{"id":27189,"date":"2025-04-03T17:36:38","date_gmt":"2025-04-03T09:36:38","guid":{"rendered":"http:\/\/192.168.10.115\/?p=27189"},"modified":"2025-04-03T17:36:38","modified_gmt":"2025-04-03T09:36:38","slug":"2025-04-03-%e9%97%ad%e7%8e%afsota%ef%bc%81%e5%8c%97%e8%88%aadiffad%ef%bc%9a%e5%9f%ba%e4%ba%8e%e6%89%a9%e6%95%a3%e6%a8%a1%e5%9e%8b%e5%ae%9e%e7%8e%b0%e7%ab%af%e5%88%b0%e7%ab%af%e8%87%aa%e5%8a%a8","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/04\/03\/27189\/","title":{"rendered":"2025-04-03 \u95ed\u73afSOTA\uff01\u5317\u822aDiffAD\uff1a\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u5b9e\u73b0\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u300c\u591a\u4efb\u52a1\u95ed\u73af\u7edf\u4e00\u300d"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1890419779791209015\">https:\/\/zhuanlan.zhihu.com\/p\/1890419779791209015<\/a><\/p>\n\n\n\n<p><a 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class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-b0ae185fdeb007129c95d787dafaf022_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u25b2\u56fe1\uff5c 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href=\"https:\/\/zhida.zhihu.com\/search?content_id=255857224&amp;content_type=Article&amp;match_order=1&amp;q=%E6%89%A9%E6%95%A3%E6%A8%A1%E5%9E%8B&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u6269\u6563\u6a21\u578b<\/a><\/p>\n\n\n\n<p>\uff0c\u5b83\u53ef\u4ee5\u5b66\u4e60\u7531\u73af\u89c6\u56fe\u751f\u6210\u7684BEV\u56fe\u50cf\u7684\u6f5c\u5728\u5206\u5e03\u3002\u6b64\u5916\uff0c\u672c\u6587\u8fd8\u63d0\u51fa\u4e86\u4e00\u79cd\u6570\u636e\u9a71\u52a8\u65b9\u6cd5\uff0c\u5b83\u4ece\u751f\u6210\u7684BEV\u56fe\u50cf\u4e2d\u63d0\u53d6\u77e2\u91cf\u5316\u89c4\u5212\u8f68\u8ff9\uff1b<\/p>\n\n\n\n<p>3\uff09\u672c\u6587\u8bc1\u660e\uff0cDiffAD\u5728\u7aef\u5230\u7aef\u89c4\u5212\u65b9\u9762\u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\uff0c\u5176\u5728\u95ed\u73af\u8bc4\u4f30\u65b9\u9762\u660e\u663e\u4f18\u4e8e\u5148\u524d\u7684\u65b9\u6cd5\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">03 DiffAD<\/h2>\n\n\n\n<p><strong>\u6982\u8ff0\uff1a<\/strong>\u5982\u56fe2\u6240\u793a\uff0cDiffAD\u7531\u4e09\u4e2a\u4e3b\u8981\u90e8\u5206\u7ec4\u6210\uff1a\u6f5c\u5728\u6269\u6563\u6a21\u578b\u3001BEV\u7279\u5f81\u751f\u6210\u5668\u548c\u8f68\u8ff9\u63d0\u53d6\u7f51\u7edc\uff08TEN\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-929606682fdb1590ae6306eef63d1b09_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u25b2\u56fe2\uff5c DiffAD\u7684\u6d41\u7a0b\u00a9\ufe0f\u3010\u6df1\u84ddAI\u3011\u7f16\u8bd1<\/figcaption><\/figure>\n\n\n\n<p><strong>\u8bad\u7ec3\u8fc7\u7a0b\uff1a<\/strong><\/p>\n\n\n\n<p>1\uff09<strong>\u6805\u683c\u5316\u548c\u6f5c\u5728\u7a7a\u95f4\u7f16\u7801\uff1a<\/strong>DiffAD\u9996\u5148\u5c06\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u76ee\u6807\u5728BEV\u56fe\u50cf\u4e2d\u8fdb\u884c\u6805\u683c\u5316\u3002\u7136\u540e\uff0c\u4f7f\u7528\u73b0\u6210\u7684VAE\u7f16\u7801\u5668\u5c06BEV\u56fe\u50cf\u538b\u7f29\u5230\u6f5c\u5728\u7a7a\u95f4\u4e2d\u4ee5\u8fdb\u884c\u964d\u7ef4\uff1b<\/p>\n\n\n\n<p>2\uff09<strong>\u7279\u5f81\u63d0\u53d6\u548c\u8f6c\u6362\uff1a<\/strong>\u5c06\u73af\u89c6\u56fe\u50cf\u4f20\u5165\u7279\u5f81\u63d0\u53d6\u5668\uff0c\u5b83\u5c06\u5f97\u5230\u7684\u900f\u89c6\u56fe\u7279\u5f81\u8f6c\u6362\u4e3a\u7edf\u4e00\u7684BEV\u7279\u5f81\uff1b<\/p>\n\n\n\n<p>3\uff09<strong>\u566a\u58f0\u9884\u6d4b\u7684\u6269\u6563\u6a21\u578b\uff1a<\/strong>\u5c06\u9ad8\u65af\u566a\u58f0\u52a0\u5165\u6f5c\u5728\u7684BEV\u56fe\u50cf\u4e2d\uff0c\u4ee5\u83b7\u5f97\u5e26\u6709\u566a\u58f0\u7684\u6f5c\u5728BEV\u56fe\u50cf\u3002\u57fa\u4e8e\u8fb9\u754c\u5143\u6cd5\u7279\u5f81\uff0c\u8bad\u7ec3\u6269\u6563\u6a21\u578b\u4ee5\u4ece\u5e26\u6709\u566a\u58f0\u7684\u6f5c\u5728\u8868\u793a\u4e2d\u9884\u6d4b\u566a\u58f0\uff1b<\/p>\n\n\n\n<p>4\uff09<strong>\u8f68\u8ff9\u63d0\u53d6\uff1a<\/strong>\u8bad\u7ec3\u57fa\u4e8e\u67e5\u8be2\u7684TEN\uff0c\u4ece\u6f5c\u5728BEV\u56fe\u50cf\u4e2d\u6062\u590d\u81ea\u8f66\u7684\u77e2\u91cf\u5316\u8f68\u8ff9\u3002<\/p>\n\n\n\n<p><strong>\u63a8\u7406\u8fc7\u7a0b\uff1a<\/strong><\/p>\n\n\n\n<p>1\uff09<strong>\u6761\u4ef6\u53bb\u566a\uff1a<\/strong>DiffAD\u9996\u5148\u6839\u636eBEV\u7279\u5f81\uff0c\u4ece\u7eaf\u9ad8\u65af\u566a\u58f0\u4e2d\u751f\u6210\u53bb\u566a\u7684\u6f5c\u5728BEV\u56fe\u50cf\uff1b<\/p>\n\n\n\n<p>2\uff09<strong>\u89c4\u5212\u63d0\u53d6\uff1a<\/strong>TEN\u4ece\u6f5c\u5728BEV\u56fe\u50cf\u4e2d\u63d0\u53d6\u81ea\u8f66\u7684\u89c4\u5212\u8f68\u8ff9\uff1b<\/p>\n\n\n\n<p>3\uff09<strong>BEV\u89e3\u7801\uff1a<\/strong>\u901a\u8fc7\u5c06\u6f5c\u5728BEV\u56fe\u50cf\u89e3\u7801\u56de\u50cf\u7d20\u7a7a\u95f4\uff0c\u53ef\u4ee5\u83b7\u5f97\u9884\u6d4b\u7684BEV\u56fe\u50cf\uff0c\u7528\u4e8e\u89e3\u91ca\u548c\u8c03\u8bd5\u3002<\/p>\n\n\n\n<p><strong>3.1. \u6805\u683c\u5316BEV\u8868\u793a<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"703\" height=\"333\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/040301.png\" alt=\"\" class=\"wp-image-27190\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/040301.png 703w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/040301-300x142.png 300w\" sizes=\"(max-width: 703px) 100vw, 703px\" \/><\/figure>\n\n\n\n<p><strong>3.2. \u53bb\u566a\u6269\u6563\u5b66\u4e60<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"703\" height=\"817\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/040302.png\" alt=\"\" class=\"wp-image-27191\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/040302.png 703w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/040302-258x300.png 258w\" sizes=\"(max-width: 703px) 100vw, 703px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"707\" height=\"38\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/040303.png\" alt=\"\" class=\"wp-image-27193\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/040303.png 707w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/040303-300x16.png 300w\" sizes=\"(max-width: 707px) 100vw, 707px\" \/><\/figure>\n\n\n\n<p><strong>3.3 \u8f68\u8ff9\u63d0\u53d6\u7f51\u7edc<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"706\" height=\"319\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/040304.png\" alt=\"\" class=\"wp-image-27192\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/040304.png 706w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/040304-300x136.png 300w\" sizes=\"(max-width: 706px) 100vw, 706px\" \/><\/figure>\n\n\n\n<p><strong>3.4 \u7aef\u5230\u7aef\u5b66\u4e60<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"706\" height=\"319\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/040304-1.png\" alt=\"\" class=\"wp-image-27194\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/040304-1.png 706w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/040304-1-300x136.png 300w\" sizes=\"(max-width: 706px) 100vw, 706px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">04 \u5b9e\u9a8c<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">4.1. \u6570\u636e\u96c6<\/h3>\n\n\n\n<p>\u5bf9\u4e8eE2E\u6a21\u578b\uff0c\u5f00\u73af\u8bc4\u4f30\u662f\u4e0d\u591f\u7684\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u672c\u6587\u5728<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255857224&amp;content_type=Article&amp;match_order=1&amp;q=CARLA%E4%BB%BF%E7%9C%9F%E5%99%A8&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">CARLA\u4eff\u771f\u5668<\/a><\/p>\n\n\n\n<p>\u4e2d\u4f7f\u7528Bench2Drive\u6570\u636e\u96c6\u8fdb\u884c\u8bad\u7ec3\u548c\u95ed\u73af\u8bc4\u4f30\u3002Bench2Drive\u63d0\u4f9b\u4e86\u4e09\u4e2a\u6570\u636e\u5b50\u96c6\uff1amini\uff0810\u4e2a\u7247\u6bb5\u7528\u4e8e\u8c03\u8bd5\uff09\u3001base\uff081000\u4e2a\u7247\u6bb5\uff09\u548cfull\uff0810000\u4e2a\u7247\u6bb5\u7528\u4e8e\u5927\u89c4\u6a21\u7814\u7a76\uff09\u3002\u672c\u6587\u4f7f\u7528base\u5b50\u96c6\u8fdb\u884c\u8bad\u7ec3\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4.2. \u6307\u6807<\/h3>\n\n\n\n<p>1\uff09<strong>\u6210\u529f\u7387\uff08SR\uff09\uff1a<\/strong>\u8be5\u6307\u6807\u8ba1\u7b97\u4e86\u5728\u5206\u914d\u7684\u65f6\u95f4\u5185\u6210\u529f\u5b8c\u6210\u4e14\u6ca1\u6709\u8fdd\u53cd\u4ea4\u901a\u7684\u8def\u5f84\u6bd4\u4f8b\uff1b<\/p>\n\n\n\n<p>2\uff09<strong>\u9a7e\u9a76\u8bc4\u5206\uff08DS\uff09\uff1a<\/strong>\u8be5\u6307\u6807\u8003\u8651\u4e86\u8def\u5f84\u5b8c\u6210\u7387\u548c\u8fdd\u89c4\u5904\u7f5a\uff1b<\/p>\n\n\n\n<p>3\uff09<strong>FID\uff1a<\/strong>\u672c\u6587\u4f7f\u7528Frechet Inception Distance\uff08FID\uff09\u6765\u8bc4\u4f30\u7f29\u653e\u6027\u80fd\uff0c\u8fd9\u662f\u8bc4\u4f30\u56fe\u50cf\u751f\u6210\u6a21\u578b\u7684\u6807\u51c6\u6307\u6807\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4.3. \u57fa\u7ebf<\/h3>\n\n\n\n<p>1\uff09<strong>UniAD\uff1a<\/strong>\u4e00\u79cd\u7ecf\u5178\u7684\u57fa\u4e8e\u6a21\u5757\u7684E2E\u65b9\u6cd5\uff0c\u5b83\u91c7\u7528\u57fa\u4e8e\u67e5\u8be2\u7684\u67b6\u6784\u6765\u663e\u5f0f\u5730\u8fde\u63a5\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u4efb\u52a1\uff1b<\/p>\n\n\n\n<p>2\uff09<strong>VAD\uff1a<\/strong>\u53e6\u4e00\u79cd\u57fa\u4e8e\u6a21\u5757\u7684E2E\u65b9\u6cd5\uff0c\u5b83\u901a\u8fc7\u5229\u7528Transformer\u67e5\u8be2\u4e0e\u77e2\u91cf\u5316\u573a\u666f\u8868\u793a\u6765\u63d0\u9ad8\u8ba1\u7b97\u6548\u7387\uff1b<\/p>\n\n\n\n<p>3\uff09<strong>AD-MLP\uff1a<\/strong>\u4e00\u79cd\u57fa\u7ebf\u6a21\u578b\uff0c\u5b83\u901a\u8fc7\u7b80\u5355\u5730\u5c06\u81ea\u8f66\u7684\u5386\u53f2\u72b6\u6001\u4f20\u5165MLP\u6765\u9884\u6d4b\u672a\u6765\u7684\u8f68\u8ff9\uff1b<\/p>\n\n\n\n<p>4\uff09<strong>TCP\uff1a<\/strong>\u4e00\u79cd\u7b80\u5355\u4f46\u6709\u6548\u7684\u57fa\u7ebf\uff0c\u5b83\u4ec5\u4f7f\u7528\u524d\u89c6\u76f8\u673a\u548c\u81ea\u8eab\u72b6\u6001\u6765\u9884\u6d4b\u8f68\u8ff9\u548c\u63a7\u5236\u547d\u4ee4\uff1b<\/p>\n\n\n\n<p>5\uff09<strong>ThinkTwice\uff1a<\/strong>\u4e00\u79cd\u4fc3\u8fdb\u7531\u7c97\u5230\u7cbe\u6846\u67b6\u7684\u65b9\u6cd5\uff0c\u8fed\u4ee3\u5730\u7ec6\u5316\u89c4\u5212\u8def\u5f84\uff0c\u5e76\u4e14\u5229\u7528\u4e13\u5bb6\u7279\u5f81\u84b8\u998f\uff1b<\/p>\n\n\n\n<p>6\uff09<strong>DriveAdapter\uff1a<\/strong>Bench2Drive\u6392\u884c\u699c\u4e0a\u8868\u73b0\u6700\u4f73\u7684\u65b9\u6cd5\uff0c\u5b83\u901a\u8fc7\u89e3\u8026\u611f\u77e5\u548c\u89c4\u5212\uff0c\u5145\u5206\u5229\u7528\u4e13\u5bb6\u7279\u5f81\u84b8\u998f\u6765\u63d0\u5347\u6027\u80fd\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4.4. \u5b9e\u73b0\u7ec6\u8282<\/h3>\n\n\n\n<p><strong>\u8bad\u7ec3\uff1a<\/strong>\u672c\u6587\u4f7f\u7528\u6765\u81ea\u7a33\u5b9a\u6269\u6563\u7684\u73b0\u6210\u9884\u8bad\u7ec3\u53d8\u5206\u81ea\u52a8\u7f16\u7801\u5668\uff08VAE\uff09\u6a21\u578b\u3002VAE\u7f16\u7801\u5668\u7684\u4e0b\u91c7\u6837\u7cfb\u6570\u4e3a8\u3002\u5728\u672c\u8282\u7684\u6240\u6709\u5b9e\u9a8c\u4e2d\uff0c\u6269\u6563\u6a21\u578b\u90fd\u5728\u6f5c\u5728\u7a7a\u95f4\u4e2d\u8fd0\u884c\u3002\u672c\u6587\u4fdd\u7559\u4e86DiT\u4e2d\u7684\u6269\u6563\u8d85\u53c2\u6570\u3002\u4e3a\u4e86\u4fc3\u8fdb\u5b66\u4e60\u8fc7\u7a0b\uff0c\u672c\u6587\u5728\u7b2c\u4e00\u9636\u6bb5\u4ece\u5355\u5f20\u56fe\u50cf\u5b66\u4e60\u5f00\u59cb\u7528\u4e8e\u611f\u77e5\u90e8\u5206\uff0c\u5373\u68c0\u6d4b\u548c\u5efa\u56fe\uff0c\u800c\u9884\u6d4b\u548c\u89c4\u5212\u4e2d\u7684BEV\u56fe\u50cf\u5219\u586b\u5145\u4e3a\u96f6\u3002\u7136\u540e\u5c06\u6a21\u578b\u4e0e\u6240\u6709\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u90e8\u5206\u8054\u5408\u8bad\u7ec3\u3002<\/p>\n\n\n\n<p><strong>\u63a8\u7406\uff1a<\/strong>\u672c\u6587\u5229\u7528DDIM-10\u91c7\u6837\u5668\u8fdb\u884c\u63a8\u7406\uff0c\u5e76\u4e14\u4f7f\u7528\u5b98\u65b9\u7684\u8bc4\u4f30\u5de5\u5177\u6765\u8ba1\u7b97\u95ed\u73af\u6307\u6807\u3002\u5bf9\u4e8e\u8f66\u8f86\u63a7\u5236\uff0c\u672c\u6587\u91c7\u7528\u5b98\u65b9\u63d0\u4f9b\u7684PID\u63a7\u5236\u5668\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4.5. \u4e3b\u8981\u7ed3\u679c<\/h3>\n\n\n\n<p>\u8868\u683c1\u4e2d\u7684\u603b\u4f53\u7ed3\u679c\u8868\u660e\uff0cDiffAD\u660e\u663e\u4f18\u4e8e\u5305\u62ecUniAD\u548cVAD\u5728\u5185\u7684\u57fa\u7ebf\u65b9\u6cd5\uff0c\u5e76\u4e14\u8d85\u8fc7\u4e86ThinkTwice\u548cDriveAdapter\u7b49\u57fa\u4e8e\u84b8\u998f\u7684\u65b9\u6cd5\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-0454e397953415ea3e970fc4a04376f2_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u25b2\u88681\uff5c E2E-AD\u65b9\u6cd5\u5728Bench2Drive\u4e0a\u7684\u591a\u9879\u80fd\u529b\u548c\u6574\u4f53\u7ed3\u679c\u00a9\ufe0f\u3010\u6df1\u84ddAI\u3011\u7f16\u8bd1<\/figcaption><\/figure>\n\n\n\n<p>\u5728\u591a\u9879\u80fd\u529b\u8bc4\u4f30\u4e2d\uff0cDiffAD\u5728\u5e76\u9053\u548c\u7d27\u6025\u5236\u52a8\u7b49\u4ea4\u4e92\u5f0f\u573a\u666f\u4e2d\u6bd4UniAD\u548cVAD\u5177\u6709\u663e\u8457\u4f18\u52bf\u3002\u8fd9\u4e00\u6539\u8fdb\u5f52\u529f\u4e8e\u5176\u96c6\u6210\u7684\u5b66\u4e60\u6846\u67b6\uff0c\u8be5\u6846\u67b6\u4f7f\u4efb\u52a1\u76ee\u6807\u4e4b\u95f4\u80fd\u591f\u663e\u5f0f\u5730\u4ea4\u4e92\uff0c\u4ece\u800c\u5b9e\u73b0\u4e86\u66f4\u8fde\u8d2f\u3001\u66f4\u6709\u6548\u7684\u89c4\u5212\u3002\u7531\u4e8e\u8bad\u7ec3\u6570\u636e\u96c6\u7684\u89c4\u6a21\u76f8\u5bf9\u8f83\u5c0f\uff0c\u4e0e\u5229\u7528\u4e13\u5bb6\u7279\u5f81\u84b8\u998f\u7684\u65b9\u6cd5\u76f8\u6bd4\uff0cDiffAD\u5728\u4ea4\u901a\u6807\u5fd7\u65b9\u9762\u7684\u6027\u80fd\u7565\u4f4e\u3002\u7ed3\u5408\u4e13\u5bb6\u7279\u5f81\uff08\u63d0\u4f9b\u4e86\u6709\u4ef7\u503c\u7684\u9a7e\u9a76\u77e5\u8bc6\uff09\u53ef\u4ee5\u5e2e\u52a9\u7f13\u89e3\u6f5c\u5728\u7684\u8fc7\u62df\u5408\u95ee\u9898\u3002\u56e0\u6b64\uff0c\u5229\u7528\u4e13\u5bb6\u7279\u5f81\u84b8\u998f\u7684\u6a21\u578b\uff08\u4f8b\u5982TCP\u3001ThinkTwice\u548cDriveAdapter\uff09\u901a\u5e38\u4f18\u4e8e\u6ca1\u6709\u5229\u7528\u5b83\u7684\u6a21\u578b\uff08\u4f8b\u5982VAD\u548cUniAD\uff09\u3002<\/p>\n\n\n\n<p>\u672c\u6587\u5bf9DiffAD\u8fdb\u884c\u5931\u6548\u6848\u4f8b\u5206\u6790\uff0c\u5982\u56fe3\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-512eb13a67a79244102affbf157161b9_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u25b2\u56fe3\uff5c \u72b6\u6001\u5206\u5e03\u00a9\ufe0f\u3010\u6df1\u84ddAI\u3011\u7f16\u8bd1<\/figcaption><\/figure>\n\n\n\n<p>\u5206\u6790\u8868\u660e\uff0c\u5f88\u5927\u4e00\u90e8\u5206\u8def\u5f84\u5931\u6548\u662f\u7531\u4e0e\u4ea4\u901a\u667a\u80fd\u4f53\u53d1\u751f\u78b0\u649e\u5bfc\u81f4\u7684\uff0c\u8fd9\u8868\u660e\u5728CARLA v2\u4e2d\u7684\u4ea4\u4e92\u5b58\u5728\u6311\u6218\u3002\u6b64\u5916\uff0c\u5c11\u6570\u5931\u6548\u662f\u7531\u4e8e\u8d85\u65f6\u9020\u6210\u7684\uff0c\u901a\u5e38\u662f\u7531\u4e8e\u89c4\u5212\u6a21\u5757\u5728\u505c\u6b62\u540e\u5076\u5c14\u65e0\u6cd5\u6062\u590d\u8fd0\u52a8\u5f15\u8d77\u7684\uff0c\u901a\u8fc7\u5229\u7528\u4e13\u5bb6\u84b8\u998f\u6216\u8005\u52a0\u5165\u66f4\u591a\u7684\u4ea4\u901a\u4fe1\u53f7\u706f\u4ea4\u4e92\u6570\u636e\u53ef\u4ee5\u6709\u6548\u5730\u7f13\u89e3\u8fd9\u4e2a\u95ee\u9898\u3002\u4e00\u5c0f\u90e8\u5206\u5931\u6548\u53d1\u751f\u5728\u667a\u80fd\u4f53\u95ef\u7ea2\u706f\u65f6\uff0c\u53ef\u80fd\u662f\u7531\u4e8eCARLA\u4e2d\u4ea4\u901a\u4fe1\u53f7\u706f\u7684\u6e32\u67d3\u8d28\u91cf\u4f4e\u6216\u8005\u5b58\u5728\u5177\u6709\u6311\u6218\u6027\u7684\u5149\u7167\u6761\u4ef6\u4f7f\u5176\u96be\u4ee5\u68c0\u6d4b\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4.6. \u6d88\u878d\u7814\u7a76<\/h3>\n\n\n\n<p><strong>\u53bb\u566a\u6b65\u6570\u5bf9\u6027\u80fd\u7684\u5f71\u54cd\uff1a<\/strong>DiffAD\u7684\u8fed\u4ee3\u53bb\u566a\u9075\u5faa\u7531\u7c97\u5230\u7cbe\u7684\u7ec6\u5316\u8fc7\u7a0b\uff0c\u9010\u6b65\u5730\u6539\u8fdb\u611f\u77e5\u548c\u89c4\u5212\u3002\u5982\u8868\u683c2\u6240\u793a\uff0c\u5c06\u53bb\u566a\u6b65\u6570\u4ece3\u589e\u52a0\u523010\u53ef\u4ee5\u663e\u8457\u964d\u4f4eFID\uff08-53.5%\uff09\uff0c\u540c\u65f6\u63d0\u9ad8\u9a7e\u9a76\u5f97\u5206\uff08+2.18\uff09\u548c\u6210\u529f\u7387\uff08+3.64\uff09\uff0c\u8fd9\u8868\u660e\u591a\u6b65\u7ec6\u5316\u6709\u52a9\u4e8e\u89e3\u51b3\u8f68\u8ff9\u6a21\u7cca\u95ee\u9898\u3002\u7136\u800c\uff0c\u5c06\u6b65\u6570\u6269\u5c55\u523010\u4ee5\u4e0a\uff08\u4f8b\u5982\uff0c\u6269\u5c55\u523020\uff09\u4f1a\u5bfc\u81f4\u6027\u80fd\u9971\u548c\uff0c\u8fd9\u8868\u660e\u8ba1\u7b97\u5f00\u9500\u548c\u89c4\u5212\u7cbe\u5ea6\u4e4b\u95f4\u8fbe\u5230\u4e86\u6700\u4f73\u5e73\u8861\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-d795fcf8012299cd74bcdf3c0f763f37_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u25b2\u88682\uff5c \u53bb\u566a\u6b65\u6570\u5bf9\u6027\u80fd\u7684\u5f71\u54cd\u00a9\ufe0f\u3010\u6df1\u84ddAI\u3011\u7f16\u8bd1<\/figcaption><\/figure>\n\n\n\n<p><strong>\u4efb\u52a1\u8054\u5408\u4f18\u5316\u7684\u5f71\u54cd\uff1a<\/strong>\u672c\u6587\u7814\u7a76\u4e86\u8054\u5408\u4f18\u5316\u8f85\u52a9\u4efb\u52a1\u5bf9\u89c4\u5212\u6027\u80fd\u7684\u5f71\u54cd\u3002\u5982\u8868\u683c3\u6240\u793a\uff0c\u4e09\u4e2a\u4efb\u52a1\u7684\u8054\u5408\u4f18\u5316\u5b9e\u73b0\u4e86\u6700\u4f73\u7684\u7ed3\u679c\uff0c\u7a81\u663e\u4e86\u4efb\u52a1\u8054\u5408\u4f18\u5316\u5728\u63d0\u9ad8\u89c4\u5212\u6027\u80fd\u65b9\u9762\u7684\u91cd\u8981\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-1d624489c4e55cd66f7a987c972052e4_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u25b2\u88683\uff5c 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class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-21d2ef06bc5409550cdaed68966bfc7b_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u25b2\u88684\uff5c \u884c\u4e3a\u5f15\u5bfcdropout\u5bf9\u89c4\u5212\u6027\u80fd\u7684\u5f71\u54cd\u00a9\ufe0f\u3010\u6df1\u84ddAI\u3011\u7f16\u8bd1<\/figcaption><\/figure>\n\n\n\n<p><strong>\u7edf\u4e00\u751f\u6210\u5efa\u6a21\u7684\u6548\u7387\uff1a<\/strong>\u5982\u8868\u683c5\u6240\u793a\uff0c\u5c3d\u7ba1DiffAD\u7684\u53c2\u6570\u89c4\u6a21\u66f4\u5927\uff08545.6M vs VAD\u768458.1M\uff09\uff0c\u4f46\u662f\u5b83\u5b9e\u73b0\u4e86\u5177\u6709\u7ade\u4e89\u529b\u7684\u5ef6\u8fdf\uff08258ms vs 140ms\uff09\u548c\u5b9e\u65f6FPS\uff083.9\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-79c592b05ec5ac2b79ed4a2befe26720_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u25b2\u88685\uff5c \u53c2\u6570\u548cFPS\u5728GeForce RTX 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