{"id":28908,"date":"2025-05-26T17:30:26","date_gmt":"2025-05-26T09:30:26","guid":{"rendered":"http:\/\/192.168.10.115\/?p=28908"},"modified":"2025-05-26T17:30:26","modified_gmt":"2025-05-26T09:30:26","slug":"2025-05-26-%e8%b6%85%e8%b6%8auniad%ef%bc%81%e7%99%be%e5%ba%a6%e5%93%88%e5%b7%a5%e5%a4%a7x-driver%ef%bc%9a%e5%9f%ba%e4%ba%8e%e8%a7%86%e8%a7%89%e8%af%ad%e8%a8%80%e6%a8%a1%e5%9e%8b%e7%9a%84%e5%8f%af","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/05\/26\/28908\/","title":{"rendered":"2025-05-26 \u8d85\u8d8aUniAD\uff01\u767e\u5ea6&amp;\u54c8\u5de5\u5927X-Driver\uff1a\u57fa\u4e8e\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u7684\u53ef\u89e3\u91ca\u81ea\u52a8\u9a7e\u9a76"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1909339250756911794\">https:\/\/zhuanlan.zhihu.com\/p\/1909339250756911794<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u5bfc\u8bfb<\/strong><\/h2>\n\n\n\n<p>\u968f\u7740\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u7684\u53d1\u5c55\uff0c\u5982\u4f55\u8ba9AI\u505a\u51fa\u66f4\u53ef\u9760\u3001\u900f\u660e\u7684\u9a7e\u9a76\u51b3\u7b56\u4e00\u76f4\u662f\u4e1a\u754c\u96be\u9898\u3002\u6700\u65b0\u7814\u7a76<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=258116576&amp;content_type=Article&amp;match_order=1&amp;q=X-Driver&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">X-Driver<\/a>\u5c06<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=258116576&amp;content_type=Article&amp;match_order=1&amp;q=%E5%A4%9A%E6%A8%A1%E6%80%81%E5%A4%A7%E8%AF%AD%E8%A8%80%E6%A8%A1%E5%9E%8B&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b<\/a>\u4e0e<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=258116576&amp;content_type=Article&amp;match_order=1&amp;q=%E6%80%9D%E7%BB%B4%E9%93%BE%E6%8E%A8%E7%90%86&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u601d\u7ef4\u94fe\u63a8\u7406<\/a><\/p>\n\n\n\n<p>\u76f8\u7ed3\u5408\uff0c\u521b\u5efa\u4e86\u4e00\u4e2a\u5168\u65b0\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6846\u67b6\u3002\u8fd9\u4e00\u521b\u65b0\u65b9\u6cd5\u4e0d\u4ec5\u80fd\u89e3\u91ca\u5176\u51b3\u7b56\u8fc7\u7a0b\uff0c\u8fd8\u5728\u95ed\u73af\u8bc4\u4f30\u4e2d\u53d6\u5f97\u4e86\u7a81\u7834\u6027\u6210\u679c\u3002\u672c\u6587\u6df1\u5165\u89e3\u6790X-Driver\u5982\u4f55\u901a\u8fc7\u7ed3\u6784\u5316\u63a8\u7406\u63d0\u5347\u81ea\u52a8\u9a7e\u9a76\u5b89\u5168\u6027\u4e0e\u6027\u80fd\uff0c\u4e3a\u884c\u4e1a\u5e26\u6765\u5168\u65b0\u601d\u8def\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">1. <strong>\u7814\u7a76\u80cc\u666f<\/strong><\/h2>\n\n\n\n<p>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u4f5c\u4e3a\u4e00\u79cd\u65b0\u5174\u7684\u8303\u5f0f\uff0c\u5b83\u5c06\u611f\u77e5\u3001\u9884\u6d4b\u548c\u51b3\u7b56\u6574\u5408\u5230\u5355\u4e00\u6846\u67b6\u4e2d\u3002\u867d\u7136\u4f20\u7edf\u7684\u6a21\u5757\u5316\u6d41\u7a0b\u63d0\u4f9b\u4e86\u53ef\u89e3\u91ca\u6027\uff0c\u4f46\u5b83\u4eec\u5e38\u5e38\u906d\u53d7\u9519\u8bef\u4f20\u64ad\u7684\u56f0\u6270\uff0c\u5e76\u4e14\u5728\u591a\u6837\u5316\u73af\u5883\u4e2d\u6cdb\u5316\u80fd\u529b\u8f83\u5f31\u3002\u8fd1\u671f\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b\uff08MLLMs\uff09\u7684\u8fdb\u5c55\u4e3a\u5229\u7528\u591a\u6837\u5316\u8f93\u5165\u6a21\u6001\uff08\u5982\u81ea\u7136\u8bed\u8a00\u6307\u4ee4\u548c\u89c6\u89c9\u6570\u636e\uff09\u6765\u589e\u5f3a\u81ea\u52a8\u9a7e\u9a76\u51b3\u7b56\u63d0\u4f9b\u4e86\u65b0\u7684\u673a\u4f1a\u3002<\/p>\n\n\n\n<p>\u5c3d\u7ba1MLLMs\u663e\u793a\u51fa\u5de8\u5927\u6f5c\u529b\uff0c\u73b0\u6709\u65b9\u6cd5\u4ecd\u9762\u4e34\u5173\u952e\u9650\u5236\u3002\u9996\u5148\uff0c\u4f20\u7edf\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4f9d\u8d56\u6a21\u5757\u5316\u8bbe\u8ba1\u548c\u56fa\u5b9a\u683c\u5f0f\u7684\u4f20\u611f\u5668\u8f93\u5165\uff0c\u4f7f\u6709\u6548\u6574\u5408\u591a\u6a21\u6001\u6570\u636e\u53d8\u5f97\u5177\u6709\u6311\u6218\u6027\u3002\u5176\u6b21\uff0c\u5f53\u524d\u57fa\u4e8eMLLM\u7684\u6846\u67b6\u5728\u95ed\u73af\u8bc4\u4f30\u4e2d\u8868\u73b0\u4e0d\u4f73\uff0c\u5728\u5b9e\u9645\u9a7e\u9a76\u573a\u666f\u4e2d\u663e\u793a\u51fa\u5e7b\u89c9\u548c\u7f3a\u4e4f\u7a33\u5065\u6027\u3002\u8fd9\u4e9b\u6311\u6218\u51f8\u663e\u4e86\u660e\u786e\u63a8\u7406\u673a\u5236\u5bf9\u589e\u5f3a\u53ef\u89e3\u91ca\u6027\u548c\u53ef\u9760\u6027\u7684\u5fc5\u8981\u6027\u3002<\/p>\n\n\n\n<p>\u4e3a\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86X-Driver\uff0c\u4e00\u4e2a\u7edf\u4e00\u6846\u67b6\uff0c\u65e0\u7f1d\u96c6\u6210\u611f\u77e5\u3001\u63a8\u7406\u548c\u51b3\u7b56\u4e8e\u81ea\u52a8\u9a7e\u9a76\u4e2d\u3002X-Driver\u5229\u7528\u81ea\u56de\u5f52Transformer\u8fdb\u884c\u591a\u6a21\u6001\u878d\u5408\u3002\u53d7DriveCoT\u542f\u53d1\uff0c\u4f5c\u8005\u91c7\u7528\u4e86\u601d\u7ef4\u94fe\uff08Chain-of-Thought\uff0c CoT\uff09\u63d0\u793a\uff0c\u8fd9\u79cd\u65b9\u6cd5\u5c06\u6a21\u578b\u7684\u63a8\u7406\u8fc7\u7a0b\u7ed3\u6784\u5316\uff0c\u4ee5\u589e\u5f3a\u51b3\u7b56\u900f\u660e\u5ea6\u548c\u7a33\u5065\u6027\u3002\u901a\u8fc7\u4f7f\u7528\u7ed9\u5b9a\u7684\u63d0\u793a\u548c\u601d\u7ef4\u94fe\u8bad\u7ec3\u6a21\u677f\uff0c\u5e76\u5c06\u5b83\u4eec\u5e94\u7528\u4e8e\u7269\u4f53\u68c0\u6d4b\u3001\u4ea4\u901a\u68c0\u6d4b\u3001\u4ea4\u901a\u6807\u5fd7\u68c0\u6d4b\u548c\u8f66\u9053\u68c0\u6d4b\u7b49\u4efb\u52a1\uff0c\u7cfb\u7edf\u80fd\u57fa\u4e8e\u6570\u636e\u8fdb\u884c\u9010\u6b65\u63a8\u7406\uff0c\u6700\u7ec8\u505a\u51fa\u51b3\u7b56\u3002\u5b9e\u9a8c\u8868\u660e\uff0cX-Driver\u80fd\u591f\u660e\u786e\u63d0\u4f9b\u5176\u51b3\u7b56\u80cc\u540e\u7684\u7406\u7531\u3002\u5e7f\u6cdb\u7684\u95ed\u73af\u8bc4\u4f30\u8bc1\u660e\uff0c\u8fd9\u79cd\u65b9\u6cd5\u663e\u8457\u6539\u5584\u4e86\u76f8\u6bd4\u73b0\u6709\u6846\u67b6\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u8bba\u6587\u7684\u4e3b\u8981\u8d21\u732e\u53ef\u6982\u62ec\u4e3a\uff1a<\/p>\n\n\n\n<p>1\uff09MLLM\u548cCoT\u878d\u5408\uff1a\u5c06\u601d\u7ef4\u94fe\u63a8\u7406\u6574\u5408\u5230\u81ea\u52a8\u9a7e\u9a76\u4e2d\u53ef\u4ee5\u8fdb\u4e00\u6b65\u51cf\u8f7b\u6a21\u578b\u5e7b\u89c9\uff0c\u663e\u8457\u964d\u4f4e\u51b3\u7b56\u9519\u8bef\u7684\u53ef\u80fd\u6027\u3002<\/p>\n\n\n\n<p>2\uff09\u7edf\u4e00\u7684\u95ed\u73af\u81ea\u52a8\u9a7e\u9a76\u6846\u67b6\uff1aX-Driver\u652f\u6301\u591a\u6a21\u6001\u6570\u636e\u8f93\u5165\uff0c\u8d85\u8d8a\u4e86\u5bf9\u56fa\u5b9a\u683c\u5f0f\u4f20\u611f\u5668\u6570\u636e\u7684\u4f9d\u8d56\u3002\u8fd9\u79cd\u7075\u6d3b\u6027\u6539\u5584\u4e86\u7cfb\u7edf\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u4f7f\u5176\u80fd\u66f4\u6709\u6548\u5730\u9002\u5e94\u591a\u6837\u5316\u548c\u590d\u6742\u7684\u9a7e\u9a76\u73af\u5883\u3002\u5e76\u4e14\u4f5c\u8005\u5df2\u7ecf\u5b8c\u6210\u4e86\u95ed\u73af\u5b9e\u9a8c\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">2. <strong>\u7814\u7a76\u65b9\u6cd5<\/strong><\/h2>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"674\" height=\"239\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/05\/052601.png\" alt=\"\" class=\"wp-image-28909\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/052601.png 674w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/052601-300x106.png 300w\" sizes=\"(max-width: 674px) 100vw, 674px\" \/><\/figure>\n\n\n\n<p><strong>2.1 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class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-5201bc244b656ced0e512cb7d04e4b55_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe1\uff1a\u7cfb\u7edf\u6982\u8ff0<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>2.2 MLLM\u548cCoT\u7684\u878d\u5408<\/strong><\/h2>\n\n\n\n<p>\u5728\u4f5c\u8005\u7684MLLM\u4e2d\uff0c\u4ed6\u4eec\u901a\u8fc7\u5229\u7528\u9ad8\u8d28\u91cfCoT\u63d0\u793a\u6570\u636e\u7684\u76d1\u7763\u5f0f\u5fae\u8c03\uff08SFT\uff09\u589e\u5f3a\u4e86\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u63a8\u7406\u548c\u51b3\u7b56\u80fd\u529b\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u4ed6\u4eec\u5c06\u7cbe\u5fc3\u8bbe\u8ba1\u7684\u9010\u6b65\u63a8\u7406\u793a\u4f8b\u6574\u5408\u5230\u6a21\u578b\u8f93\u5165\u4e2d\uff0c\u4ee5\u9f13\u52b1\u7ed3\u6784\u5316\u3001\u903b\u8f91\u6027\u601d\u8003\uff0c\u800c\u4e0d\u662f\u8ba9\u6a21\u578b\u4ec5\u8f93\u51fa\u5b64\u7acb\u7684\u51b3\u7b56\u3002\u4ed6\u4eec\u7684CoT\u63a8\u7406\u6846\u67b6\u5efa\u7acb\u5728\u6a21\u578b\u5bf9\u4e24\u4e2a\u5173\u952e\u7ef4\u5ea6\u7684\u5168\u9762\u7406\u89e3\u4e4b\u4e0a\uff1a<\/p>\n\n\n\n<p>1\uff09\u5b83\u5305\u62ec\u5bf9\u590d\u67423D\u9a7e\u9a76\u73af\u5883\u7684\u51c6\u786e\u611f\u77e5\u548c\u89e3\u91ca\uff0c\u5305\u62ec\u5bf9\u52a8\u6001\u7269\u4f53\u4f4d\u7f6e\u3001\u901f\u5ea6\u548c\u8f68\u8ff9\u7684\u7cbe\u786e\u9884\u6d4b\u3002\u8fd9\u4e9b\u7269\u4f53\u5305\u62ec\u5177\u6709\u4e0d\u540c\u884c\u8d70\u901f\u5ea6\u548c\u610f\u56fe\u7684\u884c\u4eba\uff0c\u53ef\u80fd\u7a81\u7136\u6539\u53d8\u65b9\u5411\u7684\u9a91\u8f66\u4eba\uff0c\u4ee5\u53ca\u5448\u73b0\u4e0d\u540c\u9a7e\u9a76\u884c\u4e3a\uff08\u5982\u52a0\u901f\u3001\u5236\u52a8\u6216\u53d8\u9053\uff09\u7684\u5404\u79cd\u5c3a\u5bf8\u8f66\u8f86\uff08\u5982\u6c7d\u8f66\u3001\u5361\u8f66\u3001\u6469\u6258\u8f66\uff09\u3002\u6b64\u5916\uff0c\u5b83\u786e\u4fdd\u5b9e\u65f6\u969c\u788d\u7269\u8bc6\u522b\uff0c\u5982\u9053\u8def\u788e\u7247\u3001\u65bd\u5de5\u969c\u788d\u7269\u548c\u9759\u6b62\u8f66\u8f86\uff0c\u5e76\u7cbe\u786e\u8fdb\u884c\u7a7a\u95f4\u5b9a\u4f4d\u4ee5\u7ef4\u6301\u5b89\u5168\u5bfc\u822a\u3002<\/p>\n\n\n\n<p>2\uff09\u5b83\u6d89\u53ca\u5bf9\u5bfc\u822a\u6307\u4ee4\u7684\u6df1\u5165\u7406\u89e3\u548c\u5bf9\u4ea4\u901a\u89c4\u5219\u7684\u9075\u5b88\uff0c\u5305\u62ec\u8bc6\u522b\u4ea4\u901a\u706f\u72b6\u6001\uff0c\u533a\u5206\u6807\u51c6\u7ea2\u3001\u9ec4\u3001\u7eff\u4fe1\u53f7\u4ee5\u53ca\u66f4\u590d\u6742\u7684\u53d8\u4f53\uff0c\u5982\u95ea\u70c1\u7684\u9ec4\u706f\u6216\u884c\u4eba\u63a7\u5236\u7684\u4fe1\u53f7\u3002\u6b64\u5916\uff0c\u5b83\u9700\u8981\u89e3\u91ca\u4ea4\u901a\u6807\u5fd7\uff0c\u5305\u62ec\u76d1\u7ba1\u6807\u5fd7\uff08\u5982\u505c\u6b62\u3001\u8ba9\u884c\u3001\u9650\u901f\uff09\u3001\u8b66\u544a\u6807\u5fd7\uff08\u5982\u6025\u8f6c\u5f2f\u3001\u884c\u4eba\u8fc7\u8857\uff09\u548c\u4fe1\u606f\u6807\u5fd7\uff08\u5982\u9ad8\u901f\u516c\u8def\u51fa\u53e3\u3001\u8ddd\u79bb\u6807\u8bb0\uff09\u3002\u51c6\u786e\u7684\u8f66\u9053\u68c0\u6d4b\u548c\u51b3\u7b56\u4e5f\u81f3\u5173\u91cd\u8981\uff0c\u5305\u62ec\u5728\u5404\u79cd\u6761\u4ef6\u4e0b\u68c0\u6d4b\u8f66\u9053\u8fb9\u754c\uff08\u5982\u892a\u8272\u6807\u8bb0\u3001\u88ab\u8f66\u8f86\u906e\u6321\uff09\uff0c\u533a\u5206\u5b9e\u7ebf\u548c\u865a\u7ebf\u4ee5\u8fdb\u884c\u5408\u6cd5\u53d8\u9053\uff0c\u4ee5\u53ca\u8bc6\u522b\u7279\u6b8a\u8f66\u9053\u5982\u516c\u4ea4\u8f66\u9053\u3001\u81ea\u884c\u8f66\u9053\u548c\u8f6c\u5f2f\u4e13\u7528\u8f66\u9053\uff0c\u4ee5\u786e\u4fdd\u5408\u6cd5\u9ad8\u6548\u9a7e\u9a76\u3002<\/p>\n\n\n\n<p>\u4e3a\u786e\u4fdd\u66f4\u9ad8\u7684\u6027\u80fd\u548c\u5bf9\u56fe\u50cf\u7684\u7406\u89e3\uff0c\u4f5c\u8005\u907f\u514d\u4f7f\u7528VQ-VAE\u7b49\u79bb\u6563\u7f16\u7801\u65b9\u6cd5\uff0c\u8fd9\u53ef\u80fd\u5bfc\u81f4\u573a\u666f\u8868\u793a\u4e2d\u7684\u4fe1\u606f\u4e22\u5931\u3002\u76f8\u53cd\uff0c\u4ed6\u4eec\u91c7\u7528\u8fde\u7eed\u56fe\u50cf\u7f16\u7801\u65b9\u6cd5\uff0c\u9996\u5148\u5c06\u539f\u59cb\u56fe\u50cf\u901a\u8fc7ViT\u7f16\u7801\u5668\u4f20\u9012\uff0c\u83b7\u5f97\u4f4e\u7ef4\u7279\u5f81\u56fe\u3002\u8fd9\u4e00\u7b56\u7565\u4fdd\u7559\u4e86\u66f4\u4e30\u5bcc\u7684\u573a\u666f\u4fe1\u606f\u3002\u4f8b\u5982\uff0c\u5728\u5b9e\u9a8c\u4e2d\uff0c\u5f53\u4ea4\u901a\u706f\u51fa\u73b0\u5728\u8fdc\u5904\u573a\u666f\u65f6\uff0c\u4f7f\u7528VQ-VAE\u7f16\u7801\u53ef\u80fd\u5bfc\u81f4\u5173\u4e8e\u4ea4\u901a\u706f\u7684\u5173\u952e\u4fe1\u606f\u4e22\u5931\u3002\u76f8\u53cd\uff0c\u5229\u7528VAE\u7f16\u7801\u6709\u6548\u5730\u4fdd\u7559\u4e86\u8fd9\u4e00\u5fc5\u8981\u4fe1\u606f\u3002<\/p>\n\n\n\n<p>\u5982\u56fe2\u6240\u793a\uff0c\u8fd9\u662fSFT\u8bad\u7ec3\u8fc7\u7a0b\u7684\u8be6\u7ec6\u793a\u4f8b\u3002\u4f5c\u8005\u7684CoT\u65b9\u6cd5\u672c\u8d28\u4e0a\u5c06\u539f\u59cb\u4efb\u52a1\u5206\u89e3\u4e3a\u56db\u4e2a\u5b50\u4efb\u52a1\uff0c\u5982\u7269\u4f53\u68c0\u6d4b\u3001\u4ea4\u901a\u706f\u72b6\u6001\u3001\u4ea4\u901a\u6807\u5fd7\u548c\u8f66\u9053\u4fe1\u606f\u3002\u7136\u540e\uff0c\u6a21\u578b\u5c06\u8fd9\u4e9b\u4e2d\u95f4\u7ed3\u679c\u4f5c\u4e3a\u5386\u53f2\u4ee4\u724c\u548c\u5f53\u524d\u4f20\u611f\u5668\u8f93\u5165\u6574\u5408\u8d77\u6765\uff0c\u751f\u6210\u6700\u7ec8\u9a7e\u9a76\u51b3\u7b56\u5e76\u9884\u6d4b\u4e0b\u4e00\u4e2a\u822a\u70b9\u3002\u8fd9\u79cd\u7ed3\u6784\u5316\u63a8\u7406\u4f7f\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u8f93\u51fa\u66f4\u5177\u53ef\u89e3\u91ca\u6027\u548c\u53ef\u63a7\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-3ef787ff30f51ba379cf50e2b19c1760_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe2\uff1a\u8bad\u7ec3\u8fc7\u7a0b<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>2.3 CoT\u63a8\u7406\u8fc7\u7a0b<\/strong><\/h2>\n\n\n\n<p>\u5982\u56fe1\u6240\u793a\uff0cX-Driver\u7684\u65b9\u6cd5\u59cb\u4e8e\u751f\u6210\u9ad8\u8d28\u91cfCoT\u8bad\u7ec3\u6570\u636e\uff0c\u6574\u5408\u4e86\u6444\u50cf\u673a\u8f93\u5165\u548c\u5f53\u524d\u8f66\u8f86\u901f\u5ea6\u3002\u968f\u540e\uff0cMLLM\u5bf9\u8fd9\u4e9b\u4f20\u611f\u5668\u8f93\u5165\u8fdb\u884c\u6df1\u5ea6\u591a\u6a21\u6001\u878d\u5408\u548c\u5206\u6790\uff0c\u7531CoT\u63d0\u793a\u7cfb\u7edf\u6027\u5730\u5f15\u5bfc\uff0c\u6e05\u6670\u5730\u9610\u8ff0\u51fa\u4e00\u4e2a\u9010\u6b65\u7684\u63a8\u7406\u8fc7\u7a0b\u3002<\/p>\n\n\n\n<p>\u4e3a\u4ec0\u4e48CoT\u63a8\u7406\u5982\u6b64\u6709\u6548\uff0c\u5b83\u5728\u5927\u578b\u8bed\u8a00\u6a21\u578b\u7684\u63a8\u7406\u8fc7\u7a0b\u4e2d\u626e\u6f14\u4ec0\u4e48\u89d2\u8272\uff1f\u4ee5CoT\u4e2d\u7684\u7269\u4f53\u68c0\u6d4b\u4e3a\u4f8b\uff0c\u5982\u56fe3\u6240\u793a\uff0c\u6a21\u578b\u9996\u5148\u786e\u5b9a\u7269\u4f53\u7684\u4f4d\u7f6e\u3001\u8fd0\u52a8\u65b9\u5411\u548c\u7c7b\u522b\u3002\u7136\u540e\u5206\u6790\u8be5\u7269\u4f53\u662f\u5426\u6839\u636e\u4e0a\u4e0b\u6587\u7ebf\u7d22\u503c\u5f97\u5173\u6ce8\u3002\u5982\u679c\u9700\u8981\u5173\u6ce8\uff0c\u6a21\u578b\u63d0\u4f9b\u57fa\u4e8e\u63a8\u7406\u7684\u89e3\u91ca\uff0c\u8bf4\u660e\u4e3a\u4ec0\u4e48\u5173\u6ce8\u8be5\u7269\u4f53\uff0c\u5e76\u76f8\u5e94\u5730\u66f4\u65b0\u5176\u6700\u7ec8\u51b3\u7b56\u3002<\/p>\n\n\n\n<p>\u88681\u5c55\u793a\u4e86\u81ea\u52a8\u9a7e\u9a76\u4e2d\u9047\u5230\u7684\u5178\u578b\u9a7e\u9a76\u573a\u666f\uff0c\u4ee5\u53ca\u5f15\u5bfcMLLM\u901a\u8fc7\u660e\u786e\u3001\u903b\u8f91\u51b3\u7b56\u6b65\u9aa4\u7684\u8be6\u7ec6\u63d0\u793a\u3002\u8fd9\u4e9b\u63d0\u793a\u6307\u5bfc\u6a21\u578b\u7eb3\u5165\u5168\u9762\u7684\u60c5\u5883\u610f\u8bc6\uff0c\u4e25\u683c\u9075\u5b88\u5b89\u5168\u51c6\u5219\u548c\u4ea4\u901a\u89c4\u5219\uff0c\u663e\u8457\u63d0\u9ad8\u9a7e\u9a76\u5b89\u5168\u6027\u5e76\u51cf\u5c11\u9519\u8bef\u6a21\u578b\u884c\u4e3a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-4731b920cee72e428f33cdfbdd6a0af8_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe3\uff1a\u601d\u7ef4\u94fe\u5982\u4f55\u5f71\u54cd\u51b3\u7b56<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-450d50cde8a41095daffcd62929ff66c_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u88681\uff1a\u81ea\u52a8\u9a7e\u9a76\u573a\u666f<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>2.4 \u95ed\u73af\u81ea\u52a8\u9a7e\u9a76\u6846\u67b6<\/strong><\/h2>\n\n\n\n<p>\u5982\u56fe1\u6240\u793a\uff0cX-Driver\u6846\u67b6\u7cfb\u7edf\u5730\u901a\u8fc7\u57fa\u4e8e\u5bfc\u822a\u6307\u4ee4\u548c\u56fe\u50cf\u6570\u636e\u7684\u7efc\u5408\u7406\u89e3\u548c\u63a8\u7406\u751f\u6210\u9a7e\u9a76\u51b3\u7b56\u3002\u8fd9\u79cd\u65b9\u6cd5\u4e0d\u4ec5\u8f93\u51fa\u53ef\u884c\u52a8\u7684\u51b3\u7b56\uff0c\u8fd8\u63d0\u4f9b\u6bcf\u4e2a\u51b3\u7b56\u80cc\u540e\u7684\u660e\u786e\u63a8\u7406\uff0c\u786e\u4fdd<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=258116576&amp;content_type=Article&amp;match_order=1&amp;q=CARLA%E6%A8%A1%E6%8B%9F%E7%8E%AF%E5%A2%83&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">CARLA\u6a21\u62df\u73af\u5883<\/a><\/p>\n\n\n\n<p>\u4e2d\u9a7e\u9a76\u52a8\u4f5c\u7684\u53ef\u89e3\u91ca\u6027\u548c\u7a33\u5065\u6027\u3002\u5177\u4f53\u800c\u8a00\uff0cMLLM\u57fa\u4e8e\u5f53\u524d\u4f20\u611f\u5668\u8f93\u5165\u548c\u8f66\u8f86\u901f\u5ea6\uff0c\u751f\u6210\u5b9e\u65f6\u9a7e\u9a76\u547d\u4ee4\u548c\u76f8\u5e94\u7684\u822a\u70b9\u9884\u6d4b\u3002\u968f\u540e\uff0c\u81ea\u8f66\u6839\u636e\u8fd9\u4e9b\u822a\u70b9\u548c\u51b3\u7b56\u547d\u4ee4\u52a8\u6001\u8c03\u6574\u5176\u79fb\u52a8\uff0c\u4ece\u800c\u7ef4\u6301\u95ed\u73af\u63a7\u5236\u673a\u5236\u3002\u4f5c\u8005\u7684\u65b9\u6cd5\u5728Bench2Drive\u6570\u636e\u96c6\u4e0a\u8fbe\u5230\u4e86\u6700\u5148\u8fdb\uff08SOTA\uff09\u6027\u80fd\uff0c\u5c55\u793a\u4e86\u81ea\u52a8\u9a7e\u9a76\u80fd\u529b\u7684\u663e\u8457\u8fdb\u6b65\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">3. <strong>\u8bd5\u9a8c<\/strong><\/h2>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>3.1 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src=\"https:\/\/pic4.zhimg.com\/v2-7bc43501fc3def07bb03fdaf2768a9db_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u88682\uff1a3D\u7269\u4f53\u8bc6\u522b<\/p>\n\n\n\n<p>\u5728\u8be5\u8868\u4e2d\uff0cIoU\uff08sample\uff09\u548cIoU\uff08box\uff09\u6d4b\u91cf\u9884\u6d4b\u6846\u548c\u771f\u5b9e\u6846\u4e4b\u95f4\u7684\u91cd\u53e0\uff0c\u524d\u8005\u662f\u6837\u672c\u7ea7\u8bc4\u4f30\uff0c\u540e\u8005\u662f\u6846\u7ea7\u8bc4\u4f30\u3002\u7cbe\u786e\u5ea6\u8868\u793a\u9884\u6d4b\u4e3a\u6b63\u7684\u6837\u672c\u4e2d\u771f\u6b63\u4f8b\u7684\u6bd4\u4f8b\uff0c\u53ec\u56de\u7387\u8868\u793a\u88ab\u6b63\u786e\u9884\u6d4b\u7684\u771f\u6b63\u4f8b\u6bd4\u4f8b\u3002Pred\uff08total\uff09\u662f\u6a21\u578b\u9884\u6d4b\u7684\u7269\u4f53\u6570\u91cf\uff0cgt\uff08total\uff09\u662f\u6570\u636e\u96c6\u4e2d\u771f\u5b9e\u7269\u4f53\u7684\u6570\u91cf\u3002<\/p>\n\n\n\n<p>\u4ece\u8be5\u8868\u53ef\u4ee5\u770b\u51fa\uff0c\u4f5c\u8005\u7684\u7269\u4f53\u8bc6\u522b\u65b9\u6cd5\u8fbe\u5230\u4e86\u76f8\u5f53\u9ad8\u7684\u51c6\u786e\u7387\u3002<\/p>\n\n\n\n<p><strong>\u822a\u70b9\u51c6\u786e\u6027<\/strong><\/p>\n\n\n\n<p>\u4e3a\u8bc4\u4f30\u6a21\u578b\u5728\u672a\u6765\u8f68\u8ff9\u9884\u6d4b\u7684\u51c6\u786e\u6027\uff0c\u4f5c\u8005\u8fdb\u884c\u4e86\u5173\u4e8e\u822a\u70b9\u8bef\u5dee\u7684\u5f00\u73af\u5b9e\u9a8c\u3002\u5b9e\u9a8c\u7ed3\u679c\u5982\u88683\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-98a2eb8c2cbf6acb61e2d22cfd908bc5_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u88683\uff1a\u822a\u8ff9\u70b9\u51c6\u786e\u6027<\/p>\n\n\n\n<p>ADE\uff08\u5e73\u5747\u4f4d\u79fb\u8bef\u5dee\uff09\u548cFDE\uff08\u6700\u7ec8\u4f4d\u79fb\u8bef\u5dee\uff09\u662f\u4e24\u4e2a\u5173\u952e\u8bc4\u4f30\u6307\u6807\uff0c\u7528\u4e8e\u6d4b\u91cf\u9884\u6d4b\u8f68\u8ff9\u4e0e\u771f\u5b9e\u8f68\u8ff9\u4e4b\u95f4\u7684\u504f\u5dee\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u4f5c\u8005\u7684\u5927\u578b\u6a21\u578b\u5bf9\u672a\u6765\u8f68\u8ff9\u7684\u9884\u6d4b\u51c6\u786e\u7387\u8fbe\u5230\u4e86\u4e0d\u52301%\u7684\u6c34\u5e73\uff0c\u5c55\u793a\u4e86\u51fa\u8272\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>3.3 \u95ed\u73af\u5b9e\u9a8c<\/strong><\/h2>\n\n\n\n<p>\u4f5c\u8005\u4f7f\u7528CARLA\u6a21\u62df\u73af\u5883\u5728\u95ed\u73af\u8bbe\u7f6e\u4e2d\u8bc4\u4f30\u4e86\u4ed6\u4eec\u7684\u65b9\u6cd5\uff0c\u91cd\u70b9\u5173\u6ce8\u9a7e\u9a76\u5f97\u5206\u548c\u6210\u529f\u7387\u4f5c\u4e3a\u5173\u952e\u6027\u80fd\u6307\u6807\u3002\u9a7e\u9a76\u5f97\u5206\u901a\u8fc7\u8003\u8651\u8def\u7ebf\u9075\u5faa\u3001\u901f\u5ea6\u63a7\u5236\u548c\u4ea4\u901a\u89c4\u5219\u9075\u5b88\u7b49\u56e0\u7d20\u8bc4\u4f30\u6574\u4f53\u9a7e\u9a76\u8d28\u91cf\uff0c\u800c\u6210\u529f\u7387\u6d4b\u91cf\u6210\u529f\u5b8c\u6210\u9a7e\u9a76\u4efb\u52a1\u7684\u767e\u5206\u6bd4\uff0c\u786e\u4fdd\u8f66\u8f86\u5728\u6ca1\u6709\u78b0\u649e\u6216\u91cd\u5927\u8fdd\u89c4\u7684\u60c5\u51b5\u4e0b\u5230\u8fbe\u76ee\u7684\u5730\u3002<\/p>\n\n\n\n<p><strong>\u5b9a\u6027\u7814\u7a76<\/strong><\/p>\n\n\n\n<p>\u5728\u56fe4\u6240\u793a\u7684\u95ed\u73af\u6d88\u878d\u5b9e\u9a8c\u4e2d\uff0cCoT\u65b9\u6cd5\u7684\u660e\u663e\u4f18\u52bf\u662f\u663e\u800c\u6613\u89c1\u7684\u3002\u5177\u4f53\u6765\u8bf4\uff0cCoT\u7248\u672c\u6210\u529f\u8bc6\u522b\u4e86\u8fc7\u9a6c\u8def\u7684\u884c\u4eba\uff0c\u5e76\u53ca\u65f6\u542f\u52a8\u5236\u52a8\u4ee5\u907f\u514d\u78b0\u649e\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u57fa\u4e8e\u8f85\u52a9\u4efb\u52a1\u7684\u7248\u672c\u672a\u80fd\u68c0\u6d4b\u5230\u884c\u4eba\uff0c\u5bfc\u81f4\u4e86\u78b0\u649e\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-eb4d2e63473fa788f17c7dc53a61bf0d_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe4\uff1aCoT\u5bf9\u6bd4\u8bd5\u9a8c<\/p>\n\n\n\n<p><strong>\u5b9a\u91cf\u7814\u7a76<\/strong><\/p>\n\n\n\n<p>\u4f5c\u8005\u5728Bench2Drive\u6570\u636e\u96c6\u4e0a\u4e0e\u5f53\u524d\u6700\u5148\u8fdb\u7684UniAD\u8fdb\u884c\u4e86\u8bc4\u4f30\uff0c\u8be5\u6570\u636e\u96c6\u5305\u542b500K\u548c2.2M\u6837\u672c\u3002\u88684\u4e2d\u7684\u7ed3\u679c\u8868\u660e\uff0c\u4f5c\u8005\u7684\u65b9\u6cd5\u5728\u591a\u4e2a\u6570\u636e\u96c6\u7684\u5173\u952e\u6307\u6807\u4e0a\u59cb\u7ec8\u4f18\u4e8eSOTA\uff0c\u8fdb\u4e00\u6b65\u8bc1\u5b9e\u4e86CoT\u63a8\u7406\u53ef\u4ee5\u663e\u8457\u63d0\u9ad8MLLMs\u7684\u51b3\u7b56\u51c6\u786e\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-288fc4a09ccee985544b166710ab1666_1440w.jpg\" 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