{"id":29975,"date":"2025-06-17T17:30:56","date_gmt":"2025-06-17T09:30:56","guid":{"rendered":"http:\/\/192.168.10.115\/?p=29975"},"modified":"2025-06-17T17:30:56","modified_gmt":"2025-06-17T09:30:56","slug":"2025-06-17-%e4%b8%96%e7%95%8c%e6%a8%a1%e5%9e%8bsota%ef%bc%81%e5%8d%8e%e7%a7%91%e5%b0%8f%e7%b1%b3genesis%ef%bc%9a%e8%b7%a8%e6%a8%a1%e6%80%81%e6%97%b6%e7%a9%ba%e4%b8%80%e8%87%b4%e6%80%a7%ef%bc%8c","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/06\/17\/29975\/","title":{"rendered":"2025-06-17 \u4e16\u754c\u6a21\u578bSOTA\uff01\u534e\u79d1&amp;\u5c0f\u7c73Genesis\uff1a\u8de8\u6a21\u6001\u65f6\u7a7a\u4e00\u81f4\u6027\uff0c\u66f4\u771f\u5b9e\u66f4\u53ef\u7528\uff01"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/I8OUFXUasbyb0bRuQBqdJA\">https:\/\/mp.weixin.qq.com\/s\/I8OUFXUasbyb0bRuQBqdJA<\/a><\/p>\n\n\n\n<p>\u8bba\u6587\u9898\u76ee\uff1aGenesis: Multimodal Driving Scene Generation with Spatio-Temporal and Cross-Modal Consistency<\/p>\n\n\n\n<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2506.07497<\/p>\n\n\n\n<p>Github\u94fe\u63a5\uff1ahttps:\/\/github.com\/xiaomi-research\/genesis<\/p>\n\n\n\n<p><strong>\u6458\u8981<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u4e86 Genesis\uff0c\u8fd9\u662f\u4e00\u4e2a\u7528\u4e8e\u8054\u5408\u751f\u6210\u591a\u89c6\u89d2\u9a7e\u9a76\u89c6\u9891\u4e0e\u6fc0\u5149\u96f7\u8fbe\u5e8f\u5217\u7684\u7edf\u4e00\u6846\u67b6\uff0c\u80fd\u591f\u5b9e\u73b0\u65f6\u7a7a\u4e0e\u8de8\u6a21\u6001\u4e00\u81f4\u6027\u3002Genesis \u91c7\u7528\u4e24\u9636\u6bb5\u67b6\u6784\uff1a\u9996\u9636\u6bb5\u5c06\u57fa\u4e8e DiT \u7684\u89c6\u9891\u6269\u6563\u6a21\u578b\u4e0e 3D \u53d8\u5206\u81ea\u7f16\u7801\u5668\uff083D-VAE\uff09\u7f16\u7801\u6df1\u5ea6\u878d\u5408\uff0c\u6b21\u9636\u6bb5\u6784\u5efa\u5177\u5907\u9e1f\u77b0\u89c6\u89d2\uff08BEV\uff09\u611f\u77e5\u80fd\u529b\u7684\u6fc0\u5149\u96f7\u8fbe\u751f\u6210\u5668\uff0c\u8be5\u6a21\u5757\u878d\u5408\u4e86\u57fa\u4e8e NeRF \u7684\u6e32\u67d3\u6280\u672f\u4e0e\u81ea\u9002\u5e94\u91c7\u6837\u7b56\u7565\u3002\u4e24\u79cd\u6a21\u6001\u901a\u8fc7\u5171\u4eab\u6f5c\u5728\u7a7a\u95f4\u76f4\u63a5\u8026\u5408\uff0c\u4ece\u800c\u5728\u89c6\u89c9\u4e0e\u70b9\u4e91\u9886\u57df\u5b9e\u73b0\u8fde\u8d2f\u7684\u751f\u6210\u3002\u4e3a\u4e86\u4ee5\u7ed3\u6784\u5316\u8bed\u4e49\u5f15\u5bfc\u751f\u6210\u8fc7\u7a0b\uff0c\u672c\u6587\u5f15\u5165\u4e86 DataCrafter(\u4e00\u4e2a\u57fa\u4e8eVLM\u7684\u6570\u636e\u6807\u6ce8\u6a21\u5757)\uff0c\u53ef\u63d0\u4f9b\u573a\u666f\u7ea7\u4e0e\u5b9e\u4f8b\u7ea7\u7684\u76d1\u7763\u4fe1\u53f7\u3002\u5728 nuScenes \u57fa\u51c6\u6570\u636e\u96c6\u4e0a\u7684\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0cGenesis \u5728\u89c6\u9891\u4e0e\u6fc0\u5149\u96f7\u8fbe\u6307\u6807\u4e0a\u5747\u8fbe\u5230\u4e86\u5f53\u524dSOTA\u6c34\u5e73\u3002\u5e76\u4e14\u5bf9\u5206\u5272\u4e0e 3D \u68c0\u6d4b\u7b49\u4e0b\u6e38\u4efb\u52a1\u5177\u6709\u663e\u8457\u589e\u76ca\uff0c\u9a8c\u8bc1\u4e86\u751f\u6210\u6570\u636e\u7684\u8bed\u4e49\u4fdd\u771f\u5ea6\u4e0e\u5b9e\u9645\u5e94\u7528\u4ef7\u503c\u3002<\/p>\n\n\n\n<p><strong>\u4e3b\u8981\u8d21\u732e<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u7684\u4e3b\u8981\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7edf\u4e00\u7684\u591a\u6a21\u6001\u751f\u6210\u67b6\u6784\u3002Genesis \u91c7\u7528\u7edf\u4e00\u7684pipeline\uff0c\u89c6\u9891\u548c LiDAR \u5206\u652f\u90fd\u5728\u5171\u4eab\u7684\u6f5c\u5728\u7a7a\u95f4\u5185\u8fd0\u884c\u3002\u89c6\u89c9\u548c\u51e0\u4f55\u901a\u8fc7\u4e00\u79cd\u65b0\u9896\u7684\u8de8\u6a21\u6001\u8c03\u8282\u673a\u5236\u76f4\u63a5\u8026\u5408\uff0c\u5b9e\u73b0\u8de8\u6a21\u6001\u7684\u4e00\u81f4\u65f6\u95f4\u6f14\u53d8\u548c\u51e0\u4f55\u5bf9\u9f50\uff0c\u800c\u65e0\u9700\u4f9d\u8d56occupancy\u6216\u4f53\u7d20\u4e2d\u95f4\u4f53\u3002<\/li>\n\n\n\n<li>\u901a\u8fc7 DataCrafter \u8fdb\u884c\u7ed3\u6784\u5316\u8bed\u4e49\u76d1\u7763\u3002\u4e3a\u4e86\u63d0\u9ad8\u8bed\u4e49\u53ef\u63a7\u6027\uff0c\u672c\u6587\u5f15\u5165\u4e86 DataCrafter\uff0c\u8fd9\u662f\u4e00\u4e2a\u57fa\u4e8e\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u6784\u5efa\u7684caption\u6570\u636e\u5904\u7406\u6a21\u5757\u3002\u5b83\u63d0\u53d6\u591a\u89c6\u56fe\u3001\u573a\u666f\u7ea7\u548c\u5b9e\u4f8b\u7ea7\u63cf\u8ff0\uff0c\u8fd9\u4e9b\u63cf\u8ff0\u878d\u5408\u5230\u5bc6\u96c6\u7684\u8bed\u8a00\u5f15\u5bfc\u5f0f\u5148\u9a8c\u4e2d\u3002\u8fd9\u4e9bcaption\u6570\u636e\u4e3a\u89c6\u9891\u548c LiDAR \u751f\u6210\u5668\u63d0\u4f9b\u4e86\u8be6\u7ec6\u7684\u8bed\u4e49\u6307\u5bfc\uff0c\u4ece\u800c\u4ea7\u751f\u4e0d\u4ec5\u903c\u771f\u800c\u4e14\u53ef\u89e3\u91ca\u548c\u53ef\u63a7\u7684\u8f93\u51fa\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u76f8\u5173\u5de5\u4f5c<\/strong><\/p>\n\n\n\n<p>\u5982\u56fe 1 \u6240\u793a\uff0c\u73b0\u6709\u7684\u9a7e\u9a76\u573a\u666f\u751f\u6210\u65b9\u6cd5\u901a\u5e38\u4fa7\u91cd\u4e8e\u4ee5\u5355\u4e00\u6a21\u6001\u751f\u6210\u6570\u636e\uff0c\u901a\u5e38\u662f RGB \u89c6\u9891\u6216 LiDAR \u70b9\u4e91\u3002\u867d\u7136\u8fd9\u4e9b\u65b9\u6cd5\u663e\u8457\u63a8\u52a8\u4e86\u9a7e\u9a76\u573a\u666f\u751f\u6210\u9886\u57df\u7684\u53d1\u5c55\uff0c\u4f46\u5b83\u4eec\u5ffd\u89c6\u4e86\u591a\u6a21\u6001\u751f\u6210\u7684\u534f\u540c\u6f5c\u529b\uff0c\u5e76\u4e14\u5728\u5c06 RGB \u89c6\u9891\u4e0e\u5404\u79cd\u4f20\u611f\u5668\u6570\u636e\u5bf9\u9f50\u65b9\u9762\u7f3a\u4e4f\u4e00\u81f4\u6027\uff0c\u4ece\u800c\u5bfc\u81f4\u5b9e\u9645\u5e94\u7528\u53d7\u5230\u9650\u5236\u3002\u5176\u4e2d\u8bb8\u591a\u65b9\u6cd5\u4f9d\u8d56\u4e8e\u4ec5\u4ee5\u7c97\u7565\u7a7a\u95f4\u5148\u9a8c\u4e3a\u6761\u4ef6\u7684\u4e00\u6b65\u5f0f\u5e03\u5c40\u5230\u6570\u636e\u7ba1\u9053\uff0c\u4f8b\u5982 BEV map\u6216 3D box\uff0c\u8fd9\u9650\u5236\u4e86\u5b83\u4eec\u6355\u83b7\u590d\u6742\u573a\u666f\u52a8\u6001\u548c\u7ec6\u7c92\u5ea6\u8bed\u4e49\u7684\u80fd\u529b\u3002\u4e3a\u4e86\u5c06\u9a7e\u9a76\u573a\u666f\u751f\u6210\u63a8\u5411\u591a\u6a21\u6001\u9886\u57df\uff0c\u6700\u8fd1\u7684\u5de5\u4f5c\uff0c\u5982 UniScene \u5f15\u5165\u4e86\u7528\u4e8e\u591a\u6a21\u6001\u751f\u6210\u7684\u5360\u7528\u7f51\u683c\uff0c\u4f46\u5176\u89e3\u8026\u8bbe\u8ba1\u548c\u5f31\u8bed\u4e49\u76d1\u7763\u9650\u5236\u4e86\u8de8\u6a21\u6001\u5bf9\u9f50\u548c\u573a\u666f\u4fdd\u771f\u5ea6\u3002\u6b64\u5916\uff0c\u4e0e\u5927\u591a\u6570\u73b0\u6709\u7684\u591a\u6a21\u6001\u751f\u6210\u65b9\u6cd5\u4e00\u6837\uff0c\u76ee\u524d\u7684\u65b9\u6cd5\u901a\u5e38\u4f9d\u8d56\u4e8e\u6709\u9650\u7684\u8bed\u4e49\u76d1\u7763\uff0c\u901a\u5e38\u4ee5\u7c97\u7565\u6807\u7b7e\u6216\u901a\u7528\u6807\u9898\u6a21\u578b\u7684\u5f62\u5f0f\u800c\u6ca1\u6709\u5145\u5206\u5229\u7528\u73b0\u4ee3\u89c6\u89c9\u8bed\u8a00\u6a21\u578b \uff08VLM\uff09 \u7684\u7ec6\u7c92\u5ea6\u63cf\u8ff0\u80fd\u529b\u3002\u8fd9\u79cd\u7f3a\u4e4f\u7ed3\u6784\u5316\u8bed\u4e49\u57fa\u7840\u9650\u5236\u4e86\u751f\u6210\u573a\u666f\u7684\u4fdd\u771f\u5ea6\u3001\u53ef\u63a7\u6027\u548c\u4e0a\u4e0b\u6587\u5bf9\u9f50\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"863\" height=\"270\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-201.png\" alt=\"\" class=\"wp-image-29976\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-201.png 863w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-201-300x94.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-201-768x240.png 768w\" sizes=\"(max-width: 863px) 100vw, 863px\" \/><\/figure>\n\n\n\n<p>\u56fe 1\uff1a\u591a\u6a21\u5f0f\u573a\u666f\u751f\u6210pipeline\u6bd4\u8f83\uff1a\uff08a\uff09 \u7eaf\u89c6\u9891\u751f\u6210\uff0c\uff08b\uff09 \u7eaf LiDAR \u751f\u6210\uff0c\uff08c\uff09 \u57fa\u4e8eOcc\u7684\u53cc\u5206\u652f\u751f\u6210\uff0c\uff08d\uff09 \u672c\u6587\u7684Genesis\u3002<\/p>\n\n\n\n<p><strong>\u5177\u4f53\u5de5\u4f5c<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"863\" height=\"381\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-202.png\" alt=\"\" class=\"wp-image-29977\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-202.png 863w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-202-300x132.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-202-768x339.png 768w\" sizes=\"(max-width: 863px) 100vw, 863px\" \/><\/figure>\n\n\n\n<p>\u56fe2\uff1a\u7528\u4e8e\u8054\u5408\u89c6\u9891\u548c\u6fc0\u5149\u96f7\u8fbe\u751f\u6210\u7684Genesis\u67b6\u6784\u6982\u8ff0\u3002\u53cc\u5206\u652f\u8bbe\u8ba1\u901a\u8fc7\u76f8\u673a\u548c\u6fc0\u5149\u96f7\u8fbe\u8def\u5f84\u5904\u7406\u5171\u4eab\u8bed\u4e49\u6761\u4ef6\uff0c\u4f7f\u7528STDiT\u6a21\u5757\u8fdb\u884c\u65f6\u7a7a\u751f\u6210\uff0c\u5e76\u4f7f\u7528\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7f16\u7801\u5668\u8fdb\u884c\u51e0\u4f55\u5bf9\u9f50\u3002<\/p>\n\n\n\n<p><strong>DataCrafter \u6a21\u5757<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"863\" height=\"239\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-203.png\" alt=\"\" class=\"wp-image-29978\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-203.png 863w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-203-300x83.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-203-768x213.png 768w\" sizes=\"(max-width: 863px) 100vw, 863px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"672\" height=\"477\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/061701.png\" alt=\"\" class=\"wp-image-29979\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061701.png 672w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061701-300x213.png 300w\" sizes=\"(max-width: 672px) 100vw, 672px\" \/><\/figure>\n\n\n\n<p><strong>\u89c6\u9891\u751f\u6210\u6a21\u578b<\/strong><\/p>\n\n\n\n<p>\u5982\u56fe2\u4e2dcamera_branch\uff0c\u89c6\u9891\u751f\u6210\u6a21\u5757\u81f4\u529b\u4e8e\u5b9e\u73b0\u591a\u89c6\u89d2\u89c6\u9891\u7684\u8fde\u8d2f\u751f\u6210\uff0c\u5176\u6838\u5fc3\u662f\u5728\u57fa\u4e8eDiT\u7684\u6269\u6563\u4e3b\u5e72\u7f51\u7edc\u57fa\u7840\u4e0a\uff0c\u901a\u8fc7\u5f15\u51653D\u611f\u77e5\u6f5c\u5728\u7f16\u7801\u548c\u573a\u666f\u7ea7\u5148\u9a8c\u6761\u4ef6\u6765\u4fdd\u969c\u7a7a\u95f4\u5bf9\u9f50\u3001\u65f6\u95f4\u4e00\u81f4\u6027\u4e0e\u8bed\u4e49\u4fdd\u771f\u5ea6\u3002\u5177\u4f53\u800c\u8a00\uff0c\u9996\u5148\u6784\u5efa\u5305\u542b\u8f66\u9053\u6bb5\u3001\u4eba\u4f53\u59ff\u6001\u5173\u952e\u70b9\u548c3D\u8f66\u8f86\u8fb9\u754c\u6846\u7684\u7ed3\u6784\u5316BEV\u5e03\u5c40\uff0c\u5c06\u5176\u6295\u5f71\u5230\u5404\u89c6\u89d22D\u56fe\u50cf\u5e73\u9762\u5f62\u6210\u8bed\u4e49\u63a7\u5236\u56fe\uff0c\u518d\u901a\u8fc7Control-DiT\u6a21\u5757\u7684\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\u5728\u6bcf\u4e2a\u53bb\u566a\u65f6\u95f4\u6b65\u878d\u5165\u8fd9\u4e9b\u7ed3\u6784\u5316\u5148\u9a8c\uff0c\u5b9e\u73b0\u5bf9\u751f\u6210\u8fc7\u7a0b\u7684\u5f15\u5bfc\u3002\u540c\u65f6\uff0c\u5229\u7528YOLOv8x-Pose\u68c0\u6d4b\u884c\u4eba\u59ff\u6001\u5e76\u6295\u5f71\u5230\u5404\u89c6\u89d2\uff0c\u4ee5\u6b64\u589e\u5f3a\u52a8\u6001\u573a\u666f\u7684\u8bed\u4e49\u8868\u8fbe\u3002\u5728\u6f5c\u5728\u7f16\u7801\u65b9\u9762\uff0c\u501f\u52a93D\u53d8\u5206\u81ea\u7f16\u7801\u5668\u5c06\u591a\u5e27BEV\u8349\u56fe\u538b\u7f29\u4e3a\u6f5c\u5728\u8868\u793a\uff0c\u89e3\u7801\u5668\u4ece\u53bb\u566a\u8bcd\u5143\u4e2d\u91cd\u5efaBEV\u8bed\u4e49\uff0c\u901a\u8fc7\u4ea4\u53c9\u71b5\u635f\u5931\u3001KL\u6563\u5ea6\u548cLovasz\u635f\u5931\u7684\u8054\u5408\u4f18\u5316\uff0c\u786e\u4fdd\u8bed\u4e49\u4fe1\u606f\u7684\u51c6\u786e\u6355\u6349\u3002\u6b64\u5916\uff0c\u901a\u8fc7DataCrafter\u6a21\u5757\u751f\u6210\u7684\u573a\u666f\u63cf\u8ff0\u7ecfT5\u7f16\u7801\u5668\u5904\u7406\u4e3a\u6587\u672c\u5d4c\u5165\uff0c\u4e0eBEV\u8349\u56fe\u7f16\u7801\u540e\u7684\u7279\u5f81\u5171\u540c\u4f5c\u4e3a\u6761\u4ef6\u8f93\u5165DiT\u5757\uff0c\u901a\u8fc7\u4ea4\u53c9\u6ce8\u610f\u529b\u5b9e\u73b0\u9ad8\u5c42\u8bed\u4e49\u5bf9\u751f\u6210\u7684\u8c03\u5236\u3002\u6700\u540e\uff0c\u6a21\u5757\u96c6\u6210\u7684\u8bed\u4e49\u5bf9\u9f50\u63a7\u5236Transformer\u901a\u8fc7\u63a7\u5236\u6ce8\u610f\u529b\u5c06\u8bed\u4e49\u7279\u5f81\u6ce8\u5165\u6269\u6563\u5757\u65e9\u671f\u9636\u6bb5\uff0c\u5e76\u7ed3\u5408\u7a7a\u95f4\u81ea\u6ce8\u610f\u529b\u3001\u8de8\u89c6\u89d2\u6ce8\u610f\u529b\u548c\u65f6\u95f4\u6ce8\u610f\u529b\u673a\u5236\uff0c\u5168\u9762\u4fdd\u969c\u591a\u89c6\u89d2\u89c6\u9891\u751f\u6210\u7684\u65f6\u7a7a\u8fde\u8d2f\u6027\u4e0e\u8bed\u4e49\u4fdd\u771f\u5ea6\u3002<\/p>\n\n\n\n<p><strong>\u6fc0\u5149\u96f7\u8fbe\u751f\u6210\u6a21\u578b<\/strong><\/p>\n\n\n\n<p>\u5982\u56fe2\u4e2dlidar_branch\uff0c\u6fc0\u5149\u96f7\u8fbe\u751f\u6210\u6a21\u5757\u81f4\u529b\u4e8e\u751f\u6210\u51e0\u4f55\u7cbe\u786e\u4e14\u65f6\u7a7a\u8fde\u8d2f\u7684\u70b9\u4e91\u5e8f\u5217\uff0c\u901a\u8fc7\u70b9\u4e91\u81ea\u52a8\u7f16\u7801\u5668\u4e0e\u65f6\u7a7a\u6269\u6563\u6a21\u5757\u7684\u534f\u540c\u8bbe\u8ba1\uff0c\u7ed3\u5408\u8de8\u6a21\u6001\u8bed\u4e49\u6761\u4ef6\u5b9e\u73b0\u591a\u4f20\u611f\u5668\u6570\u636e\u7684\u4e00\u81f4\u6027\u751f\u6210\u3002\u5176\u6838\u5fc3\u67b6\u6784\u5982\u4e0b\uff1a\u9996\u5148\uff0c\u70b9\u4e91\u81ea\u52a8\u7f16\u7801\u5668\u5c06\u7a00\u758f\u70b9\u4e91\u4f53\u7d20\u5316\u4e3aBEV\u7f51\u683c\uff0c\u5229\u7528Swin Transformer\u9aa8\u5e72\u7f51\u7edc\u538b\u7f29\u4e3a\u6f5c\u5728\u7279\u5f81\uff0c\u518d\u901a\u8fc7Swin\u89e3\u7801\u5668\u4e0eNeRF\u6e32\u67d3\u6a21\u5757\u91cd\u5efa\u70b9\u4e91\uff0c\u8fc7\u7a0b\u4e2d\u91c7\u7528\u7a7a\u95f4\u8df3\u8dc3\u7b97\u6cd5\u51cf\u5c11\u7a7a\u7f51\u683c\u8bef\u5dee\uff0c\u5e76\u901a\u8fc7\u6df1\u5ea6L1\u635f\u5931\u3001\u5360\u7528\u635f\u5931\u548c\u8868\u9762\u6b63\u5219\u5316\u635f\u5931\u4f18\u5316\u8bad\u7ec3\uff0c\u540c\u65f6\u5f15\u5165\u540e\u5904\u7406\u8fc7\u6ee4\u566a\u58f0\u70b9\u3002\u65f6\u7a7a\u6269\u6563\u6a21\u5757\u4ee5\u81ea\u52a8\u7f16\u7801\u5668\u7684\u6f5c\u5728\u7279\u5f81\u4e3a\u57fa\u7840\uff0c\u91c7\u7528\u53ccDiT\u7f51\u7edc\u7ed3\u5408ControlNet\u67b6\u6784\uff0c\u96c6\u6210\u573a\u666f\u63cf\u8ff0\u3001\u9053\u8def\u8349\u56fe\u7b49\u8bed\u4e49\u6761\u4ef6\uff0c\u4ee5\u53ca3D\u8fb9\u754c\u6846\u51e0\u4f55\u6761\u4ef6\uff1b\u4e3a\u4fdd\u8bc1\u8de8\u6a21\u6001\u4e00\u81f4\uff0c\u901a\u8fc7LSS\u7b97\u6cd5\u5c06\u89c6\u9891\u5206\u652f\u7684RGB\u56fe\u50cf\u8f6c\u4e3aBEV\u7279\u5f81\uff0c\u4e0e\u9053\u8def\u8349\u56fe\u7279\u5f81\u62fc\u63a5\u540e\u8f93\u5165ControlNet\u3002\u6269\u6563\u8fc7\u7a0b\u4e2d\uff0c\u6f5c\u5728\u8bcd\u5143\u901a\u8fc7\u4ea4\u53c9\u6ce8\u610f\u529b\u878d\u5408\u8bed\u4e49\u4e0e\u51e0\u4f55\u5d4c\u5165\uff0c\u5e76\u5229\u7528STDiT-Block-L\u7684\u591a\u5934\u81ea\u6ce8\u610f\u529b\u673a\u5236\u7ef4\u6301\u65f6\u95f4\u5e8f\u5217\u7684\u51e0\u4f55\u8fde\u8d2f\u6027\uff0c\u6574\u4f53\u91c7\u7528\u6574\u6d41\u6d41\u8c03\u5ea6\u63d0\u5347\u751f\u6210\u8d28\u91cf\u3002\u8be5\u6a21\u5757\u901a\u8fc7BEV\u7279\u5f81\u538b\u7f29\u4e0eNeRF\u6e32\u67d3\u89e3\u51b3\u70b9\u4e91\u7a00\u758f\u6027\u95ee\u9898\uff0c\u501f\u52a9\u8de8\u6a21\u6001\u6761\u4ef6\u5b9e\u73b0\u89c6\u89c9\u4e0e\u51e0\u4f55\u6a21\u6001\u7684\u7a7a\u95f4\u5bf9\u9f50\uff0c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u591a\u4f20\u611f\u5668\u6570\u636e\u751f\u6210\u63d0\u4f9b\u4e86\u517c\u987e\u51e0\u4f55\u7cbe\u786e\u6027\u4e0e\u8bed\u4e49\u4e00\u81f4\u6027\u7684\u89e3\u51b3\u65b9\u6848\u3002<\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p><strong>\u89c6\u9891\u751f\u6210\u7ed3\u679c<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"863\" height=\"292\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-204.png\" alt=\"\" class=\"wp-image-29980\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-204.png 863w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-204-300x102.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-204-768x260.png 768w\" sizes=\"(max-width: 863px) 100vw, 863px\" \/><\/figure>\n\n\n\n<p>\u5728\u65e0\u9996\u5e27\u6761\u4ef6\u8bbe\u5b9a\u4e0b\uff0c\u672c\u6587\u7684\u65b9\u6cd5\u5b9e\u73b0\u4e8683.10\u7684\u591a\u5e27FVD\u548c14.90\u7684\u591a\u5e27FID\uff0c\u4f18\u4e8eDriveDreamer-2\u3001MagicDrive-V2\u548cDrive-WM\u7b49\u5148\u524d\u7684\u5de5\u4f5c\u3002\u5728\u6709\u9996\u5e27\u6761\u4ef6\u8bbe\u5b9a\u4e0b\uff0c\u672c\u6587\u7684\u65b9\u6cd5\u8fdb\u4e00\u6b65\u63d0\u5347\u81f316.95\u7684FVD\u548c4.24\u7684FID\uff0c\u4e0eMiLA \u76f8\u6bd4\u5c55\u73b0\u51fa\u5177\u6709\u7ade\u4e89\u529b\u7684\u7ed3\u679c\uff0c\u540c\u65f6\u4fdd\u6301\u4e86\u65f6\u95f4\u4e00\u81f4\u6027\u548c\u7ed3\u6784\u4fdd\u771f\u5ea6\u3002\u5728\u566a\u58f0\u6f5c\u5728\u8bbe\u5b9a\u4e0b\uff0c\u57286019\u4e2a\u6837\u672c\u4e0a\u5b9e\u73b0\u4e8667.87\u7684FVD\u548c6.45\u7684FID\uff0c\u8d85\u8fc7\u4e86UniScene\u62a5\u544a\u7684\u5148\u524d\u6700\u4f73\u7ed3\u679c\u3002<\/p>\n\n\n\n<p><strong>LiDAR \u751f\u6210\u7ed3\u679c<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"863\" height=\"278\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-205.png\" alt=\"\" class=\"wp-image-29981\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-205.png 863w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-205-300x97.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-205-768x247.png 768w\" sizes=\"(max-width: 863px) 100vw, 863px\" \/><\/figure>\n\n\n\n<p>\u88682\u62a5\u544a\u4e86\u5148\u524d\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\u4e0e\u672c\u6587\u63d0\u51fa\u7684Genesis\u6846\u67b6\u5728\u6fc0\u5149\u96f7\u8fbe\u5e8f\u5217\u751f\u6210\u6027\u80fd\u65b9\u9762\u7684\u5b9a\u91cf\u6bd4\u8f83\u3002\u8bc4\u4f30\u9075\u5faaHERMES \u7684\u8bbe\u5b9a\u8fdb\u884c\uff0c\u5728\u6c34\u5e73\u9762[\u221251.2, 51.2]\u7c73\u4ee5\u53ca\u9ad8\u5ea6[\u22123, 5]\u7c73\u7684\u7a7a\u95f4\u8303\u56f4\u5185\uff0c\u4f7f\u7528 Chamfer distance\u4f5c\u4e3a\u4e3b\u8981\u6307\u6807\u3002\u5728\u77ed\u671f\u548c\u957f\u671f\u9884\u6d4b\u65b9\u9762\uff0cGenesis\u59cb\u7ec8\u4f18\u4e8e\u73b0\u6709\u65b9\u6cd5\u3002\u5728\u9884\u6d4b\u65f6\u957f\u4e3a1\u79d2\u65f6\uff0c\u5b83\u7684 Chamfer distance\u8fbe\u52300.611\uff0c\u6bd4\u4e4b\u524d\u7684\u6700\u4f73\u503c\uff08HERMES \u76840.78\uff09\u9ad8\u51fa21%\u3002\u5728\u9884\u6d4b\u65f6\u957f\u4e3a3\u79d2\u65f6\uff0c\u4f18\u52bf\u6269\u5927\u5230\u76f8\u5bf9\u51cf\u5c1145%\uff08\u4ece1.17\u964d\u81f30.633\uff09\u3002<\/p>\n\n\n\n<p><strong>\u4e0b\u6e38\u4efb\u52a1\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"863\" height=\"239\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-206.png\" alt=\"\" class=\"wp-image-29982\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-206.png 863w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-206-300x83.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-206-768x213.png 768w\" sizes=\"(max-width: 863px) 100vw, 863px\" \/><\/figure>\n\n\n\n<p>\u672c\u6587\u7684\u65b9\u6cd5\u5728\u591a\u4e2a\u4e0b\u6e38\u611f\u77e5\u4efb\u52a1\u4e0a\u8bc4\u4f30\u4e86\u751f\u6210\u6570\u636e\u7684\u6548\u7528\u3002\u5982\u88685\u6240\u793a\uff0c\u672c\u6587\u7684\u65b9\u6cd5\u5728BEVFormer 3D\u76ee\u6807\u68c0\u6d4b\u4e2d\u53d6\u5f97\u4e86\u6700\u4f73\u7684\u5e73\u5747\u4ea4\u5e76\u6bd4\uff0838.01\uff09\u548c\u5e73\u5747\u7cbe\u5ea6\u5747\u503c\uff0827.90\uff09\u3002\u5982\u8868 6 \u6240\u793a\uff0c\u672c\u6587\u8bc4\u4f30\u4e86\u751f\u6210\u6570\u636e\u5728 BEVFusion 3D\u76ee\u6807\u68c0\u6d4b\u6846\u67b6\u4e0a\u7684\u6709\u6548\u6027\u3002\u5728\u6240\u6709\u8bbe\u7f6e\u4e2d\uff0c\u672c\u6587\u7684\u65b9\u6cd5\u90fd\u53d6\u5f97\u4e86\u4e00\u81f4\u7684\u6539\u8fdb\uff0cmAP \u4ece 66.87 \u63d0\u9ad8\u5230 67.78\uff0cNDS\u4ece 69.65 \u63d0\u9ad8\u5230 71.13\u3002\u6444\u50cf\u5934\u548c\u6fc0\u5149\u96f7\u8fbe\u6a21\u6001\u7684\u8054\u5408\u751f\u6210\u5b9e\u73b0\u4e86\u7684\u6700\u9ad8\u589e\u76ca\uff08+0.91 mAP \/ +1.48 NDS\uff09\uff0c\u8bc1\u660e\u4e86\u591a\u6a21\u6001\u751f\u6210\u7684\u4e92\u8865\u4f18\u52bf\u3002<\/p>\n\n\n\n<p><strong>\u5b9a\u6027\u7ed3\u679c<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"863\" height=\"213\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-207.png\" alt=\"\" class=\"wp-image-29983\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-207.png 863w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-207-300x74.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-207-768x190.png 768w\" sizes=\"(max-width: 863px) 100vw, 863px\" \/><\/figure>\n\n\n\n<p>\u56fe4\uff1aLiDAR \u548c\u591a\u89c6\u89d2\u89c6\u9891\u7684\u8054\u5408\u751f\u6210\u3002\u4ee5\u8def\u53e3\u5e03\u5c40\u4e3a\u6761\u4ef6\uff0c\u751f\u6210\u7a7a\u95f4\u5bf9\u9f50\u7684\u6fc0\u5149\u96f7\u8fbe\u548c\u6444\u50cf\u673a\u89c6\u56fe\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"519\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-208-1024x519.png\" alt=\"\" class=\"wp-image-29984\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-208-1024x519.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-208-300x152.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-208-768x389.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-208.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe5\uff1a\u89c6\u9891\u751f\u6210\u7684\u5b9a\u6027\u6bd4\u8f83\u3002\u4ece\u4e0a\u5230\u4e0b\uff1a(1) GT\uff0c(2) Road Sketch\uff0c(3) Panacea\uff0c(4) MagicDrive\uff0c(5) Ours\u3002<\/p>\n\n\n\n<p>Panacea\u5b58\u5728\u5e7b\u89c9\u7eb9\u7406\u548c\u51e0\u4f55\u5bf9\u9f50\u9519\u8bef\u7684\u95ee\u9898\u3002MagicDrive\u51fa\u73b0\u8f66\u8f86\u53d8\u5f62\u548c\u7ed3\u6784\u635f\u574f\u7684\u60c5\u51b5\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u672c\u6587\u7684\u65b9\u6cd5\u4fdd\u7559\u4e86\u51c6\u786e\u7684\u5e03\u5c40\u3001\u7269\u4f53\u5f62\u72b6\u548c\u80cc\u666f\u5b8c\u6574\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"863\" height=\"458\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-209.png\" alt=\"\" class=\"wp-image-29985\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-209.png 863w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-209-300x159.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-209-768x408.png 768w\" sizes=\"(max-width: 863px) 100vw, 863px\" \/><\/figure>\n\n\n\n<p>\u56fe6\uff1a\u663c\u591c\u7684\u53ef\u63a7\u751f\u6210\u3002\u901a\u8fc7\u6539\u53d8\u573a\u666f\u7ea7\u6761\u4ef6\uff0c\u672c\u6587\u7684\u65b9\u6cd5\u53ef\u4ee5\u751f\u6210\u4e0e\u540c\u4e00\u57fa\u7840\u5730\u56fe\u548c\u7269\u4f53\u5e03\u5c40\u5bf9\u9f50\u7684\u4e00\u81f4\u591a\u89c6\u56fe\u89c6\u9891\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"863\" height=\"278\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-210.png\" 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