{"id":30727,"date":"2025-07-09T17:31:47","date_gmt":"2025-07-09T09:31:47","guid":{"rendered":"http:\/\/192.168.10.115\/?p=30727"},"modified":"2025-07-09T17:31:47","modified_gmt":"2025-07-09T09:31:47","slug":"2025-07-09-%e4%b8%8a%e6%b5%b7%e6%9c%9f%e6%99%ba%e6%b8%85%e5%8d%8e%ef%bc%81bev-vae%ef%bc%9a%e9%a6%96%e4%b8%aa%e8%87%aa%e7%9b%91%e7%9d%a3bev%e8%a7%86%e8%a7%92%e7%9a%84vae%ef%bc%8c%e4%bb%8e%e5%9b%be","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/07\/09\/30727\/","title":{"rendered":"2025-07-09 \u4e0a\u6d77\u671f\u667a&amp;\u6e05\u534e\uff01BEV-VAE\uff1a\u9996\u4e2a\u81ea\u76d1\u7763BEV\u89c6\u89d2\u7684VAE\uff0c\u4ece\u56fe\u50cf\u5230\u573a\u666f\u751f\u6210\u8dc3\u8fc1~"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1926041921953969268\">https:\/\/zhuanlan.zhihu.com\/p\/1926041921953969268<\/a><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u94fe\u63a5: <a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2507.00707\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2507.00707<\/a><\/li>\n\n\n\n<li>\u4ee3\u7801\u4ed3\u5e93 (Github): <a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/github.com\/Czm369\/bev-vae\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/github.com\/Czm369\/bev-vae<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-51fa8404b94bd3fb3ea071d9981a21c5_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1926041921953969268_0\">\u6458\u8981<\/h2>\n\n\n\n<p>\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\uff0c\u591a\u89c6\u89d2\u56fe\u50cf\u751f\u6210\u4efb\u52a1\u9700\u8981\u5728\u4e0d\u540c\u76f8\u673a\u89c6\u89d2\u4e0b\u5b9e\u73b0\u5bf9\u4e09\u7ef4\u573a\u666f\u7684\u4e00\u81f4\u7406\u89e3\u3002\u7136\u800c\uff0c\u5927\u591a\u6570\u73b0\u6709\u65b9\u6cd5\u5c06\u5176\u7b80\u5316\u4e3a\u4e8c\u7ef4\u56fe\u50cf\u96c6\u5408\u7684\u751f\u6210\u95ee\u9898\uff0c\u7f3a\u4e4f\u5bf9\u4e09\u7ef4\u7ed3\u6784\u7684\u663e\u5f0f\u5efa\u6a21\u3002\u6211\u4eec\u8ba4\u4e3a\uff0c\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u7684\u751f\u6210\u4efb\u52a1\uff0c\u7ed3\u6784\u5316\u8868\u793a\u81f3\u5173\u91cd\u8981\u3002\u4e3a\u6b64\uff0c\u672c\u6587\u63d0\u51fa BEV-VAE \u65b9\u6cd5\uff0c\u5b9e\u73b0\u5177\u6709\u7a7a\u95f4\u4e00\u81f4\u6027\u4e0e\u53ef\u63a7\u6027\u7684\u591a\u89c6\u89d2\u56fe\u50cf\u751f\u6210\u3002BEV-VAE \u9996\u5148\u8bad\u7ec3\u4e00\u4e2a\u591a\u89c6\u89d2\u56fe\u50cf\u7684\u53d8\u5206\u81ea\u7f16\u7801\u5668\uff08VAE\uff09\uff0c\u4ee5\u5b66\u4e60\u4e00\u4e2a\u7d27\u51d1\u4e14\u7edf\u4e00\u7684\u9e1f\u77b0\u89c6\u89d2\uff08BEV\uff09\u9690\u53d8\u91cf\u7a7a\u95f4\uff1b\u968f\u540e\uff0c\u5728\u8be5\u9690\u53d8\u91cf\u7a7a\u95f4\u4e2d\u8bad\u7ec3 Diffusion Transformer\uff0c\u7528\u4e8e\u751f\u6210\u7a7a\u95f4\u4e00\u81f4\u7684\u591a\u89c6\u89d2\u56fe\u50cf\u3002BEV-VAE \u652f\u6301\u6839\u636e\u4efb\u610f\u76f8\u673a\u914d\u7f6e\u751f\u6210\u5bf9\u5e94\u89c6\u89d2\u7684\u56fe\u50cf\uff0c\u5e76\u7ed3\u5408\u4e09\u7ef4\u5e03\u5c40\u4fe1\u606f\u8fdb\u884c\u63a7\u5236\u3002\u5728 <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=260077834&amp;content_type=Article&amp;match_order=1&amp;q=nuScenes&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">nuScenes<\/a> \u548c <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=260077834&amp;content_type=Article&amp;match_order=1&amp;q=Argoverse+2&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Argoverse 2<\/a><\/p>\n\n\n\n<p>\uff08AV2\uff09\u6570\u636e\u96c6\u4e0a\u7684\u5b9e\u9a8c\u8868\u660e\uff0cBEV-VAE \u5728\u591a\u89c6\u89d2\u56fe\u50cf\u7684\u91cd\u5efa\u4e0e\u751f\u6210\u4efb\u52a1\u4e2d\u5747\u5177\u5907\u4f18\u5f02\u6027\u80fd\u3002<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p><strong>\u539f\u6587\u94fe\u63a5\uff1a<\/strong><a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/mp.weixin.qq.com\/s\/U2h-r2_XMwrTxoPY6-zFwQ\" target=\"_blank\" rel=\"noreferrer noopener\">\u4e0a\u6d77\u671f\u667a&amp;\u6e05\u534e\uff01BEV-VAE\uff1a\u9996\u4e2a\u81ea\u76d1\u7763BEV\u89c6\u89d2\u7684VAE\uff0c\u4ece\u56fe\u50cf\u5230\u573a\u666f\u751f\u6210\u8dc3\u8fc1~<\/a><\/p>\n<\/blockquote>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1926041921953969268_1\">\u52a8\u673a<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1926041921953969268_2\">1. \u4e00\u6b21\u6027\u6570\u636e\u91c7\u96c6 vs. \u53ef\u63a7\u573a\u666f\u751f\u6210<\/h3>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u91c7\u96c6\u5230\u7684\u6570\u636e\u90fd\u662f\u4e00\u6b21\u6027\u7684\u3001\u4e0d\u53ef\u63a7\u7684\uff0c\u8fd9\u8ba9\u6211\u4eec\u5f88\u96be\u7814\u7a76\u201c\u5982\u679c\u573a\u666f\u7a0d\u6709\u4e0d\u540c\uff0c\u8f66\u8f86\u4f1a\u600e\u4e48\u5f00\u201d\u3002\u6bd4\u5982\uff0c\u628a\u8def\u8fb9\u505c\u7740\u7684\u8f66\u4ece\u56fe\u50cf\u91cc\u53bb\u6389\uff0c\u53ef\u80fd\u5bf9\u9a7e\u9a76\u884c\u4e3a\u6ca1\u4ec0\u4e48\u5f71\u54cd\uff1b\u4f46\u5982\u679c\u53bb\u6389\u6b63\u524d\u65b9\u6162\u6162\u5f00\u7684\u8f66\uff0c\u7cfb\u7edf\u7684\u51b3\u7b56\u53ef\u80fd\u5c31\u5b8c\u5168\u53d8\u4e86\u3002\u53ef\u60dc\u7684\u662f\uff0c\u5728\u73b0\u5b9e\u4e2d\u6211\u4eec\u6ca1\u529e\u6cd5\u5bf9\u540c\u4e00\u4e2a\u573a\u666f\u91c7\u5f88\u591a\u4e2a\u201c\u7a0d\u5fae\u4e0d\u540c\u7248\u672c\u201d\u7684\u6570\u636e\uff0c\u8fd9\u8ba9\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u5728\u5b66\u4e60\u8fd9\u7c7b\u5fae\u5999\u5dee\u5f02\u65f6\u5f88\u5403\u529b\u3002\u800c\u751f\u6210\u6a21\u578b\u6b63\u597d\u80fd\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\u2014\u2014\u5728\u4e0d\u6539\u53d8\u6574\u4f53\u573a\u666f\u7684\u60c5\u51b5\u4e0b\uff0c\u4f4e\u6210\u672c\u5730\u4fee\u6539\u5c40\u90e8\u5185\u5bb9\uff0c\u6bd4\u5982\u79fb\u9664\u6216\u6dfb\u52a0\u4e00\u8f86\u8f66\uff0c\u4ece\u800c\u5e2e\u52a9\u6a21\u578b\u66f4\u9ad8\u6548\u5730\u5b66\u4e60\u5404\u79cd\u9a7e\u9a76\u7b56\u7565\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1926041921953969268_3\">2. \u56fe\u50cf\u4e3a\u5355\u4f4d vs. \u573a\u666f\u4e3a\u5355\u4f4d<\/h3>\n\n\n\n<p>\u591a\u89c6\u89d2\u56fe\u50cf\u672c\u8d28\u4e0a\u662f\u5bf9\u540c\u4e00\u4e2a\u573a\u666f\u7684\u4e0d\u540c\u89c6\u89d2\u89c2\u5bdf\u2014\u2014\u4e0d\u7ba1\u76f8\u673a\u6709\u51e0\u4e2a\uff0c\u653e\u5728\u54ea\u513f\uff0c\u5b83\u4eec\u63cf\u8ff0\u7684\u90fd\u662f\u540c\u4e00\u4e2a\u4e09\u7ef4\u4e16\u754c\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u8ba4\u4e3a\u751f\u6210\u6a21\u578b\u7684\u8bad\u7ec3\u5355\u4f4d\u5e94\u8be5\u662f\u201c\u573a\u666f\u201d\uff0c\u800c\u4e0d\u662f\u201c\u56fe\u50cf\u201d\u3002\u7136\u800c\uff0c\u73b0\u6709\u7684\u4e16\u754c\u6a21\u578b\u5927\u591a\u4ecd\u5728\u56fe\u50cf\u7684\u9690\u7a7a\u95f4\u91cc\u5efa\u6a21\uff0c\u4e0d\u4ec5\u8981\u5904\u7406\u89c6\u89d2\u4e4b\u95f4\u7684\u7a7a\u95f4\u5bf9\u5e94\u5173\u7cfb\uff0c\u8fd8\u8981\u540c\u65f6\u5efa\u6a21\u65f6\u95f4\u7ef4\u5ea6\u4e0a\u7684\u81ea\u8f66\u8fd0\u52a8\uff0c\u4ee5\u53ca\u4e0d\u540c\u4ea4\u901a\u53c2\u4e0e\u8005\u4e4b\u95f4\u7684\u52a8\u6001\u4ea4\u4e92\u3002\u591a\u4e2a\u4efb\u52a1\u8026\u5408\u5728\u4e00\u8d77\uff0c\u5bfc\u81f4\u8bad\u7ec3\u76ee\u6807\u6a21\u7cca\uff0c\u6a21\u578b\u96be\u4ee5\u6cdb\u5316\u3002\u66f4\u9ebb\u70e6\u7684\u662f\uff0c\u4e0d\u540c\u8f66\u8f86\u642d\u8f7d\u7684\u76f8\u673a\u6570\u91cf\u548c\u4f4d\u7f6e\u5404\u4e0d\u76f8\u540c\uff0c\u5bfc\u81f4\u8bad\u7ec3\u597d\u7684\u6a21\u578b\u5f88\u96be\u8fc1\u79fb\u5230\u53e6\u4e00\u5957\u611f\u77e5\u7cfb\u7edf\u4e0a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-76104e8436007e3f7715451e01188cc5_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe1. \u4e24\u79cd\u591a\u89c6\u89d2\u56fe\u50cf\u751f\u6210\u8303\u5f0f\u5bf9\u6bd4\u3002<\/p>\n\n\n\n<p>(a) \u56fe\u50cf\u9690\u7a7a\u95f4\u751f\u6210\u4f9d\u8d56\u4e8e\u4e09\u7ef4\u7269\u4f53\u7684\u4e8c\u7ef4\u6295\u5f71\u4e3a\u6761\u4ef6\u6765\u6307\u5bfc\u56fe\u50cf\u9690\u53d8\u91cf\u7684\u751f\u6210\uff0c\u901a\u8fc7\u4ea4\u53c9\u89c6\u56fe\u6ce8\u610f\u529b\u673a\u5236\u4fdd\u8bc1\u7a7a\u95f4\u4e00\u81f4\u6027\u3002<br>(b) BEV \u9690\u7a7a\u95f4\u751f\u6210\u4ee53D\u5360\u7528\u4e3a\u6761\u4ef6\u6765\u6307\u5bfc BEV \u9690\u53d8\u91cf\u7684\u751f\u6210\uff0c\u6240\u6709\u89c6\u89d2\u7684\u56fe\u50cf\u90fd\u4ece\u540c\u4e00\u4e2aBEV\u9690\u53d8\u91cf\u4e2d\u89e3\u7801\uff0c\u81ea\u7136\u5730\u4fdd\u6301\u7a7a\u95f4\u4e00\u81f4\u6027\uff0c\u5e76\u4e14\u53ef\u4ee5\u901a\u8fc7\u8c03\u6574\u76f8\u673a\u59ff\u52bf\u5b9e\u73b0\u65b0\u89c6\u89d2\u56fe\u50cf\u7684\u751f\u6210\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1926041921953969268_4\">\u6846\u67b6\u8bbe\u8ba1<\/h2>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"669\" height=\"214\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/070901.png\" alt=\"\" class=\"wp-image-30728\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/070901.png 669w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/070901-300x96.png 300w\" sizes=\"(max-width: 669px) 100vw, 669px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"352\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-141-1024x352.png\" alt=\"\" class=\"wp-image-30729\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-141-1024x352.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-141-300x103.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-141-768x264.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-141.png 1440w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe2. BEV-VAE \u603b\u4f53\u67b6\u6784\u5305\u542b\u4e24\u4e2a\u9636\u6bb5\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u81ea\u76d1\u7763\u8bad\u7ec3\u9636\u6bb5\uff08Stage 1\uff09\uff1a\u591a\u89c6\u89d2\u56fe\u50cf\u901a\u8fc7\u7f16\u7801\u5668\u6620\u5c04\u4e3a\u7ed3\u6784\u5316\u7684 BEV \u9690\u53d8\u91cf\uff0c\u518d\u89e3\u7801\u56de\u539f\u89c6\u89d2\u7684\u56fe\u50cf\uff0c\u4fdd\u8bc1\u7a7a\u95f4\u4e00\u81f4\u6027\u4e0e\u8bed\u4e49\u5b8c\u6574\u6027\uff1b<\/li>\n\n\n\n<li>\u6269\u6563\u751f\u6210\u9636\u6bb5\uff08Stage 2\uff09\uff1a\u4f7f\u7528 DiT \u6a21\u578b\u5728 BEV \u9690\u53d8\u91cf\u7a7a\u95f4\u4e2d\u5efa\u6a21\u566a\u58f0\uff0c\u901a\u8fc7Classifier-Free Guidance \u751f\u6210 BEV \u9690\u53d8\u91cf\uff0c\u518d\u89e3\u7801\u4e3a\u591a\u89c6\u89d2\u56fe\u50cf\uff0c\u53ef\u4ee5\u5b9e\u73b0\u4efb\u610f\u76f8\u673a\u914d\u7f6e\u4e0b\u7684\u591a\u89c6\u89d2\u56fe\u50cf\u7684\u751f\u6210\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1926041921953969268_5\">\u591a\u89c6\u89d2\u91cd\u5efa\u4e0e\u65b0\u89c6\u89d2\u5408\u6210<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1926041921953969268_6\">\u591a\u89c6\u89d2\u56fe\u50cf\u91cd\u5efa<\/h3>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"647\" height=\"115\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/070902.png\" alt=\"\" class=\"wp-image-30730\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/070902.png 647w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/070902-300x53.png 300w\" sizes=\"(max-width: 647px) 100vw, 647px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-7de0b6b25f7c776beab7c6cd4b6509c0_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5728AV2 \u6570\u636e\u96c6\u4e0a\u7684\u4e0d\u540c\u9690\u53d8\u91cf\u7ef4\u5ea6\u4e0b\u7684\u591a\u89c6\u89d2\u56fe\u50cf\u91cd\u5efa\u7684\u5bf9\u6bd4\u3002\u7b2c1\u884c\u4e3a\u9a8c\u8bc1\u56fe\u50cf\uff0c\u7b2c2-5\u884c\u4e3a\u9690\u53d8\u91cf\u7ef4\u6570\u4e3a4\u30018\u300116\u300132\u7684\u91cd\u6784\u56fe\u50cf\u3002\u5728\u66f4\u9ad8\u7684\u7ef4\u5ea6\u4e0b\uff0c\u91cd\u5efa\u56fe\u50cf\u80fd\u66f4\u51c6\u786e\u5730\u8fd8\u539f\u7ec6\u8282\uff0c\u4f8b\u5982\u767d\u8272\u6846\u4e2d\u7684\u4e95\u76d6\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1926041921953969268_7\">\u65b0\u89c6\u89d2\u56fe\u50cf\u751f\u6210<\/h3>\n\n\n\n<p>\u901a\u8fc7\u4ec5\u65cb\u8f6c\u76f8\u673a\u59ff\u6001\u5373\u53ef\u5728BEV\u9690\u7a7a\u95f4\u4e2d\u5b9e\u73b0\u65b0\u89c6\u89d2\u56fe\u50cf\u751f\u6210\uff0c\u65e0\u9700\u91cd\u65b0\u5efa\u6a21\u6216\u989d\u5916\u8bad\u7ec3\uff0c\u9a8c\u8bc1\u4e86\u7a7a\u95f4\u5efa\u6a21\u7684\u7a33\u5b9a\u6027\u4e0e\u8868\u8fbe\u80fd\u529b\u3002\u7b2c1\u884c\u663e\u793a\u9a8c\u8bc1\u96c6\u7684\u56fe\u50cf\uff0c\u540e\u9762\u662f\u663e\u793a\u6240\u6709\u6444\u50cf\u673a\u5206\u522b\u5411\u65cb\u8f6c15\u00b0\u5230-15\u00b0\u7684\u91cd\u5efa\u56fe\u50cf\u3002\u5176\u4e2d\uff0c\u9690\u53d8\u91cf\u7ef4\u5ea6\u8bbe\u7f6e\u4e3a32\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-e8eb050b4c34a3e4cb96731428511fc0_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5728 nuScenes \u6570\u636e\u96c6\u4e0a\u7684\u591a\u89c6\u89d2\u91cd\u5efa\u548c\u65b0\u89c6\u89d2\u751f\u6210\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-9c95a3699146cbc90a39fb0ff645998b_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5728 AV2 \u6570\u636e\u96c6\u4e0a\u7684\u591a\u89c6\u89d2\u91cd\u5efa\u548c\u65b0\u89c6\u89d2\u751f\u6210\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1926041921953969268_8\">\u591a\u89c6\u89d2\u56fe\u50cf\u751f\u6210\u4e0e\u5bf9\u8c61\u7f16\u8f91<\/h2>\n\n\n\n<p>BEV-VAE\u652f\u6301\u5bf9\u573a\u666f\u4e2d\u5bf9\u8c61\u7684\u7ec6\u7c92\u5ea6\u7f16\u8f91\uff0c\u79fb\u9664\u8f66\u8f86\u540e\u751f\u6210\u7ed3\u679c\u65e0\u660e\u663e\u7a7a\u6d1e\uff0c\u8868\u660e\u6a21\u578b\u6210\u529f\u5b66\u4e60\u5230\u573a\u666f\u7684\u4e09\u7ef4\u7ed3\u6784\u4e0e\u5b8c\u6574\u8bed\u4e49\u3002 \u4ee5\u4e0b\u4e24\u5f20\u56fe\u4e2d\uff0c\u7b2c1\u884c\u8868\u793a\u6765\u81ea\u9a8c\u8bc1\u96c6\u7684\u771f\u5b9e\u56fe\u50cf\u3002\u7b2c2\u884c\u663e\u793a\u4e86\u4ece\u76f8\u5e94\u76843D\u8fb9\u754c\u6846\u751f\u6210\u7684\u56fe\u50cf\u3002\u540e\u9762\u662f\u79fb\u9664\u7279\u5b9a\u8f66\u8f86\u540e\u751f\u6210\u7684\u56fe\u50cf\uff0c\u79fb\u9664\u7684\u8f66\u8f86\u7528\u6570\u5b57\u6807\u7b7e\u8868\u793a\u3002\u6ce8\u610f\uff1a\u76f8\u540c\u76843D\u6807\u6ce8\u6846\u53ef\u80fd\u5728\u4e0d\u540c\u7684\u751f\u6210\u56fe\u50cf\u4e2d\u4ea7\u751f\u5916\u8868\u4e0d\u540c\u7684\u5bf9\u8c61\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-5123184e20bd2a027180df23f1eac0b2_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5728 nuScenes \u6570\u636e\u96c6\u4e0a\u7684\u591a\u89c6\u89d2\u56fe\u50cf\u751f\u6210\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-71100f57ce8d2925c2ae51785123c63e_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5728 AV2 \u6570\u636e\u96c6\u4e0a\u7684\u591a\u89c6\u89d2\u56fe\u50cf\u751f\u6210\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1926041921953969268_9\">\u5b9e\u9a8c\u7ed3\u679c\u4e0e\u6d88\u878d\u5206\u6790<\/h2>\n\n\n\n<p>\u6211\u4eec\u4f7f\u7528 nuScenes \u548c Argoverse 2\uff08AV2\uff09\u4e24\u4e2a\u591a\u76f8\u673a\u7684\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\u96c6\u5bf9 BEV-VAE \u8fdb\u884c\u8bad\u7ec3\u4e0e\u8bc4\u4f30\u3002\u8fd9\u4e24\u4e2a\u6570\u636e\u96c6\u63d0\u4f9b\u65f6\u95f4\u6233\u540c\u6b65\u7684\u591a\u89c6\u89d2\u56fe\u50cf\u4e0e\u5bf9\u5e94\u7684\u4e09\u7ef4\u6807\u6ce8\u6846\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-7a678326ce68eeb0885a67beb2fc73bd_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u88681. \u4e0d\u540c\u9690\u53d8\u91cf\u7ef4\u5ea6\u7684 BEV-VAE \u4e0e SD-VAE \u5728\u591a\u89c6\u89d2\u56fe\u50cf\u91cd\u5efa\u4e2d\u7684\u6bd4\u8f83\uff1aBEV-VAE \u901a\u8fc7\u5c06\u591a\u89c6\u89d2\u56fe\u50cf\u7f16\u7801\u4e3a\u7edf\u4e00\u7684BEV\u9690\u53d8\u91cf\u5e76\u89e3\u7801\u56de\u56fe\u50cf\u6765\u8fdb\u884c\u7a7a\u95f4\u5efa\u6a21\uff0c\u800c\u7ecf\u8fc758.5\u4ebf\u5f20\u56fe\u50cf\u8bad\u7ec3\u7684SD-VAE\u4ec5\u4f5c\u4e3a\u56fe\u50cf\u91cd\u5efa\u7684\u53c2\u8003\u800c\u4e0d\u662f\u76f4\u63a5\u57fa\u7ebf\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-7065f5a501f28a22c269fb567a4aec28_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u88682. \u4e0d\u540c\u6307\u5bfc\u5c3a\u5ea6\u4e0b\u7684\u751f\u6210\u8d28\u91cf\u5bf9\u6bd4\uff1a\u6307\u5bfc\u5c3a\u5ea6\u4e0e\u9690\u53d8\u91cf\u7ef4\u5ea6\u5171\u540c\u5f71\u54cd\u591a\u89c6\u89d2\u56fe\u50cf\u751f\u6210\u8d28\u91cf\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-f72b6ce4abeca1242525fc35ea24eff8_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u88683. \u5728 nuScenes \u4e0a\u7684\u57fa\u51c6\u5bf9\u6bd4\uff1aBEV-VAE w\/ DiT \u663e\u8457\u7f29\u5c0f\u4e86\u4ece\u5934\u8bad\u7ec3\u4e0e\u5fae\u8c03\u65b9\u6cd5\u4e4b\u95f4\u7684\u6027\u80fd\u5dee\u8ddd<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-7ad97642fef030ee179d852e24d53f61_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u88684. \u5728 AV2 \u4e0a\u7684\u91cd\u5efa\u635f\u5931\u6d88\u878d\u5b9e\u9a8c\uff1a\u9690\u53d8\u91cf\u7ef4\u5ea6\u4e3a8\u65f6\uff0c\u4e0d\u540c\u635f\u5931\u7ec4\u5408\u5bf9\u751f\u6210\u8d28\u91cf\u7684\u5f71\u54cd\uff0c\u8fdb\u4e00\u6b65\u9a8c\u8bc1\u4e86 BEV \u635f\u5931\u51fd\u6570\u8bbe\u8ba1\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1926041921953969268_10\">\u7ed3\u8bba\uff1aBEV-VAE\u7684\u4f18\u52bf\u4e0e\u53ef\u6269\u5c55\u6027<\/h2>\n\n\n\n<p>\u2705 \u7ed3\u6784\u5316\u8868\u793a\uff1a\u5b66\u4e60\u7edf\u4e00\u7684 BEV \u9690\u53d8\u91cf\u7a7a\u95f4\uff0c\u5177\u5907\u591a\u89c6\u89d2\u56fe\u50cf\u7684\u5b8c\u6574\u8bed\u4e49\u548c\u7a7a\u95f4\u7ed3\u6784\uff1b<\/p>\n\n\n\n<p>\u2705 \u6a21\u578b\u89e3\u8026\uff1a\u7a7a\u95f4\u5efa\u6a21\u4e0e\u751f\u6210\u5efa\u6a21\u5b8c\u5168\u5206\u79bb\uff0c\u7b80\u5316\u4e16\u754c\u6a21\u578b\u6784\u5efa\uff1b<\/p>\n\n\n\n<p>\u2705 \u652f\u6301\u4efb\u610f\u89c6\u89d2\u914d\u7f6e\uff1a\u5929\u7136\u517c\u5bb9\u591a\u79cd\u76f8\u673a\u6570\u91cf\u4e0e\u4f4d\u59ff\uff0c\u5177\u5907\u8de8\u5e73\u53f0\u901a\u7528\u6027\uff1b<\/p>\n\n\n\n<p>\u2705 \u7b26\u5408\u6570\u636e\u89c4\u6a21\u89c4\u5f8b\uff08Scale Law\uff09\uff1aAV2 \u6570\u636e\u91cf\u4ec5\u4e3a nuScenes \u7684 1.5 \u500d\uff0c\u91cd\u5efa\u548c\u751f\u6210\u7684\u6548\u679c\u5374\u5927\u5e45\u63d0\u5347\uff1b<\/p>\n\n\n\n<p>\u2705 \u96f6\u6210\u672c\u8fc1\u79fb\uff1a\u53ea\u9700\u5c06\u539f\u6709\u56fe\u50cf VAE \u66ff\u6362\u4e3a BEV-VAE\uff0cDiffusion \u7cfb\u5217\u7b97\u6cd5\u5373\u53ef\u76f4\u63a5\u7528\u4e8e\u751f\u6210\u7a7a\u95f4\u4e00\u81f4\u7684\u591a\u89c6\u89d2\u56fe\u50cf\u3002<\/p>\n\n\n\n<p>BEV-VAE \u63d0\u4f9b\u4e86\u7edf\u4e00\u7684 BEV \u9690\u53d8\u91cf\u7a7a\u95f4\uff0c\u5b8c\u6574\u5730\u7f16\u7801\u4e86\u591a\u89c6\u89d2\u56fe\u50cf\u7684\u573a\u666f\u8bed\u4e49\u4e0e\u7a7a\u95f4\u7ed3\u6784\uff0c\u663e\u8457\u964d\u4f4e\u751f\u6210\u6a21\u578b\u5728\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u5e94\u7528\u95e8\u69db\uff0c\u4f7f\u751f\u6210\u6a21\u578b\u9886\u57df\u7684\u7814\u7a76\u8005\u80fd\u591f\u4ee5\u66f4\u4f4e\u6210\u672c\u3001\u66f4\u9ad8\u6548\u7387\u53c2\u4e0e\u81ea\u52a8\u9a7e\u9a76\u4e16\u754c\u6a21\u578b\u7684\u6784\u5efa\u4e0e\u62d3\u5c55\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/zhuanlan.z [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-30727","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/30727"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=30727"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/30727\/revisions"}],"predecessor-version":[{"id":30731,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/30727\/revisions\/30731"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=30727"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=30727"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=30727"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}