{"id":28619,"date":"2025-05-15T17:30:00","date_gmt":"2025-05-15T09:30:00","guid":{"rendered":"http:\/\/192.168.10.115\/?p=28619"},"modified":"2025-05-16T08:20:10","modified_gmt":"2025-05-16T00:20:10","slug":"2025-05-15-resar-bev%ef%bc%9a%e4%b8%80%e7%a7%8d%e5%8f%af%e8%a7%a3%e9%87%8a%e7%9a%84%e6%b8%90%e8%bf%9b%e6%ae%8b%e5%b7%ae%e8%87%aa%e5%9b%9e%e5%bd%92%e6%96%b9%e6%b3%95%ef%bc%8c%e7%94%a8%e4%ba%8ebev","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/05\/15\/28619\/","title":{"rendered":"2025-05-15 RESAR-BEV\uff1a\u4e00\u79cd\u53ef\u89e3\u91ca\u7684\u6e10\u8fdb\u6b8b\u5dee\u81ea\u56de\u5f52\u65b9\u6cd5\uff0c\u7528\u4e8eBEV\u5206\u5272\u4e2d\u7684RV\u878d\u5408"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1905737113334419917\">https:\/\/zhuanlan.zhihu.com\/p\/1905737113334419917<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1905737113334419917_0\"><a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257695645&amp;content_type=Article&amp;match_order=1&amp;q=DriveSOTIF&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">DriveSOTIF<\/a><\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aDriveSOTIF: Advancing Perception SOTIF Through Multimodal Large Language Models<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2505.07084\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2505.07084<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-2e00c38fe944f3b11e8e86e939fc775a_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<p><strong>1. \u9996\u521b\u6027\u878d\u5408\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b\uff08<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257695645&amp;content_type=Article&amp;match_order=1&amp;q=MLLMs&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">MLLMs<\/a>\uff09\u4e0eSOTIF\u98ce\u9669\u8ba4\u77e5<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u9996\u4e2a\u57fa\u4e8eMLLM\u7684<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257695645&amp;content_type=Article&amp;match_order=1&amp;q=SOTIF%E9%A3%8E%E9%99%A9%E6%84%9F%E7%9F%A5%E6%A1%86%E6%9E%B6&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">SOTIF\u98ce\u9669\u611f\u77e5\u6846\u67b6<\/a>\uff0c\u901a\u8fc7<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257695645&amp;content_type=Article&amp;match_order=1&amp;q=%E7%9B%91%E7%9D%A3%E5%BE%AE%E8%B0%83&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u76d1\u7763\u5fae\u8c03<\/a>\uff08SFT\uff09\u5c06\u9886\u57df\u77e5\u8bc6\u6ce8\u5165\u9884\u8bad\u7ec3\u6a21\u578b\uff08\u5982LLaVA\u3001Blip2\uff09\uff0c\u7a81\u7834\u4f20\u7edf\u89c4\u5219\/\u5b66\u4e60\u65b9\u6cd5\u5728\u52a8\u6001\u73af\u5883\u4e2d\u7684\u9002\u5e94\u6027\u74f6\u9888\u3002\u521b\u65b0\u6027\u5730\u5f15\u5165<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257695645&amp;content_type=Article&amp;match_order=1&amp;q=%E5%9B%A0%E6%9E%9C%E6%8E%A8%E7%90%86%E6%9C%BA%E5%88%B6&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u56e0\u679c\u63a8\u7406\u673a\u5236<\/a>\uff0c\u4f7f\u6a21\u578b\u5177\u5907\u7c7b\u4eba\u9a7e\u9a76\u5458\u8ba4\u77e5\u80fd\u529b\uff0c\u5b9e\u73b0\u5bf9\u611f\u77e5SOTIF\u98ce\u9669\u7684\u7a7a\u95f4-\u65f6\u95f4\u8054\u5408\u63a8\u7406 \uff08Cognition-Causal Analysis-Prediction-Reaction\u95ed\u73af\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>2. DriveSOTIF\u6570\u636e\u96c6\uff1a\u9996\u4e2a\u9762\u5411\u611f\u77e5SOTIF\u7684<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257695645&amp;content_type=Article&amp;match_order=1&amp;q=%E5%A4%9A%E6%A8%A1%E6%80%81%E5%9F%BA%E5%87%86&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u591a\u6a21\u6001\u57fa\u51c6<\/a><\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6784\u5efa\u5305\u542b1,114\u7ec4\u56fe\u50cf-\u95ee\u7b54\u5bf9\u7684\u9886\u57df\u4e13\u7528\u6570\u636e\u96c6\uff0c\u8986\u76d6\u957f\u5c3e\u4ea4\u901a\u573a\u666f \uff08\u5982\u6781\u7aef\u5929\u6c14\u3001\u7f55\u89c1\u76ee\u6807\u7269\uff09\uff0c\u6807\u6ce8\u7c7b\u578b\u6db5\u76d6\u5f00\u653e\/\u95ed\u5408\u5f0fVQA\uff085\u7c7b\u5c01\u95ed\u578b+\u56e0\u679c\u63a8\u7406\u578b\u95ee\u9898\uff09\u53ca\u7ec6\u7c92\u5ea6\u56fe\u50cf\u63cf\u8ff0\u3002<\/li>\n\n\n\n<li>\u63d0\u51fa\u591a\u667a\u80fd\u4f53\u534f\u540c\u751f\u6210\u6846\u67b6 \uff1a\u96c6\u6210GPT-4v\/Claude3\u7b49\u89c6\u89c9LLM\uff0c\u901a\u8fc7\u4ea4\u66ff\u540e\u7aef\u751f\u6210-\u9a8c\u8bc1\u673a\u5236\u964d\u4f4e\u5355\u4e00\u6a21\u578b\u504f\u501a\uff0c\u7ed3\u5408\u4eba\u5de5\u590d\u6838\u786e\u4fdd\u6570\u636e\u53ef\u9760\u6027\uff0c\u6807\u6ce8\u4e00\u81f4\u6027\u63d0\u5347204.54%\uff08CiDEr\u6307\u6807\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>3. \u53c2\u6570\u9ad8\u6548\u5fae\u8c03\u4e0e\u8fb9\u7f18\u90e8\u7f72\u4f18\u5316<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u91c7\u7528\u4f4e\u79e9\u9002\u914d \uff08<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257695645&amp;content_type=Article&amp;match_order=1&amp;q=LoRA&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">LoRA<\/a>\uff09\u4e0e<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257695645&amp;content_type=Article&amp;match_order=1&amp;q=%E9%87%8F%E5%8C%96LoRA&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u91cf\u5316LoRA<\/a>\uff08QLoRA\uff09\u6280\u672f\uff0c\u5728\u4ec5\u5fae\u8c030.1%\u53c2\u6570\u6761\u4ef6\u4e0b\uff0c\u4f7fBlip2-6.7B\u6a21\u578b\u5728ROUGE-L\u6307\u6807\u63d0\u534724.56%\uff0c\u5185\u5b58\u5360\u7528\u964d\u4f4e40%\uff084bit\u91cf\u5316\uff09\u3002<\/li>\n\n\n\n<li>\u9a8c\u8bc1\u6a21\u578b\u5728\u8fb9\u7f18\u8bbe\u5907\u7684\u5b9e\u65f6\u6027\uff1aQwen2-VL-2B\u5728RTX 4090\u5b9e\u73b0\u5355\u56fe0.82\u79d2\u63a8\u7406\uff0c\u652f\u6301\u8f66\u8f7d\u4f4e\u5ef6\u8fdf\u573a\u666f\uff08\u5982\u62e5\u5835\u8f85\u52a9\u9a7e\u9a76\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>4. \u8de8\u57df\u98ce\u9669\u6cdb\u5316\u80fd\u529b\u9a8c\u8bc1<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5728\u52a0\u62ff\u5927\u6ed1\u94c1\u5362\u96ea\u5929\u65bd\u5de5\u533a\u4e0e\u56fd\u5185\u66b4\u96e8\u7729\u5149\u573a\u666f\u4e2d\uff0c\u6a21\u578b\u6210\u529f\u8bc6\u522b\u4f20\u611f\u5668\u9000\u5316\u98ce\u9669 \uff08\u80fd\u89c1\u5ea6&lt;50m\u65f6\u8f66\u9053\u7ebf\u68c0\u6d4b\u5931\u6548\uff09\u4e0e\u975e\u5e38\u89c4\u76ee\u6807\u5a01\u80c1 \uff08\u96ea\u94f2\u8f66\u906e\u6321\u3001\u7bb1\u5185\u9690\u85cf\u884c\u4eba\uff09\uff0c\u63a8\u8350\u52a8\u4f5c\u7b26\u5408<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257695645&amp;content_type=Article&amp;match_order=1&amp;q=ISO+21448%E6%A0%87%E5%87%86&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">ISO 21448\u6807\u51c6<\/a>\u8981\u6c42\uff08\u5982\u6fc0\u6d3b\u5371\u9669\u706f+\u964d\u901f30%\uff09\u3002<\/li>\n\n\n\n<li>\u63d0\u51fa\u6df7\u5408\u51b3\u7b56\u6846\u67b6 \uff1a\u5c06MLLM\u98ce\u9669\u8bc4\u4f30\u6a21\u5757\u4e0eDriveLLM\u89c4\u5212\u5668\u96c6\u6210\uff0c\u5b9e\u73b0SOTIF\u98ce\u9669\u5411\u5b9e\u65f6\u63a7\u5236\u6307\u4ee4\u7684\u6620\u5c04\uff08\u5982\u8ddf\u8f66\u8ddd\u79bb\u52a8\u6001\u6269\u5c55\u7b97\u6cd5\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>5. \u5e7b\u89c9\u6291\u5236\u4e0e\u53ef\u89e3\u91ca\u6027\u589e\u5f3a<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bbe\u8ba1\u4e09\u9636\u6bb5\u9a8c\u8bc1\u4ee3\u7406\uff08\u56fe\u50cf-\u95ee\u9898-\u7b54\u6848\u5173\u8054\u6821\u9a8c\uff09\uff0c\u5c06\u5bf9\u8c61\u5e7b\u89c9\u7387\u964d\u4f4e\u81f35%\u4ee5\u4e0b\uff08\u57fa\u7ebf\u6a21\u578b\u8fbe34%\uff09\u3002<\/li>\n\n\n\n<li>\u901a\u8fc7SPICE\u573a\u666f\u56fe\u5206\u6790\u63ed\u793a\u6a21\u578b\u5bf9\u9053\u8def\u4f7f\u7528\u8005\u4ea4\u4e92\u5173\u7cfb \uff08\u5982\u9525\u5f62\u6876\u4e0e\u65bd\u5de5\u4eba\u5458\u7a7a\u95f4\u62d3\u6251\uff09\u7684\u7406\u89e3\u6df1\u5ea6\uff0c\u63d0\u5347\u51b3\u7b56\u900f\u660e\u5ea6\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1905737113334419917_1\">Towards Human-Centric Autonomous Driving<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aTowards Human-Centric Autonomous Driving: A Fast-Slow Architecture Integrating Large Language Model Guidance with Reinforcement Learning<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2505.06875\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2505.06875<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-3493ff345835417bda217e6e3620c1b0_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<p><strong>1. \u53cc\u901a\u9053\u51b3\u7b56\u67b6\u6784\uff08<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257695645&amp;content_type=Article&amp;match_order=1&amp;q=Dual-System+Fast-Slow+Architecture&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Dual-System Fast-Slow Architecture<\/a>\uff09<\/strong><\/p>\n\n\n\n<p>\u63d0\u51fa\u4e00\u79cd\u878d\u5408&#8221;\u6162\u901f-\u5feb\u901f&#8221;\u534f\u540c\u673a\u5236\u7684\u51b3\u7b56\u6846\u67b6\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6162\u901f\u7cfb\u7edf\uff08Slow System\uff09 \uff1a\u57fa\u4e8e\u5927\u578b\u8bed\u8a00\u6a21\u578b\uff08LLM\uff09\u6267\u884c\u9ad8\u9636\u8bed\u4e49\u89e3\u6790\uff0c\u5c06\u81ea\u7136\u8bed\u8a00\u6307\u4ee4\uff08\u5982&#8221;\u52a0\u901f\u4ee5\u51c6\u65f6\u5230\u8fbe&#8221;\uff09\u8f6c\u5316\u4e3a\u7ed3\u6784\u5316\u4e0a\u4e0b\u6587\u611f\u77e5\u7684\u9a7e\u9a76\u7b56\u7565\uff0c\u96c6\u6210\u573a\u666f\u7f16\u7801\uff08Scene Encoding\uff09\u3001\u8bb0\u5fc6\u68c0\u7d22\uff08Memory Retrieval\uff09\u53ca\u601d\u7ef4\u94fe\u63a8\u7406\uff08Chain-of-Thought Reasoning\uff09\u6a21\u5757\uff1b<\/li>\n\n\n\n<li>\u5feb\u901f\u7cfb\u7edf\uff08Fast System\uff09 \uff1a\u57fa\u4e8e\u5f3a\u5316\u5b66\u4e60\uff08RL\uff09\u7684\u6df1\u5ea6\u6ce8\u610f\u529b\u7f51\u7edc\uff08Multi-Head Attention Policy Network\uff09\u5b9e\u73b0\u5b9e\u65f6\u4f4e\u9636\u63a7\u5236\uff0c\u901a\u8fc7<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257695645&amp;content_type=Article&amp;match_order=1&amp;q=Actor-Critic%E4%BC%98%E5%8C%96%E7%AE%97%E6%B3%95&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Actor-Critic\u4f18\u5316\u7b97\u6cd5<\/a>\u4e0e\u5b89\u5168\u63a9\u7801\uff08Safety Mask\uff09\u673a\u5236\u4fdd\u969c\u52a8\u6001\u5b89\u5168\u7ea6\u675f\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>2. \u81ea\u9002\u5e94\u6307\u4ee4\u534f\u8c03\u673a\u5236\uff08Adaptive Instruction Coordination\uff09<\/strong><\/p>\n\n\n\n<p>\u6784\u5efaLLM-RL\u53cc\u5411\u4ea4\u4e92\u534f\u8bae\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>RL\u7b56\u7565\u7f51\u7edc\u901a\u8fc7\u53ef\u5fae\u6ce8\u610f\u529b\u673a\u5236\uff08Differentiable Attention\uff09\u52a8\u6001\u878d\u5408LLM\u751f\u6210\u7684\u7ed3\u6784\u5316\u6307\u4ee4\uff08Structured Directives\uff09\u4e0e\u89c2\u6d4b\u7a7a\u95f4\u7279\u5f81\uff1b<\/li>\n\n\n\n<li>\u8bbe\u8ba1\u4f18\u5148\u7ea7\u8986\u76d6\u903b\u8f91\uff08Priority Override Logic\uff09\uff0c\u5141\u8bb8RL\u5c42\u5728\u68c0\u6d4b\u5230\u5b89\u5168\u51b2\u7a81\uff08\u5982\u78b0\u649e\u98ce\u9669\uff09\u65f6\u4e34\u65f6\u5ef6\u8fdf\u6216\u4fee\u6b63LLM\u6307\u4ee4\uff0c\u5b9e\u73b0\u7528\u6237\u504f\u597d\u4e0e\u5b89\u5168\u7ea6\u675f\u7684\u52a8\u6001\u5e73\u8861\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>3. \u7aef\u5230\u7aef\u4eba\u673a\u5bf9\u9f50\u8bad\u7ec3\u8303\u5f0f\uff08Human-Aligned End-to-End Training\uff09<\/strong><\/p>\n\n\n\n<p>\u521b\u65b0\u6027\u6574\u5408\u591a\u6a21\u6001\u8f93\u5165\u4e0e\u5956\u52b1\u51fd\u6570\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u89c2\u6d4b\u7a7a\u95f4\u5d4c\u5165\u6307\u4ee4\u69fd\uff08Instruction Slot\uff09\u4e0e\u8f66\u8f86\u52a8\u529b\u5b66\u72b6\u6001\u8054\u5408\u7f16\u7801\uff1b<\/li>\n\n\n\n<li>\u5956\u52b1\u51fd\u6570R(s,a)\u663e\u5f0f\u5efa\u6a21\u56db\u7ef4\u76ee\u6807\uff1a\u5b89\u5168\uff08R_safe\uff09\u3001\u6548\u7387\uff08R_eff\uff09\u3001\u8212\u9002\uff08R_comfort\uff09\u53ca\u7528\u6237\u504f\u597d\uff08R_pref\uff09\uff0c\u901a\u8fc7KL\u6563\u5ea6\u7ea6\u675f\u7684\u53ef\u4fe1\u57df\u4f18\u5316\uff08Trust Region Policy Optimization\uff09\u5b9e\u73b0\u591a\u76ee\u6807\u6743\u8861\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>4. \u9762\u5411\u771f\u5b9e\u573a\u666f\u7684\u6cdb\u5316\u589e\u5f3a\u8bbe\u8ba1\uff08Generalization Enhancement for Real-World Scenarios\uff09<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u91c7\u7528\u8bb0\u5fc6\u94f6\u884c\uff08<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257695645&amp;content_type=Article&amp;match_order=1&amp;q=Memory+Bank&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Memory Bank<\/a>\uff09\u5b58\u50a8\u5386\u53f2\u573a\u666f\u4e0e\u51b3\u7b56\u6848\u4f8b\uff0c\u901a\u8fc7\u4f59\u5f26\u76f8\u4f3c\u5ea6\u68c0\u7d22\uff08Cosine Similarity Retrieval\uff09\u63d0\u5347LLM\u5728\u7f55\u89c1\u4ea4\u901a\u60c5\u5883\u4e2d\u7684\u63a8\u7406\u9c81\u68d2\u6027\uff1b<\/li>\n\n\n\n<li>\u5728\u7b56\u7565\u7f51\u7edc\u4e2d\u5f15\u5165\u8f66\u9053\u504f\u79fb\u968f\u673a\u5316\uff08Lane Offset Randomization\uff09\u4e0e\u5bf9\u6297\u6270\u52a8\uff08Adversarial Perturbation\uff09\uff0c\u589e\u5f3a\u7cfb\u7edf\u5bf9\u90e8\u5206\u53ef\u89c2\u6d4b\u73af\u5883\uff08Partially Observable Environments\uff09\u7684\u9002\u5e94\u80fd\u529b\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1905737113334419917_2\">Beyond Patterns<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aBeyond Patterns: Harnessing Causal Logic for Autonomous Driving Trajectory Prediction<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2505.06856\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2505.06856<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-048ff05e2a4235474f9c17ad03fda3d2_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<p><strong>1. \u56e0\u679c\u63a8\u65ad\u4e0e\u8f68\u8ff9\u9884\u6d4b\u7684\u6df1\u5ea6\u878d\u5408<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u9996\u4e2a\u57fa\u4e8e\u56e0\u679c\u56fe\uff08Causal Graph\uff09\u7684\u8f68\u8ff9\u9884\u6d4b\u6846\u67b6\uff0c\u660e\u786e\u5efa\u6a21\u7a7a\u95f4\u5730\u56fe\u6570\u636e\uff08S\uff09\u3001\u65f6\u5e8f\u667a\u80fd\u4f53\u6570\u636e\uff08T\uff09\u4e0e\u5386\u53f2\u8f68\u8ff9\uff08X\uff09\u5bf9\u76ee\u6807\u8f68\u8ff9\uff08Y\uff09\u7684\u56e0\u679c\u5173\u7cfb\u3002<\/li>\n\n\n\n<li>\u521b\u65b0\u6027\u5730\u5c06\u540e\u95e8\u8c03\u6574\uff08Backdoor Adjustment\uff09\u4e0e\u53cd\u4e8b\u5b9e\u5206\u6790\uff08Counterfactual Analysis\uff09\u7ed3\u5408\uff0c\u901a\u8fc7\u6269\u6563\u6a21\u578b\u751f\u6210\u591a\u6837\u5316\u4ea4\u901a\u573a\u666f\uff0c\u7cfb\u7edf\u6d88\u9664\u6df7\u6742\u53d8\u91cf\uff08\u5982\u9053\u8def\u5e03\u5c40S\u548c\u4ea4\u4e92\u667a\u80fd\u4f53T\uff09\u7684\u5e72\u6270\uff0c\u5b9e\u73b0\u56e0\u679c\u6548\u5e94\u89e3\u8026\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>2. \u8de8\u6a21\u6001\u6e10\u8fdb\u878d\u5408\u7b56\u7565<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bbe\u8ba1\u591a\u9636\u6bb5\u6ce8\u610f\u529b\u673a\u5236 \uff08Progressive Multi-Stage Attention\uff09\uff1a\u901a\u8fc7\u65f6\u7a7a\u4e0a\u4e0b\u6587\u611f\u77e5\u6a21\u5757\uff08Spatial\/BEV\/Temporal Encoder\uff09\u63d0\u53d6\u5f02\u6784\u7279\u5f81\uff0c\u91c7\u7528\u6e10\u8fdb\u5f0f\u67e5\u8be2\u66f4\u65b0\u673a\u5236\uff08Progressive Query Refinement\uff09\uff0c\u6a21\u62df\u4eba\u7c7b\u9a7e\u9a76\u5458\u7684\u9010\u6b65\u63a8\u7406\u8fc7\u7a0b\u3002<\/li>\n\n\n\n<li>\u63d0\u51fa\u53cc\u5c3a\u5ea6\u4fe1\u606f\u878d\u5408 \uff08Dual-Scale Fusion\uff09\u67b6\u6784\uff1a\u540c\u6b65\u5904\u7406\u76ee\u6807\u667a\u80fd\u4f53\u4e0e\u5468\u56f4\u667a\u80fd\u4f53\u7684\u5c40\u90e8-\u5168\u5c40\u4ea4\u4e92\u4fe1\u606f\uff0c\u589e\u5f3a\u52a8\u6001\u573a\u666f\u9002\u5e94\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>3. \u56e0\u679c\u89e3\u8026\u7684\u8f68\u8ff9\u9884\u6d4b\u67b6\u6784<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5f00\u53d1\u56e0\u679c\u89e3\u7801\u5668 \uff08Causal Decoder\uff09\uff1a\u96c6\u6210\u4e8b\u5b9e\u8f68\u8ff9\uff08Factual\uff09\u4e0e\u53cd\u4e8b\u5b9e\u8f68\u8ff9\uff08Counterfactual\uff09\u7684\u9884\u6d4b\u7ed3\u679c\uff0c\u901a\u8fc7\u5dee\u503c\u8ba1\u7b97\uff08Y=Y\u02dc\u2212Y\u02dcc\uff09\u663e\u5f0f\u5206\u79bb\u56e0\u679c\u6548\u5e94\u4e0e\u76f8\u5173\u6027\u566a\u58f0\u3002<\/li>\n\n\n\n<li>\u5f15\u5165\u6269\u6563\u6a21\u578b\u9a71\u52a8\u7684\u540e\u95e8\u8c03\u6574\u6a21\u5757 \uff08Diffusion-based Backdoor Adjustment\uff09\uff1a\u901a\u8fc7\u524d\u5411\u52a0\u566a\uff08Equation 3\uff09\u4e0e\u53cd\u5411\u53bb\u566a\uff08Equation 4\uff09\u8fc7\u7a0b\uff0c\u751f\u6210\u5206\u5c42\u7ed3\u6784\u7684\u7a7a\u95f4\u6df7\u6742\u56e0\u5b50\u6837\u672c\u96c6\uff08S\u00af\uff09\uff0c\u6709\u6548\u5207\u65adS\u2192X\/S\u2192T\u7684\u865a\u5047\u5173\u8054\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>4. \u5b9e\u8bc1\u9a8c\u8bc1\u4e0e\u6cdb\u5316\u80fd\u529b\u7a81\u7834<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u57285\u4e2a\u771f\u5b9e\u4e16\u754c\u6570\u636e\u96c6\uff08ApolloScape\u3001nuScenes\u3001NGSIM\u7b49\uff09\u4e0a\u5168\u9762\u8d85\u8d8aSOTA\u65b9\u6cd5\uff0c\u5c24\u5176\u5728\u957f\u5468\u671f\u9884\u6d4b\uff083-5s\uff09\u4e2dRMSE\u63d0\u534713.82%\uff08NGSIM\uff09\u548c6.45%\uff08HighD\uff09\u3002<\/li>\n\n\n\n<li>\u9996\u6b21\u5b9e\u73b0\u9886\u57df\u6cdb\u5316 \uff08Domain Generalization\uff09\u9a8c\u8bc1\uff1a\u901a\u8fc7Kolmogorov-Smirnov\u68c0\u9a8c\u5212\u5206\u5177\u6709\u663e\u8457\u884c\u4e3a\u5dee\u5f02\u7684\u533a\u57df\u5b50\u96c6\uff0c\u8bc1\u660e\u6a21\u578b\u5728\u8de8\u533a\u57df\u6d4b\u8bd5\u4e2d\u4fdd\u6301\u7a33\u5065\u6027\u80fd\u3002<\/li>\n\n\n\n<li>\u6a21\u578b\u6548\u7387\u4f18\u5316\uff1a\u4ee50.28M\u53c2\u6570\u91cf\u548c57ms\/\u6837\u672c\u63a8\u7406\u901f\u5ea6\uff0c\u8fbe\u5230\u5b9e\u65f6\u9884\u6d4b\u8981\u6c42\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1905737113334419917_3\">RESAR-BEV<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aRESAR-BEV: An Explainable Progressive Residual Autoregressive Approach for Camera-Radar Fusion in BEV Segmentation<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2505.06515\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2505.06515<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-757d3b111cd756988508edbfef1fc43f_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<p><strong>1. \u6e10\u8fdb\u5f0f\u6b8b\u5dee\u81ea\u56de\u5f52\u5b66\u4e60\u67b6\u6784<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6838\u5fc3\u673a\u5236 \uff1a\u91c7\u7528\u7ea7\u8054\u5f0fTransformer\u67b6\u6784 \uff08Drive-Transformer + Modifier-Transformer\uff09\uff0c\u5c06<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257695645&amp;content_type=Article&amp;match_order=1&amp;q=BEV%E5%88%86%E5%89%B2%E4%BB%BB%E5%8A%A1&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">BEV\u5206\u5272\u4efb\u52a1<\/a>\u5206\u89e3\u4e3a\u7c97\u7c92\u5ea6\u521d\u59cb\u5316\u2192\u591a\u9636\u6bb5\u6b8b\u5dee\u7ec6\u5316\u2192\u5c42\u6b21\u5316\u76d1\u7763 \u7684\u8fed\u4ee3\u8fc7\u7a0b\u3002<\/li>\n\n\n\n<li>\u6280\u672f\u7ec6\u8282 \uff1a\n<ul class=\"wp-block-list\">\n<li>\u6b8b\u5dee\u7ea7\u8054 \uff1a\u901a\u8fc7\u81ea\u56de\u5f52\u673a\u5236\u9010\u6b65\u9884\u6d4b\u6b8b\u5dee\uff08Residual Token Maps\uff09\uff0c\u5229\u7528\u5386\u53f2\u8f93\u51fa\u548c\u96f7\u8fbe\u7279\u5f81\u8fdb\u884c\u591a\u5c3a\u5ea6\u4fee\u6b63\uff0c\u52a8\u6001\u8c03\u6574\u5206\u8fa8\u7387\/\u901a\u9053\u95e8\u63a7\uff08resolution\/channel-wise gates\uff09\u3002<\/li>\n\n\n\n<li>\u5c42\u6b21\u5316\u76d1\u7763 \uff1a\u5f15\u5165\u9884\u8bad\u7ec3\u7684GT-Encoder-Decoder\uff0c\u5bf9\u591a\u5c3a\u5ea6\u771f\u503c\uff08Ground Truth\uff09\u8fdb\u884c\u591a\u7ea7\u6b8b\u5dee\u5206\u89e3 \uff08up-sub-down\u7b56\u7565\uff09\uff0c\u5728\u8bad\u7ec3\u4e2d\u5f3a\u5236\u6a21\u578b\u5b66\u4e60\u7c97\u7565\u62d3\u6251\u7ed3\u6784\u5230\u7cbe\u7ec6\u8fb9\u754c\u7684\u5206\u9636\u6bb5\u4f18\u5316\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f18\u52bf \uff1a\u907f\u514d\u5355\u6b65\u7aef\u5230\u7aef\u65b9\u6cd5\u7684\u8bef\u5dee\u7d2f\u79ef\u95ee\u9898\uff0c\u63d0\u5347\u957f\u8ddd\u79bb\u611f\u77e5\u4e0e\u590d\u6742\u573a\u666f\u7684\u9c81\u68d2\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>2. \u5730\u9762\u611f\u77e5\u7684\u9c81\u68d2BEV\u8868\u5f81\u4f18\u5316<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6838\u5fc3\u673a\u5236 \uff1a\u7ed3\u5408\u81ea\u9002\u5e94\u9ad8\u5ea6\u504f\u79fb \uff08adaptive height offset\uff09\u4e0e\u53cc\u8def\u5f84\u96f7\u8fbe\u7279\u5f81\u7f16\u7801 \uff0c\u589e\u5f3a\u7a7a\u95f4\u5efa\u6a21\u80fd\u529b\u3002<\/li>\n\n\n\n<li>\u6280\u672f\u7ec6\u8282 \uff1a\n<ul class=\"wp-block-list\">\n<li>\u5730\u9762\u90bb\u8fd1\u4f53\u7d20\u5efa\u6a21 \uff1a\u901a\u8fc7\u53ef\u5b66\u4e60\u7684\u9ad8\u5ea6\u504f\u79fb\u7387\uff08drift rate\uff09\u52a8\u6001\u6821\u6b63\u76f8\u673a\u5750\u6807\u7cfb\u4e0b\u7684\u5730\u9762\u5e73\u9762\u4f4d\u7f6e\uff08<code>Y&lt;sub>gr&lt;\/sub><\/code> + offset\uff09\uff0c\u7f13\u89e3\u56fa\u5b9a\u9ad8\u5ea6\u5047\u8bbe\u7684\u5c40\u9650\u6027\u3002<\/li>\n\n\n\n<li>\u53cc\u8def\u5f84\u96f7\u8fbe\u7f16\u7801 \uff1a\u5bf9\u70b9\u4e91\u7279\u5f81\u8fdb\u884c\u6700\u5927\u6c60\u5316 \uff08\u63d0\u53d6\u5c40\u90e8\u663e\u8457\u7279\u5f81\uff09\u4e0e\u6ce8\u610f\u529b\u6c60\u5316 \uff08\u5168\u5c40\u4e0a\u4e0b\u6587\u805a\u5408\uff09\u7684\u878d\u5408\uff0c\u5e76\u901a\u8fc7MLP\u538b\u7f29\u7279\u5f81\u7ef4\u5ea6\uff0c\u5b9e\u73b0\u7a00\u758f\u96f7\u8fbe\u6570\u636e\u7684\u9ad8\u6548\u7279\u5f81\u589e\u5f3a\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f18\u52bf \uff1a\u663e\u8457\u63d0\u5347\u4f4e\u5149\u3001\u8fdc\u8ddd\u79bb\u7b49\u6311\u6218\u573a\u666f\u7684\u5206\u5272\u7cbe\u5ea6\uff0c\u540c\u65f6\u4fdd\u6301\u8ba1\u7b97\u6548\u7387\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>3. \u89e3\u8026\u76d1\u7763\u4e0e\u5728\u7ebf\u8054\u5408\u4f18\u5316\u7b56\u7565<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6838\u5fc3\u673a\u5236 \uff1a\u5206\u79bb\u76d1\u7763\u4fe1\u53f7\u751f\u6210\u4e0e\u6a21\u578b\u8bad\u7ec3\u6d41\u7a0b\uff0c\u901a\u8fc7\u79bb\u7ebfGT\u5206\u89e3 \u4e0e\u5728\u7ebf\u6b8b\u5dee-\u5206\u5272\u8054\u5408\u4f18\u5316 \u964d\u4f4e\u8fc7\u62df\u5408\u98ce\u9669\u3002<\/li>\n\n\n\n<li>\u6280\u672f\u7ec6\u8282 \uff1a\n<ul class=\"wp-block-list\">\n<li>\u79bb\u7ebf\u591a\u5c3a\u5ea6GT\u5206\u89e3 \uff1a\u57fa\u4e8eRQ-VAE\u601d\u60f3\uff0c\u91c7\u7528\u52a8\u6001\u95e8\u63a7\u6b8b\u5dee\u66f4\u65b0 \uff08\u03c3(\u03b8)\u2299tanh(Down(<code>R&lt;sub>i&lt;\/sub><\/code>)\uff09\u751f\u6210\u591a\u5206\u8fa8\u7387Token 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