{"id":27120,"date":"2025-04-02T17:30:25","date_gmt":"2025-04-02T09:30:25","guid":{"rendered":"http:\/\/192.168.10.115\/?p=27120"},"modified":"2025-04-02T17:30:25","modified_gmt":"2025-04-02T09:30:25","slug":"2025-04-02-%e6%85%95%e5%b0%bc%e9%bb%91%e5%b7%a5%e5%a4%a7%e6%9c%80%e6%96%b0%ef%bc%81opendrivevla%ef%bc%9a%e5%9f%ba%e4%ba%8e%e5%a4%a7%e5%9e%8bvla%e6%a8%a1%e5%9e%8b%e7%9a%84%e7%ab%af%e5%88%b0%e7%ab%af","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/04\/02\/27120\/","title":{"rendered":"2025-04-02 \u6155\u5c3c\u9ed1\u5de5\u5927\u6700\u65b0\uff01OpenDriveVLA\uff1a\u57fa\u4e8e\u5927\u578bVLA\u6a21\u578b\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76~"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1890588500153312799\">https:\/\/zhuanlan.zhihu.com\/p\/1890588500153312799<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1890588500153312799_0\">\u4e13\u4e3a\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u8bbe\u8ba1\u7684VLA\u6a21\u578b<\/h2>\n\n\n\n<p>OpenDriveVLA\u662f\u4e00\u79cd\u4e13\u4e3a\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u8bbe\u8ba1\u7684\u89c6\u89c9\u8bed\u8a00\u52a8\u4f5c\uff08VLA\uff09\u6a21\u578b\u3002OpenDriveVLA\u57fa\u4e8e\u5f00\u6e90\u9884\u8bad\u7ec3\u7684\u5927\u578b\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09\uff0c\u4ee53D\u73af\u5883\u611f\u77e5\u3001\u81ea\u8f66\u72b6\u6001\u548c\u9a7e\u9a76\u5458\u6307\u4ee4\u4e3a\u6761\u4ef6\uff0c\u751f\u6210\u53ef\u9760\u7684\u9a7e\u9a76\u52a8\u4f5c\u3002\u4e3a\u4e86\u5f25\u5408\u9a7e\u9a76\u89c6\u89c9\u8868\u5f81\u4e0e\u8bed\u8a00\u5d4c\u5165\u4e4b\u95f4\u7684\u6a21\u6001\u5dee\u8ddd\uff0c\u63d0\u51fa\u4e86\u4e00\u79cd\u5206\u5c42\u89c6\u89c9\u8bed\u8a00\u5bf9\u9f50\u8fc7\u7a0b\uff0c\u5c062D\u548c3D\u7ed3\u6784\u5316\u89c6\u89c9token\u6295\u5f71\u5230\u7edf\u4e00\u7684\u8bed\u4e49\u7a7a\u95f4\u4e2d\u3002\u6b64\u5916\uff0cOpenDriveVLA\u901a\u8fc7\u81ea\u56de\u5f52\u7684\u8f66\u8f86 &#8211; \u73af\u5883 &#8211; \u81ea\u8f66\u4ea4\u4e92\u8fc7\u7a0b\uff0c\u5bf9\u81ea\u8f66\u3001\u5468\u56f4\u8f66\u8f86\u548c\u9759\u6001\u9053\u8def\u5143\u7d20\u4e4b\u95f4\u7684\u52a8\u6001\u5173\u7cfb\u8fdb\u884c\u5efa\u6a21\uff0c\u786e\u4fdd\u5728\u7a7a\u95f4\u548c\u884c\u4e3a\u4e0a\u90fd\u80fd\u63d0\u4f9b\u4fe1\u606f\u7684\u8f68\u8ff9\u89c4\u5212\u3002\u5728<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255883278&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>\u4e0a\u8fdb\u884c\u7684\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0cOpenDriveVLA\u5728\u5f00\u73af\u8f68\u8ff9\u89c4\u5212\u548c\u4e0e\u9a7e\u9a76\u76f8\u5173\u7684\u95ee\u7b54\u4efb\u52a1\u4e2d\u5747\u53d6\u5f97\u4e86\u6700\u5148\u8fdb\u7684\u6210\u679c\u3002\u5b9a\u6027\u5206\u6790\u8fdb\u4e00\u6b65\u8bf4\u660e\u4e86OpenDriveVLA\u5728\u9075\u5faa\u9ad8\u7ea7\u9a7e\u9a76\u6307\u4ee4\u65b9\u9762\u7684\u5353\u8d8a\u80fd\u529b\uff0c\u4ee5\u53ca\u5728\u5177\u6709\u6311\u6218\u6027\u7684\u573a\u666f\u4e2d\u7a33\u5065\u751f\u6210\u8f68\u8ff9\u7684\u80fd\u529b\uff0c\u7a81\u51fa\u4e86\u5176\u5728\u4e0b\u4e00\u4ee3\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u6f5c\u529b\u3002\u6211\u4eec\u5c06\u53d1\u5e03\u4ee3\u7801\uff0c\u4ee5\u4fc3\u8fdb\u8be5\u9886\u57df\u7684\u8fdb\u4e00\u6b65\u7814\u7a76\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\/YigG3laenuEhdb-HPHFUzg\" target=\"_blank\" rel=\"noreferrer noopener\">\u6155\u5c3c\u9ed1\u5de5\u5927\u6700\u65b0\uff01OpenDriveVLA\uff1a\u57fa\u4e8e\u5927\u578bVLA\u6a21\u578b\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76~<\/a><\/p>\n<\/blockquote>\n\n\n\n<p>\u9879\u76ee\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=http%3A\/\/drivevla.github.io\" target=\"_blank\" rel=\"noreferrer noopener\">http:\/\/drivevla.github.io<\/a><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-ebec83e079f32e5cf64636b47ebf818e_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1890588500153312799_1\">\u80cc\u666f\u4ecb\u7ecd\u4e0e\u9886\u57df\u53d1\u5c55<\/h2>\n\n\n\n<p>\u7aef\u5230\u7aef\u5b66\u4e60\u6846\u67b6\u5df2\u6210\u4e3a\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u4e00\u79cd\u5f88\u6709\u524d\u666f\u7684\u8303\u5f0f\uff0c\u5b83\u4f7f\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u80fd\u591f\u5728\u7edf\u4e00\u7684\u795e\u7ecf\u7f51\u7edc\u4e2d\u8fdb\u884c\u8054\u5408\u4f18\u5316\u3002\u901a\u8fc7\u5229\u7528\u5927\u89c4\u6a21\u9a7e\u9a76\u6570\u636e\uff0c\u8fd9\u4e9b\u6a21\u578b\u76f4\u63a5\u4ece\u539f\u59cb\u4f20\u611f\u5668\u8f93\u5165\u4e2d\u5b66\u4e60\u9a7e\u9a76\u7b56\u7565\uff0c\u5728\u5404\u79cd\u9a7e\u9a76\u573a\u666f\u4e2d\u90fd\u53d6\u5f97\u4e86\u4ee4\u4eba\u77a9\u76ee\u7684\u6027\u80fd\u3002\u5c3d\u7ba1\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u5c55\uff0c\u4f46\u73b0\u6709\u7684\u7aef\u5230\u7aef\u9a7e\u9a76\u65b9\u6cd5\u4ecd\u7136\u9762\u4e34\u4e25\u5cfb\u6311\u6218\uff0c\u7279\u522b\u662f\u5728\u5bf9\u957f\u5c3e\u573a\u666f\u7684\u6cdb\u5316\u80fd\u529b\u6709\u9650\u3001\u5bf9\u590d\u6742\u9a7e\u9a76\u573a\u666f\u4e2d\u9ad8\u7ea7\u8bed\u4e49\u7684\u7406\u89e3\u4e0d\u8db3\uff0c\u4ee5\u53ca\u4efb\u52a1\u9a71\u52a8\u89c4\u5212\u7684\u63a8\u7406\u80fd\u529b\u4e0d\u591f\u7075\u6d3b\u7b49\u65b9\u9762\u3002<\/p>\n\n\n\n<p>\u4e0e\u6b64\u540c\u65f6\uff0c\u5927\u8bed\u8a00\u6a21\u578b\uff08LLMs\uff09\u548c\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09\u5c55\u73b0\u51fa\u5f3a\u5927\u7684context\u5b66\u4e60\u3001\u5e38\u8bc6\u7406\u89e3\u548c\u96f6\u6837\u672c-\u5c11\u6837\u672c\u6cdb\u5316\u80fd\u529b\u3002\u8fd9\u4e9b\u65b0\u5174\u80fd\u529b\u51f8\u663e\u4e86\u5b83\u4eec\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u6f5c\u529b\uff0c\u5c24\u5176\u662f\u8003\u8651\u5230\u5bf9\u5404\u79cd\u73b0\u5b9e\u4e16\u754c\u9a7e\u9a76\u6761\u4ef6\u4e0b\u7a33\u5065\u573a\u666f\u7406\u89e3\u7684\u8feb\u5207\u9700\u6c42\u3002\u7136\u800c\uff0c\u76f4\u63a5\u5c06\u73b0\u6709\u7684VLMs\u5e94\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u9762\u4e34\u7740\u6839\u672c\u6027\u7684\u6311\u6218\u3002\u9996\u5148\uff0c\u5f53\u524d\u7684VLMs\u4e3b\u8981\u9488\u5bf9\u9759\u60012D\u56fe\u50cf-\u8bed\u8a00\u4efb\u52a1\u8fdb\u884c\u4f18\u5316\uff0c\u5728\u52a8\u60013D\u9a7e\u9a76\u73af\u5883\u4e2d\u7684\u7a7a\u95f4\u63a8\u7406\u6027\u80fd\u8f83\u5dee\u3002\u6b64\u5916\uff0c\u8fd9\u4e9b\u6a21\u578b\u7ecf\u5e38\u4ea7\u751f\u5e7b\u89c9\u8f93\u51fa\uff0c\u5373\u4e0d\u6b63\u786e\u6216\u8fc7\u4e8e\u81ea\u4fe1\u7684\u63cf\u8ff0\uff0c\u8fd9\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\u4f1a\u4e25\u91cd\u5371\u53ca\u5b89\u5168\u3002<\/p>\n\n\n\n<p>\u53d7\u8fd9\u4e9b\u9650\u5236\u7684\u542f\u53d1\uff0c\u6211\u4eec\u7684\u5de5\u4f5c\u65e8\u5728\u56de\u7b54\u4e00\u4e2a\u6838\u5fc3\u95ee\u9898\uff1a\u5982\u4f55\u5229\u7528VLMs\u7684\u65b0\u5174\u80fd\u529b\u751f\u6210\u53ef\u9760\u7684\u9a7e\u9a76\u52a8\u4f5c\uff0c\u540c\u65f6\u964d\u4f4e\u5e7b\u89c9\u98ce\u9669\uff0c\u5e76\u5e73\u8861\u63a8\u7406\u901f\u5ea6\u548c\u89c4\u5212\u6709\u6548\u6027\uff1f<\/p>\n\n\n\n<p>OpenDriveVLA\u662f\u4e00\u79cd\u4e13\u4e3a\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u8bbe\u8ba1\u7684\u65b0\u578b\u89c6\u89c9\u8bed\u8a00\u52a8\u4f5c\u6a21\u578b\u3002OpenDriveVLA\u5229\u7528\u5f00\u6e90\u9884\u8bad\u7ec3\u7684\u8bed\u8a00\u57fa\u7840\u6a21\u578b\uff0c\u4ee5\u591a\u6a21\u6001\u8f93\u5165\uff08\u5305\u62ec3D\u73af\u5883\u611f\u77e5\u3001\u81ea\u8f66\u72b6\u6001\u548c\u9a7e\u9a76\u5458\u6307\u4ee4\uff09\u4e3a\u6761\u4ef6\uff0c\u751f\u6210\u53ef\u89e3\u91ca\u4e14\u53ef\u9760\u7684\u9a7e\u9a76\u8f68\u8ff9\u3002OpenDriveVLA\u5728\u7edf\u4e00\u6a21\u578b\u4e2d\u5f25\u5408\u4e86\u89c6\u89c9\u8bed\u8a00\u7406\u89e3\u4e0e\u8f68\u8ff9\u751f\u6210\u4e4b\u95f4\u7684\u5dee\u8ddd\u3002\u5b83\u5728\u5f00\u73af\u89c4\u5212\u548c\u4e0e\u9a7e\u9a76\u76f8\u5173\u7684\u95ee\u7b54\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u7ecf\u8fc7\u4e25\u683c\u8bc4\u4f30\uff0c\u53d6\u5f97\u4e86\u9886\u5148\u7684\u7ed3\u679c\uff0c\u5c55\u793a\u4e86\u5353\u8d8a\u7684\u8f68\u8ff9\u751f\u6210\u548c\u9a7e\u9a76\u573a\u666f\u7406\u89e3\u80fd\u529b\u3002\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul 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http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/040203-300x167.png 300w\" sizes=\"(max-width: 701px) 100vw, 701px\" \/><\/figure>\n\n\n\n<p><strong>4\uff09\u8f66\u8f86 &#8211; \u73af\u5883 &#8211; \u81ea\u8f66\u4ea4\u4e92<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"703\" height=\"443\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/040204.png\" alt=\"\" class=\"wp-image-27124\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/040204.png 703w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/040204-300x189.png 300w\" sizes=\"(max-width: 703px) 100vw, 703px\" \/><\/figure>\n\n\n\n<p><strong>5\uff09\u7aef\u5230\u7aef\u8f68\u8ff9\u89c4\u5212<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"689\" height=\"348\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/040205.png\" alt=\"\" class=\"wp-image-27125\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/040205.png 689w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/040205-300x152.png 300w\" sizes=\"(max-width: 689px) 100vw, 689px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1890588500153312799_12\">\u5b9e\u9a8c\u5206\u6790<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1890588500153312799_13\">1\uff09\u8bad\u7ec3\u6570\u636e<\/h3>\n\n\n\n<p>\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u5f00\u5c55\u5b9e\u9a8c\uff0c\u6309\u7167\u6807\u51c6\u5c06\u6570\u636e\u5212\u5206\u4e3a\u8bad\u7ec3\u96c6\u548c\u9a8c\u8bc1\u96c6\u3002OpenDriveVLA\u4f7f\u7528\u8bad\u7ec3\u96c6\u4ee5\u53ca\u5bf9\u5e94\u7684\u95ee\u7b54\u5b57\u5e55\u8fdb\u884c\u8bad\u7ec3\uff0c\u800c\u9a8c\u8bc1\u96c6\u4ec5\u7528\u4e8e\u6027\u80fd\u8bc4\u4f30\uff0c\u4ee5\u6b64\u786e\u4fdd\u80fd\u4e0e\u4e4b\u524d\u7684\u7814\u7a76\u8fdb\u884c\u516c\u5e73\u5bf9\u6bd4\u3002\u5404\u9636\u6bb5\u7684\u8bad\u7ec3\u6570\u636e\u4fe1\u606f\u5982\u88681\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-29aeb7596cc2006a74c8c8e56b8586a2_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u89c6\u89c9\u8bed\u8a00\u5bf9\u9f50<\/strong>\uff1a\u5728\u8fdb\u884c\u667a\u80fd\u4f53\u7279\u5f81\u5bf9\u9f50\u65f6\uff0c\u6211\u4eec\u5bf9\u5b9e\u4f8b\u5b57\u5e55\u8fdb\u884c\u4e86\u540e\u5904\u7406\uff0c\u8fd9\u4e9b\u5b57\u5e55\u63d0\u4f9b\u4e86\u5355\u4e2a\u7269\u4f53\u76842D\u89c6\u89c9\u63cf\u8ff0\u3002\u4e3a\u8fdb\u4e00\u6b65\u589e\u5f3a\u7a7a\u95f4\u611f\u77e5\u80fd\u529b\uff0c\u6bcf\u4e2a\u7269\u4f53\u7684\u5b57\u5e55\u90fd\u589e\u52a0\u4e86\u76f8\u5e94\u7684\u9e1f\u77b0\u56fe\uff08BEV\uff09\u5750\u6807\uff0c\u8fd9\u6837\u6a21\u578b\u5c31\u80fd\u5c06\u7269\u4f53\u5c5e\u6027\u4e0e\u7cbe\u786e\u7684\u7a7a\u95f4\u4f4d\u7f6e\u5173\u8054\u8d77\u6765\u3002\u5bf9\u4e8e\u573a\u666ftoken\uff0c\u6211\u4eec\u5bf9\u591a\u89c6\u56fe\u573a\u666f\u63cf\u8ff0\u8fdb\u884c\u5904\u7406\uff0c\u5c06\u5176\u5408\u5e76\u4e3a\u7edf\u4e00\u7684\u6458\u8981\uff0c\u4ee5\u63cf\u8ff0\u6240\u6709\u6444\u50cf\u5934\u89c6\u89d2\u4e0b\u7684\u9a7e\u9a76\u73af\u5883\u3002\u5bf9\u4e8e\u5730\u56fetoken\uff0c\u7ed3\u6784\u5316\u8bed\u8a00\u63cf\u8ff0\u6e90\u81ea\u771f\u5b9e\u6807\u6ce8\uff0c\u5c06\u8f66\u9053\u5206\u9694\u7ebf\u3001\u4eba\u884c\u6a2a\u9053\u548c\u9053\u8def\u8fb9\u754c\u7b49\u5730\u56fe\u5143\u7d20\u8f6c\u5316\u4e3a\u63cf\u8ff0\u6027\u6587\u672c\u3002<\/p>\n\n\n\n<p><strong>\u9a7e\u9a76\u6307\u4ee4\u8c03\u6574<\/strong>\uff1a\u91c7\u7528\u4e86\u591a\u4e2a\u6e90\u81eanuScenes\u7684\u9762\u5411\u6307\u4ee4\u7684\u6570\u636e\u96c6\uff0c\u5c06\u7279\u5b9a\u7684\u9a7e\u9a76\u77e5\u8bc6\u878d\u5165OpenDriveVLA\u3002\u628a\u591a\u4e2a\u6570\u636e\u96c6\u7edf\u4e00\u4e3a\u6807\u51c6\u5316\u7684\u57fa\u4e8e\u6307\u4ee4\u7684\u95ee\u7b54\u683c\u5f0f\uff0c\u5176\u4e2d\u5305\u62ec\u4ecenuCaption\u3001nuScenesQA\u548cnuX\u6570\u636e\u96c6\u6536\u96c6\u7684\u4e0e\u9a7e\u9a76\u76f8\u5173\u7684\u95ee\u7b54\u5bf9\u3002\u6bcf\u4e00\u4e2a\u95ee\u7b54\u5bf9\u90fd\u4ee5\u7ed3\u6784\u5316\u7684\u73af\u5883\u89c6\u89c9token\u548c\u81ea\u8f66\u72b6\u6001\u4e3a\u6761\u4ef6\uff0c\u4fdd\u8bc1\u4e86\u4e0d\u540c\u6570\u636e\u6e90\u4e4b\u95f4\u7684\u4e00\u81f4\u6027\u3002\u8fd9\u79cd\u591a\u6a21\u6001\u6307\u4ee4\u8c03\u6574\u8fc7\u7a0b\u4f7fOpenDriveVLA\u80fd\u591f\u6709\u6548\u5730\u5c06\u8bed\u8a00\u7406\u89e3\u4e0e\u73af\u5883\u611f\u77e5\u548c\u573a\u666f\u7406\u89e3\u76f8\u7ed3\u5408\uff0c\u5728\u8bed\u8a00\u7a7a\u95f4\u4e2d\u5b9e\u73b0\u611f\u77e5\u3001\u63a8\u7406\u548c\u884c\u52a8\u7684\u8854\u63a5\u3002<\/p>\n\n\n\n<p><strong>\u8fd0\u52a8\u9884\u6d4b\u548c\u8f68\u8ff9\u9884\u6d4b<\/strong>\uff1a\u5728\u81ea\u8f66\u7cfb\u7edf\u4e2d\u5bf9\u667a\u80fd\u4f53\u8fd0\u52a8\u9884\u6d4b\u548c\u81ea\u8f66\u8f68\u8ff9\u89c4\u5212\u8fdb\u884c\u4e86\u516c\u5f0f\u5316\u5904\u7406\uff0c\u6a21\u578b\u76f4\u63a5\u9884\u6d4b\u6bcf\u4e2a\u5b9e\u4f53\u76f8\u5bf9\u4e8e\u81ea\u8f66\u7684\u5c40\u90e8\u5750\u6807\u7cfb\u5185\u7684\u672a\u6765\u4f4d\u79fb\uff0c\u7528\u4e8e\u89c4\u5212\u548c\u9884\u6d4b\u3002\u8fd9\u79cd\u516c\u5f0f\u5316\u5904\u7406\u4ee5\u7a7a\u95f4\u4e00\u81f4\u7684\u65b9\u5f0f\u6355\u6349\u4e86\u6240\u6709\u5b9e\u4f53\u7684\u8fd0\u52a8\u52a8\u6001\u3002\u53c2\u7167\u76f8\u5173\u7814\u7a76\uff0c\u81ea\u8f66\u72b6\u6001\u88ab\u7f16\u7801\u4e3a\u6587\u672c\u8f93\u5165\uff0c\u4ee5\u786e\u4fdd\u5728\u6574\u4e2a\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u6a21\u578b\u90fd\u80fd\u611f\u77e5\u81ea\u8f66\u72b6\u6001\u3002\u8fd9\u4e24\u4e2a\u4efb\u52a1\u90fd\u9884\u6d4b\u672a\u67653\u79d2\u7684\u8f68\u8ff9\uff0c\u91c7\u6837\u95f4\u9694\u4e3a0.5\u79d2\uff0c\u6bcf\u4e2a\u8f68\u8ff9\u4ea7\u751f6\u4e2a\u8def\u6807\u70b9\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1890588500153312799_14\">2\uff09\u8bc4\u4f30<\/h3>\n\n\n\n<p>\u5728nuScenes\u57fa\u51c6\u6d4b\u8bd5\u7684\u5f00\u73af\u89c4\u5212\u4efb\u52a1\u4e2d\u5bf9OpenDriveVLA\u8fdb\u884c\u8bc4\u4f30\uff0c\u8be5\u6a21\u578b\u5728ST-P3\u548cUniAD\u4e24\u79cd\u8bbe\u7f6e\u4e0b\u63a5\u53d7\u8bc4\u4f30\u3002\u8bc4\u4f30\u6307\u6807\u5305\u62ec1\u79d2\u30012\u79d2\u548c3\u79d2\u65f6\u7684L2\u4f4d\u79fb\u8bef\u5dee\uff0c\u4ee5\u53ca\u9884\u6d4b\u8303\u56f4\u5185\u7684\u5e73\u5747\u78b0\u649e\u7387\u3002\u4e3a\u4e86\u8bc4\u4f30OpenDriveVLA\u7684\u573a\u666f\u7406\u89e3\u80fd\u529b\uff0c\u5728\u9a7e\u9a76\u6307\u4ee4\u8c03\u6574\u9636\u6bb5\u4e4b\u540e\uff0c\u76f4\u63a5\u5728\u4e09\u4e2a\u9a7e\u9a76\u89c6\u89c9\u95ee\u7b54\uff08VQA\uff09\u6570\u636e\u96c6\uff08\u5373nuCaption\u3001nuScenesQA\u548cnuX\uff09\u4e0a\u8bc4\u4f30\u5176\u6027\u80fd\u3002VQA\u8bc4\u4f30\u91c7\u7528\u6807\u51c6\u7684MLG\u6307\u6807\uff0c\u5305\u62ecBLEU\u3001METEOR\u3001CIDEr\u3001BERT-Score\u7b49\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1890588500153312799_15\">3\uff09\u5b9e\u73b0\u7ec6\u8282<\/h3>\n\n\n\n<p>OpenDriveVLA\u4e2d\u76843D\u89c6\u89c9\u611f\u77e5\u6a21\u5757\u91c7\u7528\u4ee5\u89c6\u89c9\u4e3a\u4e2d\u5fc3\u7684\u8bbe\u8ba1\uff0c\u4f7f\u7528<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255883278&amp;content_type=Article&amp;match_order=1&amp;q=ResNet101&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">ResNet101<\/a>\u9aa8\u5e72\u7f51\u7edc\u8fdb\u884c2D\u7279\u5f81\u63d0\u53d6\u3002\u8be5\u611f\u77e5backbone\u7f51\u7edc\u901a\u8fc73D\u76ee\u6807\u68c0\u6d4b\u3001\u76ee\u6807\u8ddf\u8e2a\u548c\u5730\u56fe\u5206\u5272\u7684\u591a\u4efb\u52a1\u5b66\u4e60\u8fdb\u884c\u9884\u8bad\u7ec3\uff0c\u5f97\u5230\u7684BEV\u7279\u5f81\u56fe\u7a7a\u95f4\u5206\u8fa8\u7387\u4e3a200\u00d7200\u3002\u4e3a\u6784\u5efa\u7edf\u4e00\u7684\u573a\u666f\u8868\u793a\uff0c\u5168\u5c40\u573a\u666f\u91c7\u6837\u5668\u5bf9\u6bcf\u4e2a\u76f8\u673a\u89c6\u89d2\u5e94\u75282D\u81ea\u9002\u5e94\u6c60\u5316\uff0c\u7136\u540e\u5c06\u6c60\u5316\u540e\u7684\u591a\u89c6\u56fe\u7279\u5f81\u8fde\u63a5\u6210\u4e00\u4e2a\u5168\u5c40\u573a\u666ftoken\u3002\u667a\u80fd\u4f53\u548c\u5730\u56fetoken\u5219\u4ece\u5404\u81ea\u7684\u67e5\u8be2transformer\u6a21\u5757\u7684\u6700\u540e\u4e00\u5c42\u63d0\u53d6\u3002\u6bcf\u79cd\u7c7b\u578b\u7684token\u968f\u540e\u4f7f\u7528\u5177\u6709GeLU\u6fc0\u6d3b\u51fd\u6570\u7684\u5355\u72ec\u4e24\u5c42MLP\u6620\u5c04\u5230\u8bed\u8a00\u7a7a\u95f4\u3002\u8fd9\u91cc\u91c7\u7528<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255883278&amp;content_type=Article&amp;match_order=1&amp;q=Qwen+2.5-Instruct&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Qwen 2.5-Instruct<\/a>\u4f5c\u4e3a\u9884\u8bad\u7ec3\u7684\u5927\u8bed\u8a00\u6a21\u578b\uff0c\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u5bf9\u5176\u8fdb\u884c\u5168\u53c2\u6570\u8c03\u6574\u3002\u6a21\u578b\u57284\u4e2aNVIDIA H100 GPU\u4e0a\u8fdb\u884c\u8bad\u7ec3\uff0cbs\u5927\u5c0f\u4e3a1\uff0c\u5927\u7ea6\u9700\u8981\u4e24\u5929\u5b8c\u6210\u8bad\u7ec3\u3002\u63a8\u7406\u65f6\u5c06\u89e3\u7801\u6e29\u5ea6\u8bbe\u7f6e\u4e3a0\uff0c\u4ee5\u786e\u4fdd\u751f\u6210\u786e\u5b9a\u6027\u7684\u8f68\u8ff9\u3002\u5728\u7b2c3\u9636\u6bb5\uff0c\u51bb\u7ed32D\u4e3b\u5e72\u7f51\u7edc\u3002\u8be6\u7ec6\u7684\u8bad\u7ec3\u914d\u7f6e\u603b\u7ed3\u5728\u88681\u4e2d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-d13c26c2bfb993ff4b39af5376575322_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" 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class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-086a88607bff51f2d7748a8bc9935cff_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-d211f08b33fd640d2a78f781e0ddd8f5_1440w.jpg\" 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