{"id":28436,"date":"2025-05-07T17:33:34","date_gmt":"2025-05-07T09:33:34","guid":{"rendered":"http:\/\/192.168.10.115\/?p=28436"},"modified":"2025-05-07T17:33:34","modified_gmt":"2025-05-07T09:33:34","slug":"2025-05-07-%e5%8d%b3%e6%8f%92%e5%8d%b3%e7%94%a8%ef%bc%81%e9%95%bf%e5%ae%89%e6%b1%bd%e8%bd%a6%e5%a4%8d%e6%97%a6%e6%8f%90%e5%87%balmpocc%ef%bc%9a%e9%95%bf%e6%9c%9f%e8%ae%b0%e5%bf%86%e5%85%88","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/05\/07\/28436\/","title":{"rendered":"2025-05-07 \u5373\u63d2\u5373\u7528\uff01\u957f\u5b89\u6c7d\u8f66&amp;\u590d\u65e6\u63d0\u51faLMPOcc\uff1a\u957f\u671f\u8bb0\u5fc6\u5148\u9a8c\u5b9e\u73b0\u5360\u7528\u9884\u6d4b\u4efb\u52a1\u65b0SOTA"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1903099955381539095\">https:\/\/zhuanlan.zhihu.com\/p\/1903099955381539095<\/a><\/p>\n\n\n\n<p><strong>\u5bfc\u8bfb<\/strong><\/p>\n\n\n\n<p>\u5728\u57fa\u4e8e\u89c6\u89c9\u7684\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u7b97\u6cd5\u5f53\u4e2d\uff0c<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257375897&amp;content_type=Article&amp;match_order=1&amp;q=3D%E8%AF%AD%E4%B9%89%E5%8D%A0%E7%94%A8%E9%A2%84%E6%B5%8B&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">3D\u8bed\u4e49\u5360\u7528\u9884\u6d4b<\/a>\u4efb\u52a1\u53ef\u4ee5\u51fa\u8272\u7684\u5bf9\u9759\u6001\u573a\u666f\u548c\u52a8\u6001\u76ee\u6807\u540c\u65f6\u8fdb\u884c\u5efa\u6a21\uff0c\u5b9e\u73b0\u7ec6\u7c92\u5ea6\u7684\u573a\u666f\u7406\u89e3\uff0c\u76ee\u524d\u53d7\u5230\u4e86\u6765\u81ea\u5b66\u672f\u754c\u548c\u5de5\u4e1a\u754c\u7684\u5e7f\u6cdb\u5173\u6ce8\u3002<\/p>\n\n\n\n<p><em>\u8bba\u6587\u9898\u76ee\uff1aConRFT: A Reinforced Fine-tuning Method for VLA Models via Consistency Policy<\/em><\/p>\n\n\n\n<p><em>\u8bba\u6587\u4f5c\u8005\uff1aYuhui Chen\uff0cShuai Tian, Shugao Liu, Yingting Zhou, Haoran Li, and Dongbin Zhao<\/em><\/p>\n\n\n\n<p><em>\u8bba\u6587\u5730\u5740\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/pdf\/2502.05450\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/pdf\/2502.05450<\/a><\/em><\/p>\n\n\n\n<p><em>\u4ee3\u7801\u5730\u5740\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/cccedric.github.io\/conrft\/\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/cccedric.github.io\/conrft\/<\/a><\/em><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">1\u3001\u5f15\u5165<\/h2>\n\n\n\n<p>\u5728\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u5b9e\u9645\u884c\u9a76\u8fc7\u7a0b\u4e2d\uff0c\u53ef\u80fd\u4f1a\u5728\u4e0d\u540c\u65f6\u95f4\u70b9\u591a\u6b21\u884c\u9a76\u7ecf\u8fc7\u76f8\u540c\u7684\u5730\u7406\u5750\u6807\u4f4d\u7f6e\u3002\u4f46\u7531\u4e8e\u5929\u6c14\u6761\u4ef6\u3001\u5149\u7167\u53d8\u5316\u548c\u906e\u6321\u7b49\u52a8\u6001\u73af\u5883\u56e0\u7d20\u7684\u5f71\u54cd\uff0c\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u7b97\u6cd5\u7684\u9884\u6d4b\u7ed3\u679c\u4f1a\u51fa\u73b0\u663e\u8457\u7684\u5dee\u5f02\u3002\u56e0\u6b64\uff0c\u4ece\u5f53\u524d\u4f4d\u7f6e\u7684\u5386\u53f2\u4fe1\u606f\u4e2d\u83b7\u53d6\u611f\u77e5\u7ed3\u679c\u4f5c\u4e3a\u5148\u9a8c\u77e5\u8bc6\uff0c\u80fd\u591f\u63d0\u4f9b\u91cd\u8981\u7684\u6982\u7387\u7ea6\u675f\uff0c\u4ee5\u7f13\u89e3\u5f53\u524d\u65f6\u95f4\u89c2\u6d4b\u7a97\u53e3\u5185\u5b9e\u65f6\u4f20\u611f\u5668\u89c2\u6d4b\u7684\u4e0d\u8db3\u3002<\/p>\n\n\n\n<p>\u73b0\u6709\u7684\u611f\u77e5\u7b97\u6cd5\u901a\u5e38\u91c7\u7528<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257375897&amp;content_type=Article&amp;match_order=1&amp;q=BEV%E7%89%B9%E5%BE%81%E5%AF%B9%E9%BD%90&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">BEV\u7279\u5f81\u5bf9\u9f50<\/a>\u3001<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257375897&amp;content_type=Article&amp;match_order=1&amp;q=%E8%87%AA%E6%B3%A8%E6%84%8F%E5%8A%9B%E6%9C%BA%E5%88%B6&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u81ea\u6ce8\u610f\u529b\u673a\u5236<\/a>\u6216\u8005<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257375897&amp;content_type=Article&amp;match_order=1&amp;q=3D%E5%8D%B7%E7%A7%AF&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">3D\u5377\u79ef<\/a>\u6765\u5b9e\u73b0\u7ea7\u8054\u5e27\u7684\u4fe1\u606f\u878d\u5408\uff0c\u5982\u56fe1\uff08a\uff09\u6240\u793a\u3002\u4f46\u8fd9\u7c7b\u65b9\u6cd5\u4f9d\u65e7\u65e0\u6cd5\u89e3\u51b3\u5f53\u9047\u5230\u4e25\u91cd\u906e\u6321\u6216\u5149\u7167\u4e0d\u8db3\u7b49\u5177\u6709\u6311\u6218\u6027\u7684\u89c2\u6d4b\u6761\u4ef6\u65f6\uff0c\u68c0\u6d4b\u6027\u80fd\u4ecd\u7136\u4e0d\u7406\u60f3\u7684\u95ee\u9898\uff0c\u56e0\u4e3a\u5f53\u524d\u548c\u76f8\u90bb\u7684\u89c2\u6d4b\u90fd\u53d7\u5230\u5171\u540c\u6311\u6218\u6761\u4ef6\u7684\u5f71\u54cd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-c40cd87f2e5224f676ef544f3b2004af_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe1\uff1a3D\u5360\u7528\u9884\u6d4b\u4efb\u52a1\u4e2d\u4e0d\u540c\u65f6\u5e8f\u878d\u5408\u7b97\u6cd5\u5bf9\u6bd4<\/figcaption><\/figure>\n\n\n\n<p>\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\uff0c\u5229\u7528\u5728\u6709\u5229\u89c2\u6d4b\u6761\u4ef6\u4e0b\u4ece\u540c\u4e00\u4f4d\u7f6e\u6536\u96c6\u7684\u5386\u53f2\u611f\u77e5\u4fe1\u606f\u53ef\u4ee5\u6709\u6548\u89e3\u51b3\u8fd9\u4e00\u9650\u5236\u3002\u56e0\u6b64\uff0c\u5c06<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257375897&amp;content_type=Article&amp;match_order=1&amp;q=%E9%95%BF%E6%9C%9F%E8%AE%B0%E5%BF%86%E5%85%88%E9%AA%8C&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u957f\u671f\u8bb0\u5fc6\u5148\u9a8c<\/a>\u6574\u5408\u52303D\u5360\u7528\u9884\u6d4b\u4e2d\u81f3\u5173\u91cd\u8981\u3002<\/p>\n\n\n\n<p>\u7ed3\u5408\u4e0a\u8ff0\u5206\u6790\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u957f\u671f\u8bb0\u5fc6\u5148\u9a8c\u5360\u7528\u7b97\u6cd5\uff0c\u4e00\u79cd\u901a\u8fc7\u5229\u7528\u4e0d\u540c\u65f6\u95f4\u6233\u4e0b\u540c\u4e00\u7a7a\u95f4\u4f4d\u7f6e\u7684\u5386\u53f2\u611f\u77e5\u4fe1\u606f\uff0c\u5c06\u8de8\u65f6\u95f4\u957f\u671f\u8bb0\u5fc6\u5148\u9a8c\u878d\u51653D\u5360\u7528\u9884\u6d4b\u7684\u7b97\u6cd5\u6846\u67b6\u3002\u5728Occ3D-nuScenes\u6570\u636e\u96c6\u4e0a\u7684\u5b9e\u9a8c\u7ed3\u679c\u8868\u660eLMPOcc\u7b97\u6cd5\u80fd\u591f\u6709\u6548\u63d0\u53473D\u5360\u7528\u9884\u6d4b\u4efb\u52a1\u7684\u6027\u80fd\uff0c\u5e76\u5b9e\u73b0\u4e86SOTA\u7684\u7ed3\u679c\u3002<\/p>\n\n\n\n<p><strong>\u672c\u6587\u4e3b\u8981\u8d21\u732e\u5982\u4e0b\uff1a<\/strong><\/p>\n\n\n\n<p>\u25cf 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class=\"wp-block-heading\"><strong>\u7b97\u6cd5\u6a21\u578b\u4e0e\u5b9e\u9a8c\u7ec6\u8282<\/strong><\/h2>\n\n\n\n<p><br>\u672c\u6587\u63d0\u51fa\u7684LMPOcc\u7b97\u6cd5\u6a21\u578b\u7684\u6574\u4f53\u7f51\u7edc\u7ed3\u6784\u5982\u56fe2\u6240\u793a\u3002\u6574\u4f53\u53ef\u4ee5\u770b\u51faLMPOcc\u901a\u8fc7\u878d\u5165\u957f\u671f\u8bb0\u5fc6\u5360\u7528\u5148\u9a8c\u6a21\u5757LMOP\u6765\u6269\u5c55\u5360\u7528\u9884\u6d4b\u6a21\u578b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-99d240e0f1a7920dff9c3a66aff6d7f6_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe2\uff1aLMPOcc\u7b97\u6cd5\u6a21\u578b\u7684\u6574\u4f53\u7f51\u7edc\u7ed3\u6784\u56fe<\/figcaption><\/figure>\n\n\n\n<p>\u5177\u4f53\u800c\u8a00\uff0c\u8be5\u7b97\u6cd5\u6846\u67b6\u7684\u8f93\u5165\u5305\u62ec\u73af\u89c6\u56fe\u50cf\u4ee5\u53ca\u81ea\u8f66\u7531\u5c40\u90e8\u5230\u5168\u5c40\u5750\u6807\u7684\u8f6c\u6362\u5173\u7cfb\u3002\u8f93\u5165\u7684\u73af\u89c6\u56fe\u50cf\u901a\u8fc7Occupancy Encoder\u5b8c\u6210\u56fe\u50cf\u7279\u5f81\u7f16\u7801\uff0c\u968f\u540e\u8fd9\u4e9b\u7279\u5f81\u88ab\u9001\u5165\u5230LMOP\u6a21\u5757\u4e2d\u7528\u4e8e\u83b7\u5f97\u589e\u5f3a\u7684\u5360\u7528\u903b\u8f91\u7ed3\u679c\uff0c\u968f\u540e\u8fd9\u4e9b\u7ed3\u679c\u901a\u8fc7Occupancy Decoder\u8fdb\u884c\u5904\u7406\u5f97\u5230\u6700\u7ec8\u76843D\u8bed\u4e49\u5360\u7528\u9884\u6d4b\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u957f\u671f\u8bb0\u5fc6\u5360\u7528\u5148\u9a8c<\/strong><\/h3>\n\n\n\n<p>\u5728LMOP\u6a21\u5757\u4e2d\uff0c\u5168\u5c40\u5360\u7528\u91c7\u7528<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257375897&amp;content_type=Article&amp;match_order=1&amp;q=%E7%A8%80%E7%96%8F%E5%9C%B0%E5%9B%BE%E5%9D%97%E7%BB%93%E6%9E%84&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer 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