{"id":28729,"date":"2025-05-20T17:31:38","date_gmt":"2025-05-20T09:31:38","guid":{"rendered":"http:\/\/192.168.10.115\/?p=28729"},"modified":"2025-05-20T17:31:38","modified_gmt":"2025-05-20T09:31:38","slug":"2025-05-20-langcoop%ef%bc%9a%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e9%a6%96%e6%ac%a1%e4%bb%a5%e4%ba%ba%e7%b1%bb%e8%af%ad%e8%a8%80%e7%9a%84%e8%8c%83%e5%bc%8f%e8%bf%9b%e8%a1%8c%e6%80%9d","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/05\/20\/28729\/","title":{"rendered":"2025-05-20 LangCoop\uff1a\u81ea\u52a8\u9a7e\u9a76\u9996\u6b21\u4ee5\u201c\u4eba\u7c7b\u8bed\u8a00\u201d\u7684\u8303\u5f0f\u8fdb\u884c\u601d\u8003\u4e0e\u4ea4\u6d41~"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1907601223407892139\">https:\/\/zhuanlan.zhihu.com\/p\/1907601223407892139<\/a><\/p>\n\n\n\n<p><strong>LangCoop: Collaborative Driving with Language<\/strong><\/p>\n\n\n\n<p>\u9879\u76ee\u4e3b\u9875\uff08\u542b\u89c6\u9891\uff09<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/xiangbogaobarry.github.io\/LangCoop\/\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/xiangbogaobarry.github.io\/LangCoop\/<\/a>)<br>GitHub<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/github.com\/taco-group\/LangCoop\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/github.com\/taco-group\/LangCoop<\/a>)<br>\u8bba\u6587\u5730\u5740<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/www.arxiv.org\/pdf\/2504.13406\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/www.arxiv.org\/pdf\/2504.13406<\/a><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-f5c8dd27f36a4d6cc680b79fffea284c_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1907601223407892139_0\">\u52a8\u673a\uff1a\u4ece\u201c\u6570\u636e\u5171\u4eab\u201d\u8d70\u5411\u201c\u8bed\u8a00\u534f\u4f5c\u201d<\/h3>\n\n\n\n<p>\u8f66\u8fde\u4e07\u7269\uff08<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257901253&amp;content_type=Article&amp;match_order=1&amp;q=V2X&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">V2X<\/a><\/p>\n\n\n\n<p>, Vehicle-to-Everything\uff09\u662f\u667a\u80fd\u4ea4\u901a\u7cfb\u7edf\u7684\u672a\u6765\u6838\u5fc3\uff0c\u901a\u8fc7\u8f66\u4e0e\u8f66\uff08V2V\uff09\u3001\u8f66\u4e0e\u8def\uff08V2I\uff09\u3001\u8f66\u4e0e\u4eba\uff08V2P\uff09\u4e4b\u95f4\u7684\u534f\u4f5c\uff0c\u6709\u671b\u663e\u8457\u63d0\u5347\u81ea\u52a8\u9a7e\u9a76\u7684\u5b89\u5168\u6027\u4e0e\u6548\u7387\u3002<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u5f53\u524d\u6d41\u884c\u7684\u534f\u4f5c\u8303\u5f0f\uff08early collaboration, intermediate collaboration, late fusion\uff09\u5b58\u5728\u4ee5\u4e0b\u6311\u6218\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u901a\u8baf\u8d1f\u62c5\u91cd<\/strong>\uff1a\u539f\u59cb\u7279\u5f81\u6216\u591a\u6a21\u6001\u6570\u636e\u7684\u4f20\u8f93\u5e26\u5bbd\u5f00\u9500\u5de8\u5927<\/li>\n\n\n\n<li><strong>\u6a21\u578b\u5f02\u6784\u6027<\/strong>\uff1a\u4e0d\u540c\u8f66\u8f86\u4f7f\u7528\u4e0d\u540c\u6a21\u578b\u65f6\uff0c\u4fe1\u606f\u96be\u4ee5\u6709\u6548\u517c\u5bb9<\/li>\n\n\n\n<li><strong>\u4fe1\u606f\u8868\u8fbe\u529b\u4e0d\u8db3<\/strong>\uff1a\u878d\u5408\u540e\u4e22\u5931\u4e86\u5927\u91cf\u7ec6\u8282\u548c\u4e0a\u4e0b\u6587<\/li>\n<\/ul>\n\n\n\n<p>\u968f\u7740\u5927\u89c4\u6a21<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257901253&amp;content_type=Article&amp;match_order=1&amp;q=%E8%A7%86%E8%A7%89%E8%AF%AD%E8%A8%80%E6%A8%A1%E5%9E%8B&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u89c6\u89c9\u8bed\u8a00\u6a21\u578b<\/a><\/p>\n\n\n\n<p>\uff08VLMs\uff09\u7684\u5d1b\u8d77\uff0c\u6211\u4eec\u63d0\u51fa\uff1a<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p>\u65e2\u7136\u4eba\u7c7b\u53ef\u4ee5\u7528\u81ea\u7136\u8bed\u8a00\u4ea4\u6d41\u590d\u6742\u7684\u611f\u77e5\u548c\u51b3\u7b56\uff0c\u4e3a\u4ec0\u4e48\u8f66\u8f86\u4e0d\u80fd\uff1f<\/p>\n<\/blockquote>\n\n\n\n<p>LangCoop \u5229\u7528\u5927\u6a21\u578b\u7684\u89c6\u89c9\u7406\u89e3\u4e0e\u63a8\u7406\u80fd\u529b\uff0c\u5bf9\u5468\u56f4\u73af\u5883\u8fdb\u884c\u611f\u77e5\uff0c\u5e76\u751f\u6210\u8bed\u8a00\u63cf\u8ff0\uff0c\u4ece\u800c\u5728\u5f02\u6784\u4f53\u4e4b\u95f4\u5b9e\u73b0<strong>\u4f4e\u5e26\u5bbd\u3001\u9ad8\u8bed\u4e49\u3001\u5f3a\u6cdb\u5316<\/strong>\u7684\u901a\u8baf\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1907601223407892139_1\">LangCoop \u7684\u6838\u5fc3\u7406\u5ff5<\/h3>\n\n\n\n<p>LangCoop \u5728\u7406\u8bba\u4e0e\u5b9e\u8bc1\u4e0a\u7cfb\u7edf\u6027\u9a8c\u8bc1\u4e86<strong>\u81ea\u7136\u8bed\u8a00\u4f5c\u4e3a\u901a\u4fe1\u5a92\u4ecb<\/strong>\u7684\u72ec\u7279\u4f18\u52bf\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u4f4e\u901a\u4fe1\u6210\u672c<\/strong>\uff1a\u8bed\u8a00\u5177\u6709\u6781\u9ad8\u7684\u4fe1\u606f\u538b\u7f29\u6bd4\uff0c\u6bcf\u6761\u6d88\u606f &lt; 2KB<\/li>\n\n\n\n<li><strong>\u8de8\u6a21\u578b\/\u8de8\u4e3b\u4f53\u901a\u7528\u6027<\/strong>\uff1a\u81ea\u7136\u8bed\u8a00\u662f\u666e\u9002\u7684\u201c\u4e16\u754c\u8bed\u201d\uff0c\u53ef\u88ab\u4eba\u7c7b\u548c\u4e0d\u540c\u6a21\u578b\u7406\u89e3<\/li>\n\n\n\n<li><strong>\u4fdd\u6301\u4e0a\u4e0b\u6587\u4e0e\u5173\u952e\u63a8\u7406\u4fe1\u606f<\/strong>\uff1a\u8bed\u8a00\u5177\u5907\u5bf9\u62bd\u8c61\u3001\u9ad8\u5c42\u8bed\u4e49\u7684\u8868\u8fbe\u80fd\u529b<\/li>\n\n\n\n<li>\ufe0f <strong>\u8868\u8fbe\u975e\u7ed3\u6784\u5316\u77e5\u8bc6<\/strong>\uff1a\u5982\u201c\u524d\u65b9\u4e8b\u6545\u591a\u53d1\uff0c\u8bf7\u51cf\u901f\u6162\u884c\u201d\uff0c\u96be\u4ee5\u7528\u5411\u91cf\u7f16\u7801\u8868\u8ff0\u4f46\u53ef\u7528\u8bed\u8a00\u76f4\u89c2\u8868\u8fbe<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1907601223407892139_2\"><a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257901253&amp;content_type=Article&amp;match_order=1&amp;q=M3CoT&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">M3CoT<\/a><\/h3>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1907601223407892139_2\">\uff1a\u6a21\u5757\u5316\u8bed\u8a00\u94fe\u5f0f\u63a8\u7406\u67b6\u6784<\/h3>\n\n\n\n<p>\u6211\u4eec\u8fdb\u4e00\u6b65\u63d0\u51fa\u4e86 <strong>Mixture Model Modular Chain-of-Thought (M\u00b3CoT)<\/strong> \u67b6\u6784\u3002\u8be5\u6a21\u5757\u5145\u5206\u6316\u6398\u4e0d\u540cVLM\u6a21\u578b\u7684\u7279\u957f\uff0c\u5982\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257901253&amp;content_type=Article&amp;match_order=1&amp;q=Qwen&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Qwen<\/a><\/li>\n<\/ul>\n\n\n\n<p>\uff1a\u6570\u5b57\u4e0e\u7b26\u53f7\u63a8\u7406\u80fd\u529b\u5f3a<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257901253&amp;content_type=Article&amp;match_order=1&amp;q=GPT-4V&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">GPT-4V<\/a>\uff1a\u56fe\u50cf\u7406\u89e3\u80fd\u529b\u4f18\u79c0<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257901253&amp;content_type=Article&amp;match_order=1&amp;q=Deepseek-VL&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Deepseek-VL<\/a><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\uff1a\u8bed\u8a00\u8054\u60f3\u4e0e\u53d1\u6563\u80fd\u529b\u5f3a<\/li>\n<\/ul>\n\n\n\n<p>M\u00b3CoT \u901a\u8fc7\u6a21\u5757\u5316\u4efb\u52a1\u5206\u5de5\uff08\u5982\u573a\u666f\u7406\u89e3\u3001\u5bf9\u8c61\u5206\u6790\u3001\u610f\u56fe\u89c4\u5212\u7b49\uff09\uff0c\u5b9e\u73b0\u591a\u4e2a\u5f02\u6784 VLM \u7684\u534f\u540c\u63a8\u7406\uff0c\u663e\u8457\u63d0\u5347\u4e86\u611f\u77e5-\u51b3\u7b56\u4e00\u4f53\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-b9f346f893a4b2de463e2ea8228a803f_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1907601223407892139_3\">\u5b9e\u9a8c\u4eae\u70b9\uff1a\u8bed\u8a00\u4e5f\u80fd\u5f00\u8f66\uff01<\/h3>\n\n\n\n<p>\u5728 <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257901253&amp;content_type=Article&amp;match_order=1&amp;q=CARLA&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">CARLA<\/a><\/p>\n\n\n\n<p>\u95ed\u73af\u4eff\u771f\u4e2d\uff0cLangCoop \u5c55\u73b0\u51fa\u8d85\u8d8a\u4f20\u7edf\u534f\u4f5c\u8303\u5f0f\u7684\u80fd\u529b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u9a7e\u9a76\u5f97\u5206\u9ad8\u8fbe <strong>48.8<\/strong>\uff0c\u8def\u7ebf\u5b8c\u6210\u7387 <strong>90.3%<\/strong><\/li>\n\n\n\n<li><strong>\u663e\u8457\u4f18\u4e8e\u975e\u534f\u4f5c\u57fa\u7ebf<\/strong><\/li>\n\n\n\n<li>\ufe0f \u901a\u4fe1\u6570\u636e\u91cf &lt; <strong>2KB<\/strong>\uff0c\u6781\u5ea6\u8f7b\u91cf<\/li>\n\n\n\n<li>\u53ef\u9002\u914d\u5f02\u6784\u4e3b\u4f53\uff0c\u65e0\u9700\u5171\u4eab\u5e95\u5c42\u6a21\u578b\u6216\u5411\u91cf\u7a7a\u95f4<\/li>\n\n\n\n<li>\u591a\u4e2a\u5927VLM\uff08\u672a\u8fdb\u884cfinetune\uff09\u5373\u53ef\u5177\u5907\u57fa\u672c\u9a7e\u9a76\u80fd\u529b<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-77751f2fa1ea65eb0e54312593064c2e_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1907601223407892139_4\">\u672a\u6765\u5c55\u671b\uff1a\u4ece\u5b9e\u9a8c\u5ba4\u8d70\u5411\u771f\u5b9e\u4e16\u754c<\/h3>\n\n\n\n<p>LangCoop \u4e3a<strong>\u4e0b\u4e00\u4ee3\u901a\u7528\u578b\u3001\u53ef\u89e3\u91ca\u3001\u53ef\u62d3\u5c55\u7684\u534f\u540c\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf<\/strong>\u5960\u5b9a\u4e86\u57fa\u7840\u3002\u672a\u6765\uff0c\u6211\u4eec\u5e0c\u671b\u5c06\u5176\u8fdb\u4e00\u6b65\u62d3\u5c55\u81f3\u66f4\u5e7f\u6cdb\u7684 V2X \u573a\u666f\uff1a<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1907601223407892139_5\">\u4e0e\u8f66\u8054\u7f51\uff08V2X\uff09\u7cfb\u7edf\u878d\u5408<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u652f\u6301\u8bed\u8a00\u683c\u5f0f\u7684\u6570\u636e\u5171\u4eab\u534f\u8bae\uff0c\u5b9e\u73b0\u4eba\u4e0e\u8f66\u3001\u8f66\u4e0e\u8def\u4e4b\u95f4\u7684\u65e0\u7f1d\u5bf9\u8bdd<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1907601223407892139_6\">\ufe0f \u8f66-\u57fa\u7840\u8bbe\u65bd\u534f\u4f5c\uff08V2I\uff09<\/h3>\n\n\n\n<ul 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