u771f\u5b9e\u6570\u636e\u7684\u8f93\u5165\u5c42\uff083D\u7a00\u758f\u5377\u79ef\u6838\uff09\uff0c\u5728\u4fdd\u6301\u53c2\u6570\u589e\u91cf&lt;0.025%\u7684\u524d\u63d0\u4e0b\uff0c\u6709\u6548\u878d\u5408\u4e0d\u540c\u9886\u57df\u7279\u5f81\uff08\u5982\u771f\u5b9e\u6570\u636e\u7684\u5f3a\u5ea6\u4fe1\u606f\u4e0e\u4eff\u771f\u6570\u636e\u7684\u51e0\u4f55\u7279\u5f81\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u57fa\u4e8e\u8bb0\u5fc6\u7684\u8de8\u57df\u5bf9\u9f50\u635f\u5931<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u6247\u533a\u5316\u7279\u5f81\u5bf9\u9f50\uff08Sectorized Alignment\uff09\uff0c\u5c06\u573a\u666f\u5212\u5206\u4e3aNsc\u4e2a\u6247\u533a\u5e76\u79bb\u6563\u5316\u822a\u5411\u89d2\uff0c\u6784\u5efa\u8bb0\u5fc6\u5e93\u5b58\u50a8\u771f\u5b9e\u7279\u5f81\u5206\u5e03\u3002\u901a\u8fc7\u53cc\u5411MSE\u635f\u5931\u5bf9\u9f50\u4eff\u771f\u7279\u5f81\u4e0e\u8bb0\u5fc6\u5e93\u7279\u5f81\uff0c\u663e\u8457\u7f29\u5c0f\u4eff\u771f\u5230\u73b0\u5b9e\u7684\u57df\u95f4\u5dee\u8ddd\uff08\u5982\u70b9\u4e91\u5c40\u90e8\u5206\u5e03\u5dee\u5f02\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_30125364498_3\">V-Max<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aV-Max: Making RL practical for Autonomous Driving<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2503.08388\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2503.08388<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-9d054b71a5abe867d7b823457962b2ba_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u6807\u51c6\u5316RL\u8bad\u7ec3\u6846\u67b6<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u57fa\u4e8e<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255047295&amp;content_type=Article&amp;match_order=1&amp;q=Waymax&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Waymax<\/a><\/li>\n\n\n\n<li>\u6784\u5efa\u5f00\u6e90JAX\u6846\u67b6 \uff0c\u6574\u5408\u5f3a\u5316\u5b66\u4e60\uff08RL\uff09\u5168\u6d41\u7a0b\u5de5\u5177\uff1a\n<ul class=\"wp-block-list\">\n<li>\u89c2\u5bdf\u51fd\u6570 \uff1a\u652f\u6301\u591a\u6a21\u6001\u8f93\u5165\uff08\u8f68\u8ff9\u3001\u9053\u8def\u56fe\u3001\u4ea4\u901a\u706f\uff09\uff0c\u63d0\u4f9b\u53ef\u914d\u7f6e\u7684\u7279\u5f81\u63d0\u53d6\uff08\u5982Base\/Segment\/Lane\/Road\u6a21\u5f0f\uff09\u3002<\/li>\n\n\n\n<li>\u5956\u52b1\u8bbe\u8ba1 \uff1a\u7ed3\u5408\u5b89\u5168\uff08\u78b0\u649e\/\u95ef\u7ea2\u706f\u60e9\u7f5a\uff09\u3001\u5bfc\u822a\uff08\u8def\u5f84\u8ffd\u8e2a\uff09\u4e0e\u884c\u4e3a\uff08\u8212\u9002\u6027\/\u901f\u5ea6\u9650\u5236\uff09\u7684\u591a\u76ee\u6807\u5956\u52b1\u51fd\u6570\u3002<\/li>\n\n\n\n<li>\u7f16\u7801\u5668\u67b6\u6784 \uff1a\u9002\u914dTransformer\u6a21\u578b\uff08\u5982LQ\u3001MTR\u3001Wayformer\uff09\uff0c\u63d0\u5347\u52a8\u6001\u4ea4\u4e92\u4e0e\u573a\u666f\u8868\u5f81\u80fd\u529b\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u591a\u6570\u636e\u96c6\u52a0\u901f\u4eff\u771f<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u901a\u8fc7ScenarioMax \u6269\u5c55\u652f\u6301\u591a\u6570\u636e\u96c6\uff08WOMD\u3001nuPlan\u3001Argoverse 2\uff09\uff0c\u5b9e\u73b0\u8de8\u573a\u666f\u6807\u51c6\u5316\u4eff\u771f\uff0c\u89e3\u51b3\u6570\u636e\u5206\u5e03\u504f\u79fb\u95ee\u9898\u3002<\/li>\n\n\n\n<li>\u786c\u4ef6\u52a0\u901f\uff08GPU\/TPU\uff09\u652f\u6301\u767e\u4e07\u7ea7FPS\u4eff\u771f \uff0c\u7a81\u7834\u4f20\u7edfRL\u6837\u672c\u6548\u7387\u74f6\u9888\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u589e\u5f3a\u8bc4\u4f30\u4f53\u7cfb<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6307\u6807\u521b\u65b0 \uff1a\u96c6\u6210nuPlan\u9a7e\u9a76\u8d28\u91cf\u8bc4\u4f30\uff08\u5982\u8d23\u4efb\u78b0\u649e\u3001\u8212\u9002\u6027\uff09\uff0c\u65b0\u589e\u7ea2\u7eff\u706f\u8fdd\u89c4\u68c0\u6d4b\u4e0e\u591a\u8f66\u9053\u5360\u7528\u8bc4\u5206\u3002<\/li>\n\n\n\n<li>\u5bf9\u6297\u6d4b\u8bd5 \uff1a\u96c6\u6210ReGentS\u751f\u6210\u5bf9\u6297\u573a\u666f\uff0c\u91cf\u5316\u7b56\u7565\u9c81\u68d2\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u5b9e\u8bc1\u8d21\u732e<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5927\u89c4\u6a21\u57fa\u51c6\u6d4b\u8bd5\u63ed\u793a\uff1a\n<ul class=\"wp-block-list\">\n<li>LQ\u7f16\u7801\u5668 \u5728Transformer\u6a21\u578b\u4e2d\u8868\u73b0\u6700\u4f18\uff0897.4%\u573a\u666f\u5b8c\u6210\u7387\uff09\u3002<\/li>\n\n\n\n<li>\u5bfc\u822a\u5956\u52b1 \u663e\u8457\u63d0\u5347\u8def\u5f84\u8ffd\u8e2a\u6548\u7387\uff08Progress\u6307\u6807\u63d0\u534758%\uff09\u3002<\/li>\n\n\n\n<li>\u591a\u6570\u636e\u96c6\u8bad\u7ec3\u589e\u5f3a\u6cdb\u5316\u80fd\u529b\uff08\u8de8WOMD\/nuPlan\u8bc4\u4f30V-Max Score\u8fbe0.84\uff09\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_30125364498_4\"><a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255047295&amp;content_type=Article&amp;match_order=1&amp;q=Talk2PC&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Talk2PC<\/a><\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aTalk2PC: Enhancing 3D Visual Grounding through LiDAR and Radar Point Clouds Fusion for Autonomous Driving<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2503.08336\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2503.08336<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-f6b53c80a4226921f448eb76fc647f08_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u591a\u6a21\u6001\u7279\u5f81\u878d\u5408\u67b6\u6784<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u57fa\u4e8e\u8de8\u6a21\u6001\u6ce8\u610f\u529b\u673a\u5236\u7684LiDAR-Radar\u70b9\u4e91\u878d\u5408\u6846\u67b6\uff08Talk2PC\uff09\uff0c\u901a\u8fc7\u52a8\u6001\u6743\u91cd\u5206\u914d\u7b56\u7565\u878d\u5408LiDAR\u7684\u9ad8\u7cbe\u5ea6\u51e0\u4f55\u7279\u5f81\u4e0e\u96f7\u8fbe\u7684\u8fd0\u52a8\u591a\u666e\u52d2\u7279\u5f81\uff0c\u5b9e\u73b0\u591a\u6e90\u5f02\u6784\u6570\u636e\u7684\u8bed\u4e49\u5bf9\u9f50\u4e0e\u4e92\u8865\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u7a00\u758f-\u5bc6\u96c6\u70b9\u4e91\u534f\u540c\u589e\u5f3a\u6a21\u5757<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bbe\u8ba1\u5206\u5c42\u7279\u5f81\u63d0\u53d6\u7f51\u7edc\uff0c\u9488\u5bf9\u96f7\u8fbe\u70b9\u4e91\u7a00\u758f\u6027\u4e0eLiDAR\u70b9\u4e91\u5bc6\u96c6\u6027\u7684\u5dee\u5f02\uff0c\u91c7\u7528\u81ea\u9002\u5e94\u4f53\u7d20\u5316\u4e0e\u7a00\u758f\u5377\u79ef\u8054\u5408\u4f18\u5316\u7b56\u7565\uff0c\u63d0\u5347\u76ee\u6807\u68c0\u6d4b\u4e0e\u5b9a\u4f4d\u7684\u9c81\u68d2\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u65f6\u5e8f\u52a8\u6001\u878d\u5408\u673a\u5236<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5f15\u5165\u57fa\u4e8e\u65f6\u7a7a\u53d8\u6362\u7684\u5e8f\u5217\u5efa\u6a21\u6a21\u5757\uff0c\u901a\u8fc7\u96f7\u8fbe\u901f\u5ea6\u4fe1\u606f\u4e0eLiDAR\u51e0\u4f55\u53d8\u5316\u7684\u5173\u8054\u5efa\u6a21\uff0c\u589e\u5f3a\u52a8\u6001\u573a\u666f\u4e0b\u76ee\u6807\u8f68\u8ff9\u9884\u6d4b\u4e0e3D\u5305\u56f4\u6846\u56de\u5f52\u7684\u65f6\u5e8f\u4e00\u81f4\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u8de8\u6a21\u6001\u5f31\u76d1\u7763\u5bf9\u9f50\u635f\u5931<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u591a\u4efb\u52a1\u5b66\u4e60\u6846\u67b6\uff0c\u7ed3\u5408\u70b9\u4e91\u7ea7\u5bf9\u6bd4\u635f\u5931\uff08PointCL\uff09\u4e0e\u8bed\u4e49\u63a9\u7801\u5bf9\u9f50\u635f\u5931\uff08SMA Loss\uff09\uff0c\u4f18\u5316\u591a\u6a21\u6001\u7279\u5f81\u7a7a\u95f4\u5206\u5e03\uff0c\u7f13\u89e3\u6807\u6ce8\u6570\u636e\u4f9d\u8d56\u95ee\u9898\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u591a\u4f20\u611f\u5668\u4e0d\u786e\u5b9a\u6027\u91cf\u5316<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6784\u5efa\u57fa\u4e8e\u8d1d\u53f6\u65af\u6df1\u5ea6\u5b66\u4e60\u7684\u7f6e\u4fe1\u5ea6\u8bc4\u4f30\u6a21\u5757\uff0c\u91cf\u5316LiDAR\/Radar\u5728\u4e0d\u540c\u73af\u5883\uff08\u5982\u96e8\u96fe\u3001\u5149\u7167\u53d8\u5316\uff09\u4e0b\u7684\u611f\u77e5\u53ef\u9760\u6027\uff0c\u52a8\u6001\u8c03\u6574\u878d\u5408\u7b56\u7565\u6743\u91cd\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_30125364498_5\">Uni-Gaussians<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aUni-Gaussians: Unifying Camera and Lidar Simulation with Gaussians for Dynamic Driving Scenarios<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2503.08317\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2503.08317<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-9715c5c24d6ad3ccb35cb2213b7ddbb4_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u7edf\u4e00\u7684\u9ad8\u65af\u573a\u666f\u8868\u793a\u4e0e\u5206\u6cbb\u6e32\u67d3\u7b56\u7565<br>\u63d0\u51fa\u52a8\u6001\u9ad8\u65af\u573a\u666f\u56fe\uff08Gaussian scene graph\uff09\uff0c\u7edf\u4e00\u5efa\u6a21\u9759\u6001\u80cc\u666f\u4e0e\u52a8\u6001\u5b9e\u4f53\uff08\u5982\u521a\u6027\u8f66\u8f86\u3001\u975e\u521a\u6027\u884c\u4eba\uff09\u3002\u9488\u5bf9\u76f8\u673a\u4e0eLiDAR\u7684\u4f20\u611f\u5668\u7279\u6027\u5dee\u5f02\uff0c\u5206\u522b\u91c7\u7528<strong>\u6805\u683c\u5316\uff08Rasterization\uff09\u4e0e\u9ad8\u65af\u5c04\u7ebf\u8ffd\u8e2a\uff08Gaussian Ray-Tracing\uff09<\/strong>\u8fdb\u884c\u6e32\u67d3\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u76f8\u673a\u56fe\u50cf\uff1a\u57fa\u4e8e2D\u9ad8\u65af\u57fa\u5143\uff082D Gaussian primitives\uff09\u7684\u6805\u683c\u5316\u6e32\u67d3\uff0c\u901a\u8fc7\u9ad8\u6548\u6df1\u5ea6\u6392\u5e8f\u4e0eAlpha\u6df7\u5408\u5b9e\u73b0\u5b9e\u65f6\u6027\uff1b<\/li>\n\n\n\n<li>LiDAR\u70b9\u4e91\uff1a\u901a\u8fc7\u5c04\u7ebf\u8ffd\u8e2a\u8ba1\u7b97\u9ad8\u65af\u692d\u7403\u4e0e\u6fc0\u5149\u5c04\u7ebf\u7684\u4ea4\u70b9\uff0c\u7ed3\u5408\u53cd\u5c04\u7387\uff08SH intensity\uff09\u4e0e\u5c04\u7ebf\u4e22\u5f03\u6982\u7387\uff08SH ray-drop probability\uff09\u5efa\u6a21LiDAR\u7684\u4e3b\u52a8\u611f\u77e5\u673a\u5236\uff0c\u89e3\u51b3\u4f20\u7edf\u6805\u683c\u5316\u5bfc\u81f4\u7684\u51e0\u4f55\u9519\u4f4d\u95ee\u9898\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u9762\u5411LiDAR\u4eff\u771f\u76842D\u9ad8\u65af\u5efa\u6a21\u4f18\u5316<br>\u5f15\u51652D\u9ad8\u65af\u57fa\u5143\uff08\u800c\u975e\u4f20\u7edf3D\u9ad8\u65af\uff09\uff0c\u907f\u514d\u4f53\u79ef\u8f90\u5c04\u8868\u793a\u4e0e\u8868\u9762\u51e0\u4f55\u7684\u51b2\u7a81\uff0c\u5e76\u65b0\u589e<strong>\u7403\u8c10\u53cd\u5c04\u7387\uff08SH intensity\uff09\u4e0e\u7403\u8c10\u5c04\u7ebf\u4e22\u5f03\u6982\u7387\uff08SH ray-drop probability\uff09<\/strong>\u5c5e\u6027\uff0c\u589e\u5f3aLiDAR\u5f3a\u5ea6\u4e0e\u70b9\u4e91\u7f3a\u5931\u6982\u7387\u7684\u89c6\u89d2\u4f9d\u8d56\u6027\u5efa\u6a21\uff0c\u63d0\u5347\u51e0\u4f55\u91cd\u5efa\u7cbe\u5ea6\u3002<br><\/li>\n\n\n\n<li>\u52a8\u6001\u573a\u666f\u7684\u7aef\u5230\u7aef\u8054\u5408\u4f18\u5316<br>\u8bbe\u8ba1\u591a\u4efb\u52a1\u635f\u5931\u51fd\u6570\uff0c\u8054\u5408\u4f18\u5316\u56fe\u50cf\u8d28\u91cf\uff08L1\u3001SSIM\uff09\u3001\u6df1\u5ea6\u4e00\u81f4\u6027\uff08L1\u6df1\u5ea6\u635f\u5931\uff09\u3001LiDAR\u5f3a\u5ea6\uff08L2\u635f\u5931\uff09\u3001\u5c04\u7ebf\u4e22\u5f03\u6982\u7387\uff08L2\u635f\u5931\uff09\u53ca\u6cd5\u5411\u4e00\u81f4\u6027\u7ea6\u675f\uff0c\u5b9e\u73b0\u52a8\u6001\u573a\u666f\u7684\u9ad8\u4fdd\u771f\u4eff\u771f\u3002<br><\/li>\n<\/ol>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_30125364498_6\"><a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255047295&amp;content_type=Article&amp;match_order=1&amp;q=FASIONAD%2B%2B&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">FASIONAD++<\/a><\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aFASIONAD++ : Integrating High-Level Instruction and Information Bottleneck in FAt-Slow fusION Systems for Enhanced Safety in Autonomous Driving with Adaptive Feedback<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2503.08162\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2503.08162<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-58fd366f652e670dfabf149bfbb50f8f_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u53cc\u7cfb\u7edf\u52a8\u6001\u5207\u6362\u67b6\u6784<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51faFAst-Slow fusION\uff08FASIONAD\uff09\u6846\u67b6\uff0c\u96c6\u6210\u7aef\u5230\u7aef\uff08E2E\uff09\u5feb\u901f\u89c4\u5212\u7cfb\u7edf\u4e0e\u57fa\u4e8e\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u7684\u6162\u901f\u63a8\u7406\u7cfb\u7edf\u3002\u901a\u8fc7\u4e0d\u786e\u5b9a\u6027\u4f30\u8ba1\u7b97\u6cd5 \uff08Laplace\u5206\u5e03\u5efa\u6a21\uff09\u52a8\u6001\u89e6\u53d1\u7cfb\u7edf\u5207\u6362\uff0c\u5728\u5e38\u89c4\u573a\u666f\u4fdd\u6301E2E\u5b9e\u65f6\u6027\uff083.6-7.1 FPS\uff09\uff0c\u590d\u6742\u573a\u666f\u6fc0\u6d3bVLM\u6df1\u5ea6\u63a8\u7406\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u4fe1\u606f\u74f6\u9888\u53cd\u9988\u673a\u5236<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bbe\u8ba1\u4fe1\u606f\u74f6\u9888\uff08IB\uff09\u6a21\u5757 \u8fc7\u6ee4\u5197\u4f59\u611f\u77e5\u4fe1\u606f\uff0c\u63d0\u53d6\u4e0e\u89c4\u5212\u5f3a\u76f8\u5173\u7279\u5f81\u3002\u901a\u8fc7\u77e5\u8bc6\u84b8\u998f\uff08KD\uff09\u5c06VLM\u8f93\u51fa\u7684\u9ad8\u5c42\u8bed\u4e49\uff08K\u7ef4\u4e8c\u8fdb\u5236\u89c4\u5212\u72b6\u6001\u5411\u91cf\uff09\u4e0eIB\u8fc7\u6ee4\u7279\u5f81\u878d\u5408\uff0c\u5b9e\u73b0\u8de8\u6a21\u6001\u7279\u5f81\u5bf9\u9f50\uff08LKD\u635f\u5931\u51fd\u6570\u4f18\u5316\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u89c4\u5212\u5bfc\u5411VLM\u8bad\u7ec3\u7b56\u7565<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5f00\u53d1<strong>\u89c6\u89c9\u63d0\u793a\uff08Visual Prompt\uff09\u4e0e BEV\u63d0\u793a\uff08Bird&#8217;s-Eye-View Prompt\uff09<\/strong>\u53cc\u8f93\u5165\u673a\u5236\uff0c\u5c06E2E\u751f\u6210\u7684\u8f68\u8ff9\u6295\u5f71\u4e3a\u524d\u89c6\u56fe\/\u4fef\u89c6\u56fe\u8bed\u4e49\u63d0\u793a\u3002\u7ed3\u5408\u5956\u52b1\u5f15\u5bfc\u7684PPO\u8bad\u7ec3\u7b56\u7565\uff08Lrvlm\u635f\u5931\u51fd\u6570\uff09\u548cQA\u6570\u636e\u96c6\u81ea\u52a8\u6807\u6ce8\uff0c\u63d0\u5347VLM\u5728\u9a7e\u9a76\u573a\u666f\u7684\u63a8\u7406\u53ef\u9760\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u53cc\u5411\u77e5\u8bc6\u589e\u5f3a\u6280\u672f<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5b9e\u73b0\u9ad8\u5c42\u52a8\u4f5c\uff08HA\uff09\u8de8\u6ce8\u610f\u529b\u673a\u5236 \uff0c\u5c06VLM\u751f\u6210\u7684\u5143\u52a8\u4f5c\uff08Meta-Action\uff09\u5d4c\u5165Ego Tokens\u6307\u5bfc\u89c4\u5212\uff1b\u540c\u65f6\u901a\u8fc7\u81ea\u9002\u5e94\u53cd\u9988\u56de\u8def \u5c06VLM\u7684\u89c4\u5212\u72b6\u6001\u5411\u91cf\u53cd\u54faE2E\u7cfb\u7edf\uff0c\u5f62\u6210&#8221;\u611f\u77e5-\u51b3\u7b56-\u53cd\u9988&#8221;\u95ed\u73af\u4f18\u5316\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_30125364498_7\"><a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255047295&amp;content_type=Article&amp;match_order=1&amp;q=S3R-GS&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">S3R-GS<\/a><\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aS3R-GS: Streamlining the Pipeline for Large-Scale Street Scene Reconstruction<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2503.08217\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2503.08217<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-937725de1e0812468663788abf5c9acc_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u591a\u6e90\u6570\u636e\u878d\u5408\u6846\u67b6<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u57fa\u4e8eLiDAR\u70b9\u4e91\u4e0e\u89c6\u89c9\u56fe\u50cf\u7684\u8054\u5408\u4f18\u5316\u91cd\u5efa\u8303\u5f0f\uff0c\u901a\u8fc7\u51e0\u4f55-\u8bed\u4e49\u8054\u5408\u7ea6\u675f \uff08Geometric-Semantic Constraint\uff09\u5b9e\u73b0\u591a\u6a21\u6001\u6570\u636e\u7684\u9ad8\u7cbe\u5ea6\u914d\u51c6\u4e0e\u7279\u5f81\u5bf9\u9f50\uff0c\u89e3\u51b3\u52a8\u6001\u573a\u666f\u4e0b\u7684\u6570\u636e\u5f02\u6784\u6027\u95ee\u9898\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u5206\u5c42\u6e10\u8fdb\u5f0f\u91cd\u5efa\u67b6\u6784<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bbe\u8ba1\u5206\u5c42\u4f18\u5316\u7b56\u7565 \uff08Hierarchical Optimization Strategy\uff09\uff0c\u5c06\u5927\u89c4\u6a21\u573a\u666f\u5206\u89e3\u4e3a\u5c40\u90e8\u5b50\u5730\u56fe\uff08Submap\uff09\uff0c\u91c7\u7528\u81ea\u9002\u5e94\u6570\u636e\u7b5b\u9009\u673a\u5236 \uff08Adaptive Data Filtering\uff09\u52a8\u6001\u5254\u9664\u5197\u4f59\u89c2\u6d4b\uff0c\u663e\u8457\u964d\u4f4e\u8ba1\u7b97\u590d\u6742\u5ea6\uff08\u65f6\u95f4\u590d\u6742\u5ea6\u964d\u4f4e\u81f3O(n log n)\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u52a8\u6001\u573a\u666f\u5efa\u6a21\u6a21\u5757<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5f15\u5165\u65f6\u7a7a\u4e00\u81f4\u6027\u7ea6\u675f \uff08Spatiotemporal Consistency Constraint\uff09\u4e0e\u5b9e\u4f8b\u7ea7\u8fd0\u52a8\u8865\u507f \uff08Instance-level Motion Compensation\uff09\uff0c\u901a\u8fc7\u8bed\u4e49\u5206\u5272\u4e0e\u5149\u6d41\u4f30\u8ba1\u5206\u79bb\u9759\u6001\u80cc\u666f\u4e0e\u52a8\u6001\u76ee\u6807\uff0c\u5b9e\u73b0\u590d\u6742\u4ea4\u901a\u573a\u666f\u7684\u9c81\u68d2\u91cd\u5efa\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u8f7b\u91cf\u5316\u795e\u7ecf\u8f90\u5c04\u573a\u96c6\u6210<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u6df7\u5408\u8868\u793a\u5b66\u4e60\u6846\u67b6 \uff08Hybrid Representation Learning\uff09\uff0c\u7ed3\u5408\u4f53\u7d20\u5316\u9ad8\u65af\u6e85\u5c04\uff08Voxelized Gaussian Splatting\uff09\u4e0e\u7a00\u758f\u4f53\u7d20\u54c8\u5e0c\uff08Sparse Voxel Hashing\uff09\uff0c\u5728\u4fdd\u8bc1\u6e32\u67d3\u8d28\u91cf\uff08PSNR\u226532.5dB\uff09\u7684\u540c\u65f6\uff0c\u5b9e\u73b0\u5343\u5e73\u65b9\u516c\u91cc\u7ea7\u573a\u666f\u7684\u5b9e\u65f6\u6e32\u67d3\uff0850+ FPS\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u7aef\u5230\u7aef\u53ef\u5fae\u91cd\u5efa\u6d41\u6c34\u7ebf<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6784\u5efa\u81ea\u76d1\u7763\u4f18\u5316\u6846\u67b6 \uff08Self-supervised Optimization Framework\uff09\uff0c\u901a\u8fc7\u53ef\u5fae\u5206\u6e32\u67d3\u4e0e\u7269\u7406\u7ea6\u675f\u6b63\u5219\u5316\uff0c\u5b9e\u73b0\u4ece\u539f\u59cb\u4f20\u611f\u5668\u6570\u636e\u5230\u6700\u7ec8\u4e09\u7ef4\u6a21\u578b\u7684\u7aef\u5230\u7aef\u8054\u5408\u4f18\u5316\uff0c\u51cf\u5c11\u4eba\u5de5\u5e72\u9884\u3002<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/zhuanlan.z [&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-26296","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\/26296"}],"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=26296"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/26296\/revisions"}],"predecessor-version":[{"id":26298,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/26296\/revisions\/26298"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=26296"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=26296"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=26296"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}