{"id":27737,"date":"2025-04-14T17:26:44","date_gmt":"2025-04-14T09:26:44","guid":{"rendered":"http:\/\/192.168.10.115\/?p=27737"},"modified":"2025-04-14T17:26:44","modified_gmt":"2025-04-14T09:26:44","slug":"2025-04-14-%e5%bc%80%e9%97%ad%e7%8e%af%e5%8f%8csota%ef%bc%81%e5%bc%80%e6%ba%90dmad%ef%bc%9a%e6%97%a0%e9%9c%80%e6%94%b9%e5%8a%a8%e8%a7%84%e5%88%92%e6%a8%a1%e5%9d%97%ef%bc%8c%e5%88%86%e5%90%88%e8%af%ad","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/04\/14\/27737\/","title":{"rendered":"2025-04-14 \u5f00\u95ed\u73af\u53ccSOTA\uff01\u5f00\u6e90DMAD\uff1a\u65e0\u9700\u6539\u52a8\u89c4\u5212\u6a21\u5757\uff0c\u5206\u5408\u8bed\u4e49-\u8fd0\u52a8\u7684\u7aef\u5230\u7aef\u65b0\u6846\u67b6~"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1893819442124801985\">https:\/\/zhuanlan.zhihu.com\/p\/1893819442124801985<\/a><\/p>\n\n\n\n<p>\u8fd1\u5e74\u6765\uff0c\u6a21\u5757\u5316\u7684<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=256258745&amp;content_type=Article&amp;match_order=1&amp;q=%E7%AB%AF%E5%88%B0%E7%AB%AF%E8%87%AA%E5%8A%A8%E9%A9%BE%E9%A9%B6&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76<\/a>\u4f5c\u4e3a\u4e00\u79cd\u5c06\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u7edf\u4e00\u4f18\u5316\u7684\u8303\u5f0f\uff0c\u53d7\u5230\u4e86\u8d8a\u6765\u8d8a\u591a\u7684\u5173\u6ce8\u3002\u76f8\u6bd4\u4f20\u7edf\u7684\u6a21\u5757\u5316\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\uff0c\u7aef\u5230\u7aef\u65b9\u6cd5\u53ef\u4ee5\u51cf\u5c11\u8bef\u5dee\u7d2f\u79ef\u548c\u6a21\u5757\u95f4\u7684\u4fe1\u606f\u4f20\u64ad\u635f\u5931\uff0c\u63d0\u9ad8\u7cfb\u7edf\u6548\u7387\u4e0e\u9c81\u68d2\u6027\u3002\u7136\u800c\uff0c\u5b83\u4e5f\u9762\u4e34\u7740\u4e00\u4e2a\u5173\u952e\u6311\u6218\uff1a\u7aef\u5230\u7aef\u7684\u8bad\u7ec3\u5f80\u5f80\u4f1a\u4f34\u968f\u7740\u611f\u77e5\u6027\u80fd\u7684\u4e0b\u964d\uff0c\u4e5f\u5c31\u662f<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=256258745&amp;content_type=Article&amp;match_order=1&amp;q=%E6%84%9F%E7%9F%A5%E8%B4%9F%E8%BF%81%E7%A7%BB&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u611f\u77e5\u8d1f\u8fc1\u79fb<\/a><\/p>\n\n\n\n<p>\u3002\u6b64\u5916\uff0c\u4e00\u4e9b\u5b50\u4efb\u52a1\u4e4b\u95f4\u7684\u5173\u8054\u6027\u4e5f\u5e76\u672a\u88ab\u5145\u5206\u5229\u7528\uff0c\u4f8b\u5982\u7269\u4f53\u548c\u5730\u56fe\u4e4b\u95f4\u7684\u5173\u8054\u6027\u3002<\/p>\n\n\n\n<p>\u8fd9\u7bc7\u8bba\u6587\u5206\u6790\u4e86\u611f\u77e5\u8d1f\u8fc1\u79fb\u7684\u539f\u56e0\uff0c\u5e76\u57fa\u4e8e\u6b64\u8bbe\u8ba1\u4e86\u5206\u5408\u8bed\u4e49-\u8fd0\u52a8\u7684\u7aef\u5230\u7aef\u6846\u67b6\uff0c\u6d88\u9664\u4e86\u8d1f\u8fc1\u79fb\u4ece\u800c\u5168\u9762\u63d0\u5347\u4e86\u611f\u77e5\u6027\u80fd\uff0c\u5e76\u5728\u4e0d\u6539\u8fdb\u89c4\u5212\u6a21\u5757\u7684\u60c5\u51b5\u4e0b\u8fbe\u5230\u4e86\u5f00\u73af\u548c\u95ed\u73af\u89c4\u5212SOTA\uff1a<\/p>\n\n\n\n<p>Divide and Merge: Motion and Semantic Learning in End-to-End Autonomous Driving<\/p>\n\n\n\n<p>\u8bba\u6587\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2502.07631\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2502.07631<\/a><\/p>\n\n\n\n<p>\u4ee3\u7801\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/github.com\/shenyinzhe\/DMAD\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/github.com\/shenyinzhe\/DMAD<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1893819442124801985_0\">\u8d1f\u8fc1\u79fb\u4ea7\u751f\u539f\u56e0<\/h2>\n\n\n\n<p>\u8bed\u4e49\u548c\u8fd0\u52a8\u662f\u9a7e\u9a76\u4efb\u52a1\u6240\u9700\u7684\u6700\u57fa\u672c\u4f46\u53c8\u5f02\u6784\u7684\u4e24\u79cd\u4fe1\u606f\u3002\u8bed\u4e49\u4fe1\u606f\u6307\u4ee3\u73af\u5883\u4e2d\u5176\u4ed6\u7269\u4f53\u7684\u7c7b\u522b\uff0c\u8f66\u9053\uff0c\u4ea4\u901a\u6807\u5fd7\u7b49\uff0c\u5b83\u4eec\u901a\u5e38\u662f\u65f6\u4e0d\u53d8\u7684\uff08time-invariant\uff09\uff1b\u800c\u8fd0\u52a8\u4fe1\u606f\u5219\u63cf\u8ff0\u4e86\u73af\u5883\u968f\u65f6\u95f4\u7684\u53d8\u5316\u3002\u5728\u73b0\u6709\u7684\u7aef\u5230\u7aef\u6846\u67b6\u4e2d\uff0c\u8fd9\u4e24\u79cd\u4fe1\u606f\u662f\u6309\u987a\u5e8f\uff08sequential\uff09\u5b66\u4e60\u7684\uff1a\u9996\u5148\u8fdb\u884c\u7269\u4f53\u548c\u5730\u56fe\u7684\u611f\u77e5\uff0c\u968f\u540e\u4f7f\u7528\u7269\u4f53\u548c\u5730\u56fe\u7684\u7279\u5f81\u8fdb\u884c\u8fd0\u52a8\u9884\u6d4b\u548c\u89c4\u5212\uff0c\u5982\u56fe\u4e2d\u7684(a)\u6240\u793a\u3002\u5728\u6b64\u60c5\u51b5\u4e0b\uff0c\u8fd0\u52a8\u4efb\u52a1\u7684\u68af\u5ea6\u4e5f\u88ab\u53cd\u5411\u4f20\u64ad\u5230\u611f\u77e5\u4efb\u52a1\u4e2d\uff0c\u5728\u539f\u672c\u7684\u8bed\u4e49\u7279\u5f81\u4e2d\u878d\u5165\u4e86\u8fd0\u52a8\u7279\u5f81\u3002\u800c\u8fd0\u52a8\u7279\u5f81\u5bf9\u4e8e\u76ee\u6807\u68c0\u6d4b\u548c\u5730\u56fe\u611f\u77e5\u7b49\u8bed\u4e49\u4efb\u52a1\u6765\u8bf4\u662f\u4e0d\u660e\u786e\u7684\uff08ambiguous\uff09\uff0c\u4ece\u800c\u5bfc\u81f4\u4e86\u611f\u77e5\u4efb\u52a1\u7684\u8d1f\u8fc1\u79fb\u3002\u56fe\u4e2d\u7684\uff08b\uff09\u662f\u53e6\u4e00\u7c7b\u7ed3\u6784\uff0c\u4e3b\u5f20\u4f7f\u7528\u5355\u72ec\u7684\u9884\u6d4b\u5934\u5c06\u6240\u6709\u4efb\u52a1\u5e76\u884c\u5316\u3002\u4f46\u7531\u4e8e\u76ee\u6807\u68c0\u6d4b\u548c\u8f68\u8ff9\u9884\u6d4b\u4e24\u4e2a\u4efb\u52a1\u4e4b\u95f4\u56fa\u6709\u7684\u5173\u8054\u6027\uff0c\u8bed\u4e49-\u8fd0\u52a8\u7684\u987a\u5e8f\u5b66\u4e60\u4ecd\u7136\u5b58\u5728\u800c\u5bfc\u81f4\u8d1f\u8fc1\u79fb\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-239ae372d8050b4bc30aed185e1eda8e_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1893819442124801985_1\"><a href=\"https:\/\/zhida.zhihu.com\/search?content_id=256258745&amp;content_type=Article&amp;match_order=1&amp;q=%E8%AF%AD%E4%B9%89-%E8%BF%90%E5%8A%A8%E5%88%86%E5%90%88%E6%9E%B6%E6%9E%84&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u8bed\u4e49-\u8fd0\u52a8\u5206\u5408\u67b6\u6784<\/a><\/h2>\n\n\n\n<p>\u8fd9\u7bc7\u8bba\u6587\u63d0\u51fa\u4e86\u8bed\u4e49-\u8fd0\u52a8\u5206\u5408\u67b6\u6784\u3002\u6839\u636e\u5b50\u4efb\u52a1\u6240\u5b66\u4e60\u7684\u4fe1\u606f\u5c06\u5b83\u4eec\u5206\u4e3a\u8bed\u4e49\u4efb\u52a1\uff08\u76ee\u6807\u68c0\u6d4b\u548c\u8ffd\u8e2a\u3001\u5728\u7ebf\u5efa\u56fe\uff09\u548c\u8fd0\u52a8\u4efb\u52a1\uff08\u8f68\u8ff9\u9884\u6d4b\u3001\u89c4\u5212\uff09\u3002\u8fd9\u4e2a\u67b6\u6784\u5206\u79bb\u4e24\u7c7b\u4efb\u52a1\u4e4b\u95f4\u7684\u68af\u5ea6\u53cd\u5411\u4f20\u64ad\u4ee5\u6d88\u9664\u8d1f\u8fc1\u79fb\uff0c\u5408\u5e76\u540c\u7c7b\u4efb\u52a1\u4ee5\u5229\u7528\u4efb\u52a1\u4e4b\u95f4\u7684\u5173\u8054\u6027\u800c\u4fc3\u8fdb\u6b63\u8fc1\u79fb\u3002<\/p>\n\n\n\n<p>\u95f4\u8868\u8fbe\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\/0YbFUTNt6bBX53DNkNtohw\" target=\"_blank\" rel=\"noreferrer noopener\">\u5f00\u95ed\u73af\u53ccSOTA\uff01\u5f00\u6e90DMAD\uff1a\u65e0\u9700\u6539\u52a8\u89c4\u5212\u6a21\u5757\uff0c\u5206\u5408\u8bed\u4e49-\u8fd0\u52a8\u7684\u7aef\u5230\u7aef\u65b0\u6846\u67b6~<\/a><\/p>\n<\/blockquote>\n\n\n\n<p>\u56fe\u7247\u5c55\u793a\u4e86\u672c\u67b6\u6784\u7684\u6982\u89c8\uff0c\u9ed1\u8272\u5b9e\u7ebf\u4e3a\u5e26\u6709\u68af\u5ea6\u7684\u7279\u5f81\u4f20\u64ad\uff0c\u7070\u8272\u865a\u7ebf\u5219\u662f\u65e0\u68af\u5ea6\u7684\u4eba\u7c7b\u53ef\u8bfb\u4fe1\u606f\u3002\u4e0a\u4e0b\u4e24\u6761\u8def\u5f84\u5206\u522b\u7528\u4e8e\u5b66\u4e60\u8bed\u4e49\u548c\u8fd0\u52a8\u4fe1\u606f\uff0c\u5e76\u4e14\u5207\u65ad\u4e86\u4e92\u76f8\u4e4b\u95f4\u7684\u68af\u5ea6\u4f20\u64ad\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-1a13269927af25bef5fd4c9bb8804bd2_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1893819442124801985_2\">\u5982\u4f55\u5206\u79bb\u68c0\u6d4b\u548c\u9884\u6d4b\uff1f<\/h3>\n\n\n\n<p>\u7531\u4e8e\u76ee\u6807\u68c0\u6d4b\u548c\u8fd0\u52a8\u9884\u6d4b\u7684\u56fa\u6709\u5173\u7cfb\uff0c\u901a\u5e38\u5fc5\u987b\u5148\u6267\u884c\u68c0\u6d4b\uff0c\u518d\u5bf9\u68c0\u6d4b\u5230\u7684\u76ee\u6807\u6267\u884c\u9884\u6d4b\uff0c\u5f62\u6210\u4e86\u987a\u5e8f\u5b66\u4e60\u7684\u7ed3\u6784\u3002\u672c\u6587\u63d0\u51fa\u4e86<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=256258745&amp;content_type=Article&amp;match_order=1&amp;q=Neural-Bayes%E8%BF%90%E5%8A%A8%E8%A7%A3%E7%A0%81%E5%99%A8&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Neural-Bayes\u8fd0\u52a8\u89e3\u7801\u5668<\/a><\/p>\n\n\n\n<p>\u3002\u5177\u4f53\u800c\u8a00\uff0c\u672c\u6587\u4e3a\u8fd0\u52a8\u4efb\u52a1\u989d\u5916\u521d\u59cb\u5316\u4e86\u4e00\u7cfb\u5217\u548c\u7269\u4f53\u67e5\u8be2\uff08object query\uff09\u4e00\u4e00\u5bf9\u5e94\u7684\u8fd0\u52a8\u67e5\u8be2\uff08motion query\uff09\uff0c\u8fd9\u4e9b\u8fd0\u52a8\u67e5\u8be2\u76f4\u63a5\u4ece\u5386\u53f2\u56fe\u50cf\u7279\u5f81\u4e2d\u5b66\u4e60\u573a\u666f\u7684\u8fd0\u52a8\u4fe1\u606f\u3002\u4e3a\u4e86\u4fdd\u7559\u68c0\u6d4b\u548c\u9884\u6d4b\u7684\u56fa\u6709\u5173\u7cfb\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u5c42\u95f4\uff08inter-layer\uff09\u53c2\u8003\u70b9\u66f4\u65b0\u548c\u5e27\u95f4\uff08inter-frame\uff09\u53c2\u8003\u70b9\u66f4\u65b0\u3002\u6bcf\u4e2a\u8fd0\u52a8\u89e3\u7801\u5c42\u90fd\u63a5\u6536\u6765\u81ea\u4e0a\u4e00\u4e2a\u8bed\u4e49\u89e3\u7801\u5c42\u7684\u53c2\u8003\u70b9\u4f5c\u4e3a\u8fd0\u52a8\u67e5\u8be2\u7684\u4f4d\u7f6e\u5d4c\u5165\uff08positional embedding)\uff0c\u8fd9\u662f\u5c42\u95f4\u66f4\u65b0\u3002\u6267\u884c\u5b8c\u5f53\u524d\u5e27\u7684\u6240\u6709\u89e3\u7801\u5c42\u4ee5\u540e\uff0c\u672c\u6587\u4f7f\u7528\u5b66\u4e60\u5230\u7684\u8fd0\u52a8\u7279\u5f81\u9884\u6d4b\u672a\u6765\u8f68\u8ff9\uff0c\u5e76\u5c06\u9884\u6d4b\u7ed3\u679c\u4f5c\u4e3a\u7269\u4f53\u67e5\u8be2\u5728\u4e0b\u4e00\u5e27\u7684\u521d\u59cb\u53c2\u8003\u70b9\uff0c\u8fd9\u662f\u5e27\u95f4\u66f4\u65b0\u3002\u8fd9\u4e2a\u601d\u60f3\u548c\u8d1d\u53f6\u65af\u6ee4\u6ce2\u6709\u4e9b\u76f8\u4f3c\uff1a\u7269\u4f53\u67e5\u8be2\u53ef\u4ee5\u770b\u4f5c\u662f\u8d1d\u53f6\u65af\u6ee4\u6ce2\u4e2d\u7684\u89c2\u6d4b\uff08observation\uff09\uff0c\u800c\u8fd0\u52a8\u67e5\u8be2\u5219\u4e3a\u72b6\u6001\uff08state\uff09\u3002\u8d1d\u53f6\u65af\u6ee4\u6ce2\u7684\u4efb\u52a1\u662f\u4ece\u5608\u6742\uff08noisy\uff09\u7684\u89c2\u6d4b\u4e2d\u4f30\u8ba1\u672a\u77e5\u7684\u72b6\u6001\uff0c\u800c\u672c\u6587\u5c06\u8fd9\u4e2a\u601d\u60f3\u4e0eTransformer\u89e3\u7801\u5668\u7ed3\u5408\u4e86\u8d77\u6765\uff0c\u5b9e\u73b0\u4e86\u5206\u79bb\u7684\u68c0\u6d4b\u548c\u9884\u6d4b\u3002\u5728\u6700\u7ec8\u8f93\u51fa\u65f6\uff0c\u8fd0\u52a8\u67e5\u8be2\u5219\u6839\u636e\u6240\u5bf9\u5e94\u7684\u7269\u4f53\u67e5\u8be2\u662f\u5426\u9633\u6027\uff08positive\uff09\u6765\u8fdb\u884c\u7b5b\u9009\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-ebf1ebe53f561b4bc66494b5ffc23c84_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1893819442124801985_3\">\u5408\u5e76\u8bed\u4e49\u4efb\u52a1<\/h3>\n\n\n\n<p>\u672c\u6587\u8fd8\u63d0\u51fa\u5408\u5e76\u540c\u7c7b\u4efb\u52a1\u4ee5\u4fc3\u8fdb\u6b63\u8fc1\u79fb\u3002\u7269\u4f53\u7c7b\u522b\u548c\u5730\u56fe\u5b58\u5728\u5173\u8054\u6027\uff0c\u6bd4\u5982\u8f66\u8f86\u5927\u6982\u7387\u51fa\u73b0\u5728\u53ef\u9a7e\u9a76\u533a\u57df\u4e0a\uff0c\u5e76\u4e14\u901a\u5e38\u5728\u8f66\u9053\u5185\uff0c\u800c\u884c\u4eba\u5219\u5f88\u5c11\u51fa\u73b0\u5728\u9664\u4e86\u4eba\u884c\u6a2a\u9053\u4ee5\u5916\u7684\u53ef\u9a7e\u9a76\u533a\u57df\u3002\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u7b80\u5355\u7684\u65b9\u6cd5\u4ee5\u5229\u7528\u7269\u4f53\u548c\u5730\u56fe\u4e4b\u95f4\u7684\u5173\u8054\u6027\uff1a\u5728\u6bcf\u4e00\u4e2a\u8bed\u4e49\u89e3\u7801\u5c42\u4e2d\u989d\u5916\u52a0\u5165\u4e86\u4e00\u4e2a\u7269\u4f53\u548c\u5730\u56fe\u7684\u81ea\u6ce8\u610f\u529b\u6a21\u5757\u4ee5\u4fc3\u8fdb\u4fe1\u606f\u4ea4\u4e92\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-f910fee7907b45b0ea025038e7ea0ae6_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5408\u5e76\u76f8\u4f3c\u4efb\u52a1\u7684\u601d\u60f3\u4e5f\u5df2\u53ef\u4ee5\u5e94\u7528\u5728\u8fd0\u52a8\u4efb\u52a1\u4e0a\uff0c\u6709\u4e00\u4e9b\u5176\u4ed6\u8bba\u6587\u63d0\u51fa\u4e86\u5408\u5e76\u9884\u6d4b\u548c\u89c4\u5212\uff0c\u5982<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=256258745&amp;content_type=Article&amp;match_order=1&amp;q=SparseDrive&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">SparseDrive<\/a><\/p>\n\n\n\n<p>\u7b49\u3002\u4f46\u672c\u6587\u6ce8\u91cd\u4e8e\u63d0\u5347\u7aef\u5230\u7aef\u6a21\u578b\u7684\u611f\u77e5\u6027\u80fd\uff0c\u5e76\u5c06\u5176\u63a8\u5e7f\u5230\u66f4\u597d\u7684\u89c4\u5212\uff0c\u56e0\u6b64\u4e0d\u5bf9\u89c4\u5212\u6a21\u5757\u505a\u663e\u8457\u66f4\u6539\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1893819442124801985_4\">\u5b9e\u9a8c\u7ed3\u679c<\/h2>\n\n\n\n<p>\u672c\u6587\u4f7f\u7528<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=256258745&amp;content_type=Article&amp;match_order=1&amp;q=nuScenes&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer 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class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-83a499f414e79127f038a2ab6ce5790c_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-4e1528bcfa503bbf8aab1da773ed8e2d_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-0fc61c8a78f001b1a21c6279ec81de41_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-43a6fc60ff510ed35377e085d84d785d_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u672c\u6587\u5728nuScenes\u5f00\u73af\u8bc4\u4f30\u4e2d\u9a8c\u8bc1\u4e86\u5206\u5408\u67b6\u6784\u5bf9\u611f\u77e5\u7684\u63d0\u5347\u53ef\u4ee5\u88ab\u63a8\u5e7f\u5230\u89c4\u5212\u4e0a\uff0c\u5bf9\u6bd4\u4e24\u4e2a\u57fa\u7ebf\u5206\u522b\u964d\u4f4e\u4e8615%\u548c4%\u7684\u78b0\u649e\u7387\u3002<\/p>\n\n\n\n<figure 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