{"id":31129,"date":"2025-07-17T17:33:34","date_gmt":"2025-07-17T09:33:34","guid":{"rendered":"http:\/\/192.168.10.115\/?p=31129"},"modified":"2025-07-17T17:33:34","modified_gmt":"2025-07-17T09:33:34","slug":"2025-07-17-%e8%b6%85%e8%b6%8asota%e8%bf%9140%ef%bc%81%e8%a5%bf%e4%ba%a4i2-world%ef%bc%9a%e8%b6%85%e5%bc%baocc%e4%b8%96%e7%95%8c%e6%a8%a1%e5%9e%8b%e5%ae%9e%e7%8e%b03g%e8%ae%ad%e7%bb%83%e6%98%be","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/07\/17\/31129\/","title":{"rendered":"2025-07-17 \u8d85\u8d8aSOTA\u8fd140%\uff01\u897f\u4ea4I2-World\uff1a\u8d85\u5f3aOCC\u4e16\u754c\u6a21\u578b\u5b9e\u73b03G\u8bad\u7ec3\u663e\u5b5837 FPS\u63a8\u7406"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/AKpQOf3vMe1p4zv8pCAG2Q\">https:\/\/mp.weixin.qq.com\/s\/AKpQOf3vMe1p4zv8pCAG2Q<\/a><\/p>\n\n\n\n<p>\u57fa\u4e8eOCC\u7684\u4e16\u754c\u6a21\u578b\u901a\u8fc7\u9884\u6d4b3D\u573a\u666f\u7684\u53d8\u5316\u5e76\u751f\u6210\u65b0\u573a\u666f\uff0c\u5728\u89e3\u51b3\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\u7684corner case\u65b9\u9762\u5177\u6709\u5de8\u5927\u6f5c\u529b\u3002\u5c3d\u7ba1tokenization\u5df2\u7ecf\u5f7b\u5e95\u6539\u53d8\u4e86\u56fe\u50cf\u548c\u89c6\u9891\u751f\u6210\u9886\u57df\uff0c\u4f46\u5982\u4f55\u9ad8\u6548\u5730\u5bf9\u590d\u6742\u76843D\u573a\u666f\u8fdb\u884c\u5206\u8bcd\u5316\u4ecd\u7136\u662f3D\u4e16\u754c\u6a21\u578b\u7684\u4e00\u4e2a\u5173\u952e\u6311\u6218\u3002\u4e3a\u6b64\u897f\u4ea4\u7684\u56e2\u961f\u63d0\u51fa\u4e86I2-World\uff0c\u4e00\u79cd\u9ad8\u6548\u76844D 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http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-291-187x300.png 187w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-291-768x1235.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-291-622x1000.png 622w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-291.png 882w\" sizes=\"(max-width: 637px) 100vw, 637px\" \/><\/figure>\n\n\n\n<p><strong>\u5f15\u8a00<\/strong><\/p>\n\n\n\n<p>3D OCC \u63d0\u4f9b\u4e86\u66f4\u591a\u5173\u4e8e 3D \u573a\u666f\u7684\u51e0\u4f55\u548c\u7ec6\u8282\u4fe1\u606f\uff0c\u4f7f\u5176\u6bd4\u4f20\u7edf\u7684 3D 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I2-Former\uff0c\u4e00\u79cd\u53d8\u6362\u77e9\u9635\u5f15\u5bfc\u7684\u81ea\u56de\u5f52\u6846\u67b6\u3002<\/p>\n\n\n\n<p>I2-Scene Tokenizer \u5c06\u5206\u8bcd\u8fc7\u7a0b\u89e3\u8026\u4e3a\u4e24\u4e2a\u4e92\u8865\u7684\u7ec4\u4ef6\uff1a\u573a\u666f\u5185\u5206\u8bcd\u5668\u548c\u573a\u666f\u95f4\u5206\u8bcd\u5668\u3002\u573a\u666f\u5185\u5206\u8bcd\u5668\u91c7\u7528\u591a\u5c3a\u5ea6\u5206\u8bcd\u7b56\u7565\uff0c\u4e13\u6ce8\u4e8e\u6355\u6349\u5f53\u524d\u573a\u666f\u4e2d\u7684\u7ec6\u7c92\u5ea6\u7ec6\u8282\u548c\u9759\u6001\u4e0a\u4e0b\u6587\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u573a\u666f\u95f4\u5206\u8bcd\u5668\u7ef4\u62a4\u4e00\u4e2a\u5185\u5b58\u961f\u5217\u6765\u5b58\u50a8\u5386\u53f2\u573a\u666f\u6807\u8bb0\uff0c\u5e76\u6cbf\u65f6\u95f4\u6233\u4f7f\u7528\u65f6\u95f4\u91cf\u5316\u6765\u5efa\u6a21\u573a\u666f\u5185\u7684\u52a8\u6001\u8fd0\u52a8\u3002\u901a\u8fc7\u96c6\u6210\u8fd9\u4e9b\u7ec4\u4ef6\uff0c\u672c\u6587\u7684 I2-Scene Tokenizer \u4ea7\u751f\u4e86\u4e0e 3D 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\u5305\u62ec\u4e24\u4e2a\u6838\u5fc3\u7ec4\u4ef6\uff1a\u573a\u666f\u5185\u7f16\u7801\u5668\u548c\u573a\u666f\u95f4\u89e3\u7801\u5668\u3002\u573a\u666f\u5185\u7f16\u7801\u5668\u5c42\u6b21\u5316\u805a\u5408\u6765\u81ea\u5f53\u524d\u573a\u666f\u6807\u8bb0\u7684\u7a7a\u95f4\u4e0a\u4e0b\u6587\u3002\u540c\u65f6\uff0c\u5b83\u5229\u7528\u591a\u79cd\u81ea\u8f66\u52a8\u4f5c\u7684\u5d4c\u5165\u6765\u9884\u6d4b\u4e00\u4e2a\u53d8\u6362\u77e9\u9635\uff0c\u8be5\u77e9\u9635\u5c06\u5f53\u524d\u573a\u666f\u8868\u793a\u6620\u5c04\u5230\u4e0b\u4e00\u4e2a\u65f6\u95f4\u6b65\u3002\u7136\u540e\uff0c\u8fd9\u4e2a\u77e9\u9635\u4f5c\u4e3a\u6761\u4ef6\u6307\u5bfc\u4fe1\u53f7\uff0c\u7528\u4e8e\u573a\u666f\u95f4\u89e3\u7801\u5668\uff0c\u540e\u8005\u52a8\u6001\u6574\u5408\u5386\u53f2\u548c\u5f53\u524d\u573a\u666f\u6807\u8bb0\u4ee5\u9884\u6d4b\u4e0b\u4e00\u4e2a\u65f6\u95f4\u6b65\u7684\u573a\u666f\u6807\u8bb0\u3002\u901a\u8fc7\u89e3\u8026\u9759\u6001\u4e0a\u4e0b\u6587\u805a\u5408\u548c\u52a8\u6001\u65f6\u95f4\u63a8\u7406\uff0cI2-Former \u5b9e\u73b0\u4e86\u8ba1\u7b97\u6548\u7387\u548c\u7a33\u5065\u7684\u9884\u6d4b\u51c6\u786e\u6027\u3002<\/p>\n\n\n\n<p>I2-Former \u7684\u89e3\u8026\u8bbe\u8ba1\u5b9e\u73b0\u4e86\u7cbe\u7ec6\u7684\u53ef\u63a7\u751f\u6210\u3002\u7528\u6237\u53ef\u4ee5\u901a\u8fc7\u64cd\u7eb5\u53d8\u6362\u77e9\u9635\u6216\u8c03\u6574\u5404\u79cd\u63a7\u5236\u52a8\u4f5c\uff08\u4f8b\u5982\uff0c\u901f\u5ea6\u3001\u8f6c\u5411\u547d\u4ee4\uff09\u76f4\u89c2\u5730\u5f15\u5bfc\u573a\u666f\u9884\u6d4b\uff0c\u4ece\u800c\u7075\u6d3b\u9002\u5e94\u4e0d\u540c\u7684\u9a7e\u9a76\u573a\u666f\u3002<\/p>\n\n\n\n<p>\u603b\u7ed3\u6765\u8bf4\uff0c\u672c\u6587\u7684\u4e3b\u8981\u8d21\u732e\u53ef\u4ee5\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u4e86 I2-Scene Tokenizer\uff0c\u8fd9\u662f\u4e00\u79cd\u65b0\u9896\u7684 3D \u573a\u666f\u5206\u8bcd\u6846\u67b6\uff0c\u5728\u4fdd\u7559 3D \u5206\u8bcd\u5668\u8ba1\u7b97\u6548\u7387\u7684\u540c\u65f6\u5b9e\u73b0\u4e86 4D \u65b9\u6cd5\u7684\u65f6\u95f4\u8868\u8fbe\u80fd\u529b\u3002<\/li>\n\n\n\n<li>\u4ecb\u7ecd\u4e86 I2-Former\uff0c\u8fd9\u662f\u4e00\u79cd\u9075\u5faa\u7f16\u7801\u5668-\u89e3\u7801\u5668\u8303\u5f0f\u7684\u81ea\u56de\u5f52\u67b6\u6784\u3002\u89e3\u7801\u5668\u7684\u751f\u6210\u4f9d\u8d56\u4e8e\u4e00\u4e2a\u53d8\u6362\u77e9\u9635\uff0c\u4ece\u800c\u5b9e\u73b0\u66f4\u9ad8\u4fdd\u771f\u5ea6\u4e14\u66f4\u8be6\u7ec6\u7684\u573a\u666f\u751f\u6210\u3002<\/li>\n\n\n\n<li>I2-World \u5728 Occ3D \u57fa\u51c6\u6d4b\u8bd5\u4e2d\u5efa\u7acb\u4e86\u65b0\u7684\u6700\u5148\u8fdb\u6c34\u5e73\uff0c\u5728 mIoU \u4e0a\u6bd4\u4e4b\u524d\u8868\u73b0\u6700\u597d\u7684\u65b9\u6cd5\u63d0\u5347\u4e86 25.1%\uff0c\u5728 IoU \u4e0a\u63d0\u5347\u4e86 42.9%\u3002\u6b64\u5916\uff0c\u5b83\u8fbe\u5230\u4e86\u524d\u6240\u672a\u6709\u7684\u8ba1\u7b97\u6548\u7387\uff0c\u8bad\u7ec3\u5185\u5b58\u4ec5\u9700 2.9 GB\uff0c\u63a8\u7406\u901f\u5ea6\u8fbe\u5230\u6bcf\u79d2 37 FPS\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u76f8\u5173\u5de5\u4f5c<\/strong><\/p>\n\n\n\n<p>\u4e16\u754c\u6a21\u578b\u5229\u7528\u667a\u80fd\u4f53\u7684\u52a8\u4f5c\u548c\u5386\u53f2\u89c2\u6d4b\u6765\u9884\u6d4b\u672a\u67653D\u573a\u666f\u7684\u6f14\u53d8\uff0c\u4f7f\u667a\u80fd\u4f53\u80fd\u591f\u63a8\u7406\u52a8\u6001\u73af\u5883\u3002\u57fa\u4e8e\u5360\u636e\u7a7a\u95f4\u7684\u4e16\u754c\u6a21\u578b\u7684\u6700\u65b0\u8fdb\u5c55\u63a2\u7d22\u4e86\u591a\u79cd3D\u573a\u666f\u5206\u8bcd\u5316\u548c\u751f\u6210\u7b56\u7565\u3002\u50cfOccWorld\u8fd9\u6837\u7684\u65b9\u6cd5\u91c7\u7528\u57fa\u4e8eVQ-VAE\u7684\u5206\u8bcd\u5316\u6280\u672f\u7ed3\u5408\u81ea\u56de\u5f52\u53d8\u6362\u5668\u6765\u9884\u6d4b\u672a\u6765\u573a\u666f\uff0c\u800cRenderWorld\u5f15\u5165\u4e86\u4e00\u79cdAM-VAE\uff0c\u5c06\u7a7a\u4f53\u7d20\u548c\u975e\u7a7a\u4f53\u7d20\u5206\u79bb\u4ee5\u8fdb\u884c\u7ed3\u6784\u5316\u751f\u6210\u3002\u8bed\u8a00\u589e\u5f3a\u7684\u65b9\u6cd5\u5982Oc-cLLaMA\u548cOcc-LLM\u5c063D\u5360\u636e\u6807\u8bb0\u4e0e\u6587\u672c\u573a\u666f\u63cf\u8ff0\u76f8\u7ed3\u5408\uff0c\u901a\u8fc7\u5927\u8bed\u8a00\u6a21\u578b\u5f15\u5bfc\u751f\u6210\u3002\u5176\u4ed6\u5de5\u4f5c\u5982DriveWorld\u548cUniWorld\u5229\u75284D\u5360\u636e\u91cd\u5efa\u8fdb\u884c\u9884\u8bad\u7ec3\uff0c\u800cDrive-OccWorld\u5219\u52a0\u5165\u4e86\u52a8\u4f5c\u6761\u4ef6\u4ee5\u5b9e\u73b0\u53ef\u63a7\u7684\u573a\u666f\u5408\u6210\u3002\u4e3a\u4e86\u63d0\u9ad8\u6548\u7387\uff0cDFIT-OccWorld\u91c7\u7528\u4e86\u975e\u81ea\u56de\u5f52\u6d41\u6c34\u7ebf\uff0c\u800cOccSora\u548cDOME\u5219\u4f7f\u75284D\u5206\u8bcd\u5668\u4e0e\u6269\u6563\u6a21\u578b\u8fdb\u884c\u957f\u65f6\u7a0b\u751f\u6210\u3002UniScene\u63d0\u51fa\u4e86\u4e00\u79cd\u65f6\u95f4\u611f\u77e5\u7684VAE\uff0c\u5927\u5e45\u63d0\u5347\u4e86\u91cd\u5efa\u6027\u80fd\u3002\u5c3d\u7ba1\u6709\u8fd9\u4e9b\u8fdb\u5c55\uff0c\u73b0\u6709\u65b9\u6cd5\u5728\u4f18\u5316\u5206\u8bcd\u5316\u6548\u7387\u548c\u52a8\u6001\u4fdd\u771f\u5ea6\u65b9\u9762\u4ecd\u9762\u4e34\u6311\u6218\u3002<\/p>\n\n\n\n<p><strong>\u7b97\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n<p><strong>I2-World\u6574\u4f53\u67b6\u6784<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"708\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-292-1024x708.png\" alt=\"\" class=\"wp-image-31131\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-292-1024x708.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-292-300x208.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-292-768x531.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-292.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"674\" height=\"217\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/071701.png\" alt=\"\" class=\"wp-image-31132\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/071701.png 674w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/071701-300x97.png 300w\" sizes=\"(max-width: 674px) 100vw, 674px\" \/><\/figure>\n\n\n\n<p><strong>I2-Scene Tokenizer<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"675\" height=\"864\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/071702.png\" alt=\"\" class=\"wp-image-31133\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/071702.png 675w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/071702-234x300.png 234w\" sizes=\"(max-width: 675px) 100vw, 675px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"671\" height=\"750\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/071703.png\" alt=\"\" class=\"wp-image-31134\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/071703.png 671w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/071703-268x300.png 268w\" sizes=\"(max-width: 671px) 100vw, 671px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"676\" height=\"275\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/071704.png\" alt=\"\" class=\"wp-image-31135\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/071704.png 676w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/071704-300x122.png 300w\" sizes=\"(max-width: 676px) 100vw, 676px\" \/><\/figure>\n\n\n\n<p><strong>I2-Former<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"677\" height=\"737\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/071705.png\" alt=\"\" class=\"wp-image-31136\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/071705.png 677w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/071705-276x300.png 276w\" sizes=\"(max-width: 677px) 100vw, 677px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"676\" height=\"670\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/071706.png\" alt=\"\" class=\"wp-image-31137\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/071706.png 676w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/071706-300x297.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/071706-150x150.png 150w\" sizes=\"(max-width: 676px) 100vw, 676px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/strong><\/p>\n\n\n\n<p><strong>\u5b9e\u73b0\u7ec6\u8282<\/strong><\/p>\n\n\n\n<p>\u4e0e\u73b0\u6709\u5de5\u4f5c\u4e00\u81f4\uff0c\u672c\u6587\u5229\u75282\u79d2\u7684\u5386\u53f2\u6570\u636e\u6765\u9884\u6d4b\u672a\u67653\u79d2\u7684\u5360\u636e\u7a7a\u95f4\u3002\u672c\u6587\u63d0\u51fa\u7684I2-Scene Tokenizer\u4f7f\u7528\u4e00\u4e2a\u5305\u542b512\u4e2a entries\u548c128\u7ef4\u6f5c\u5728\u7279\u5f81\u7684\u5171\u4eab\u7801\u672c\uff0c\u4ee5\u7f16\u7801\u7d27\u51d1\u7684\u65f6\u7a7a\u8868\u793a\u3002\u8bad\u7ec3\u91c7\u7528AdamW\u4f18\u5316\u5668\uff0c\u57fa\u7840\u5b66\u4e60\u7387\u4e3a1 \u00d7 10^-3\uff0c\u5168\u5c40batch\u5927\u5c0f\u4e3a128\uff0c\u5e76\u4e3a\u6bcf\u4e2a\u7ec4\u4ef6\u5236\u5b9a\u4e86\u4e0d\u540c\u7684\u8bad\u7ec3\u8ba1\u5212\uff1aI2-Scene Tokenizer\u8bad\u7ec324\u4e2a\u5468\u671f\uff0c\u800cI2-Former\u5219\u8bad\u7ec348\u4e2a\u5468\u671f\u3002\u5728\u8bc4\u4f30\u4e2d\uff0c\u672c\u6587\u4f7f\u7528\u771f\u5b9e\u53d8\u6362\u77e9\u9635\u6765\u5f15\u5bfc\u751f\u6210\uff0c\u5e76\u91c7\u7528mIoU\u548cIoU\u4f5c\u4e3a4D\u5360\u636e\u7a7a\u95f4\u9884\u6d4b\u4efb\u52a1\u7684\u8bc4\u4f30\u6307\u6807\u3002FPS\u7684\u8ba1\u7b97\u65b9\u6cd5\u9075\u5faaOccWorld\uff0c\u5e76\u5728RTX 4090 GPU\u4e0a\u8fdb\u884c\u6d4b\u91cf\u3002<\/p>\n\n\n\n<p><strong>\u4e3b\u8981\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p><strong>4D\u5360\u636e\u7a7a\u95f4\u9884\u6d4b<\/strong><\/p>\n\n\n\n<p>\u5982\u88681\u6240\u793a\uff0cI2-World-O\u5728\u5f53\u524dSOTA\u7684\u65b9\u6cd5\u57fa\u7840\u4e0a\u53d6\u5f97\u4e86\u663e\u8457\u7684\u63d0\u5347\uff0c\u5728mIoU\u65b9\u9762\u63d0\u5347\u4e8625.1%\uff0839.73 vs. 31.75\uff09\uff0c\u5728IoU\u65b9\u9762\u63d0\u5347\u4e8636.9%\uff0849.80 vs. 36.36\uff09\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u5c3d\u7ba1\u73b0\u6709\u89e3\u51b3\u65b9\u6848\u4f9d\u8d56\u4e8e\u8d44\u6e90\u5bc6\u96c6\u578b\u67b6\u6784\uff08\u5982\u5927\u8bed\u8a00\u6a21\u578b\u6216\u6269\u6563\u6a21\u578b\uff09\uff0c\u672c\u6587\u7684\u7cfb\u7edf\u4ecd\u4fdd\u6301\u4e86\u6781\u9ad8\u7684\u6548\u7387\u2014\u2014\u4ec5\u97002.9 GB\u7684\u8bad\u7ec3\u5185\u5b58\uff0c\u5e76\u572837.04 FPS\u4e0b\u5b9e\u73b0\u5b9e\u65f6\u6027\u80fd\u3002\u7aef\u5230\u7aef\u7684I2-World-STC\u53d8\u4f53\u4e5f\u8868\u73b0\u51fa\u7279\u522b\u6709\u5e0c\u671b\u7684\u7ed3\u679c\uff0c\u5728mIoU\u6307\u6807\u4e0a\u6bd4\u4e4b\u524d\u7684\u65b9\u6cd5\u9ad8\u51fa50.9%\uff0818.97 vs. 12.57\uff09\uff0c\u5728IoU\u6307\u6807\u4e0a\u9ad8\u51fa40.9%\uff0828.77 vs. 20.41\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"395\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-293-1024x395.png\" alt=\"\" class=\"wp-image-31138\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-293-1024x395.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-293-300x116.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-293-768x297.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-293.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u6cdb\u5316\u80fd\u529b<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"846\" height=\"328\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-294.png\" alt=\"\" class=\"wp-image-31139\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-294.png 846w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-294-300x116.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-294-768x298.png 768w\" sizes=\"(max-width: 846px) 100vw, 846px\" \/><\/figure>\n\n\n\n<p>\u4e3a\u4e86\u8bc4\u4f30\u672c\u6587\u65b9\u6cd5\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u672c\u6587\u5728Occ3D-Waymo\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u96f6\u6837\u672c\u76844D\u5360\u636e\u7a7a\u95f4\u9884\u6d4b\u3002\u672c\u6587\u7684\u590d\u5236\u7c98\u8d34\u65b9\u6cd5\u5229\u7528\u5f53\u524d\u5e27\u7684\u91cd\u5efa\u8fdb\u884c\u9884\u6d4b\u3002\u5982\u88682\u6240\u793a\uff0c\u672c\u6587\u5728\u4e0d\u540c\u91c7\u6837\u7387\u4e0b\u8bc4\u4f30\u4e86\u672c\u6587\u7684\u65b9\u6cd5\u3002\u7ed3\u679c\u8868\u660e\uff0c\u672c\u6587\u7684\u65b9\u6cd5\u5728Waymo\u6570\u636e\u96c6\u4e0a\u8868\u73b0\u4f18\u5f02\uff0c\u663e\u793a\u51fa\u5176\u4f5c\u4e3a\u81ea\u52a8\u6807\u6ce8\u65b9\u6cd5\u7684\u6f5c\u529b\u3002<\/p>\n\n\n\n<p><strong>\u6d88\u878d\u7814\u7a76<\/strong><\/p>\n\n\n\n<p><strong>I2 Scene Tokenizer\u7684\u6709\u6548\u6027<\/strong><\/p>\n\n\n\n<p>\u5982\u88683\u6240\u793a\uff0c\u672c\u6587\u5bf9I2 Scene Tokenizer\u8fdb\u884c\u4e86\u6d88\u878d\u7814\u7a76\uff0c\u4ee5\u8bc4\u4f30\u6bcf\u4e2a\u8bbe\u8ba1\u7ec4\u4ef6\u7684\u8d21\u732e\u3002\u672c\u6587\u7684\u57fa\u7ebf\u91c7\u7528\u6765\u81eaOccWorld\u7684\u5355\u5c3a\u5ea6Scene Tokenizer\uff0c\u5e76\u901a\u8fc7\u7ffb\u8f6cBEV\u5e73\u9762\u6765\u589e\u5f3a\u5206\u8bcd\u5668\u7684\u6cdb\u5316\u80fd\u529b\u3002Inter-Scene\u5206\u8bcd\u6a21\u5757\u6539\u5584\u4e86\u65f6\u95f4\u5efa\u6a21\uff0c\u5e26\u6765\u4e865.7%\u7684mIoU\u63d0\u5347\u548c1.8%\u7684IoU\u63d0\u5347\uff0c\u800c\u5bf9\u9f50\u7b56\u7565\u8fdb\u4e00\u6b65\u589e\u5f3a\u4e86\u65f6\u95f4\u4fe1\u606f\u5efa\u6a21\uff0c\u5e26\u6765\u4e8615.9%\u7684mIoU\u63d0\u5347\u548c5.1%\u7684IoU\u63d0\u5347\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cInter-Scene\u5206\u8bcd\u4f5c\u4e3a\u4e00\u4e2a\u5373\u63d2\u5373\u7528\u6a21\u5757\uff0c\u53ef\u4ee5\u4e0e\u5176\u4ed6\u5206\u8bcd\u5668\u517c\u5bb9\u3002\u901a\u8fc7\u5c06Inter-Scene\u5206\u8bcd\u4e0e\u591a\u5c3a\u5ea6Intra-Scene\u5206\u8bcd\u7ed3\u5408\uff0c\u672c\u6587\u5b9e\u73b0\u4e86\u6700\u4f73\u6027\u80fd\u3002\u7ed3\u679c\u8868\u660e\uff0c\u89e3\u8026\u7684\u65f6\u7a7a\u5206\u8bcd\u80fd\u591f\u6709\u6548\u5e94\u5bf93D\u573a\u666f\u7406\u89e3\u7684\u4e0d\u540c\u65b9\u9762\uff0c\u540c\u65f6\u5b9e\u73b0\u9ad8\u6548\u3001\u534f\u540c\u7684\u6574\u4f53\u5efa\u6a21\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"858\" height=\"406\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-295.png\" alt=\"\" class=\"wp-image-31140\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-295.png 858w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-295-300x142.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-295-768x363.png 768w\" sizes=\"(max-width: 858px) 100vw, 858px\" \/><\/figure>\n\n\n\n<p><strong>I2 Former\u7684\u6709\u6548\u6027<\/strong><\/p>\n\n\n\n<p>\u5982\u88684\u6240\u793a\uff0c\u672c\u6587\u5206\u6790\u4e86Inter-Decoder\u548cIntra-Encoder\u4e2d\u5404\u4e2a\u7ec4\u4ef6\u7684\u8d21\u732e\u3002\u9996\u5148\uff0c\u672c\u6587\u8bc4\u4f30\u4e86\u4e00\u4e2a\u57fa\u7ebf\u914d\u7f6e\uff0c\u5176\u4e2d\u666e\u901a\u7684Inter-Decoder\u5728\u65e0\u6761\u4ef6\u7684\u60c5\u51b5\u4e0b\u9884\u6d4b\u672a\u6765\u7684\u5360\u636e\u7a7a\u95f4\uff0c\u53d6\u5f97\u4e8617.1%\u7684mIoU\u548c27.2%\u7684IoU\u3002\u8fd9\u4e00\u7ed3\u679c\u7a81\u51fa\u4e86\u6f5c\u5728\u6807\u8bb0\u5728\u7f16\u7801\u52a8\u6001\u573a\u666f\u4fe1\u606f\u65b9\u9762\u7684\u56fa\u6709\u80fd\u529b\uff0c\u5c3d\u7ba1\u9884\u6d4b\u51c6\u786e\u6027\u6709\u9650\u3002\u63a5\u4e0b\u6765\uff0c\u672c\u6587\u5f15\u5165\u5e73\u79fb\u4f5c\u4e3a\u6761\u4ef6\u4fe1\u53f7\uff0c\u800c\u65cb\u8f6c\u56fa\u5b9a\u4e3a\u8d77\u59cb\u5e27\u3002\u8fd9\u4e00\u4fee\u6539\u8fbe\u5230\u4e8667.8%\u7684mIoU\u548c31.4%\u7684IoU\uff0c\u6bd4\u57fa\u7ebf\u63d0\u5347\u4e8650.7%\u7684mIoU\u548c4.2%\u7684IoU\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u4ec5\u5f15\u5165\u65cb\u8f6c\u4f5c\u4e3a\u6761\u4ef6\u4fe1\u53f7\u4ec5\u53d6\u5f9718.7%\u7684mIoU\u548c5.4%\u7684IoU\uff0c\u8868\u660e\u5355\u72ec\u7684\u65cb\u8f6c\u5bf9\u6027\u80fd\u7684\u8d21\u732e\u5fae\u4e4e\u5176\u5fae\u3002\u6700\u540e\uff0c\u7ed3\u5408\u5e73\u79fb\u548c\u65cb\u8f6c\u6761\u4ef6\u5e26\u6765\u4e86\u663e\u8457\u7684\u63d0\u5347\uff0c\u8fbe\u5230\u4e8685.3%\u7684mIoU\u548c38.9%\u7684IoU\uff0c\u8fd9\u5f3a\u8c03\u4e86\u8fd9\u4e9b\u7a7a\u95f4\u53d8\u6362\u5728\u5efa\u6a21\u573a\u666f\u52a8\u6001\u4e2d\u7684\u4e92\u8865\u4f5c\u7528\u3002Intra-Encoder\u3001\u8f7b\u91cf\u7ea7\u65f6\u95f4\u878d\u5408\u548c\u591a\u5c3a\u5ea6\u7b56\u7565\u4ec5\u5e26\u6765GPU\u5185\u5b58\u7684\u6709\u9650\u589e\u52a0\uff0c\u5374\u5e26\u6765\u4e8616.0%\u7684mIoU\u63d0\u5347\u548c16.6%\u7684IoU\u63d0\u5347\uff0c\u8bc1\u660e\u4e86\u672c\u6587\u8bbe\u8ba1\u7684\u6548\u7387\u548c\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"844\" height=\"602\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-296.png\" alt=\"\" class=\"wp-image-31141\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-296.png 844w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-296-300x214.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-296-768x548.png 768w\" sizes=\"(max-width: 844px) 100vw, 844px\" \/><\/figure>\n\n\n\n<p><strong>\u53ef\u89c6\u5316<\/strong><\/p>\n\n\n\n<p><strong>4D\u5360\u636e\u7a7a\u95f4\u9884\u6d4b<\/strong><\/p>\n\n\n\n<p>\u5728\u56fe3\u4e2d\uff0c\u672c\u6587\u53ef\u89c6\u5316\u4e86Occ3D-nuScenes\u9a8c\u8bc1\u96c6\u4e0a\u76844D\u5360\u636e\u7a7a\u95f4\u9884\u6d4b\u7ed3\u679c\u3002\u4e0eDOME\u76f8\u6bd4\uff0c\u672c\u6587\u7684\u65b9\u6cd5\u57283D\u573a\u666f\u4e2d\u66f4\u597d\u5730\u4fdd\u6301\u4e86\u7a7a\u95f4\u4e00\u81f4\u6027\uff0c\u5e76\u66f4\u51c6\u786e\u5730\u4eff\u771f\u4e86\u79fb\u52a8\u76ee\u6807\u7684\u8fd0\u52a8\uff0c\u4ece\u800c\u5c55\u793a\u4e86\u672c\u6587\u65b9\u6cd5\u5728\u65f6\u95f4\u52a8\u6001\u5efa\u6a21\u65b9\u9762\u7684\u4f18\u8d8a\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"537\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-297-1024x537.png\" alt=\"\" class=\"wp-image-31142\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-297-1024x537.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-297-300x157.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-297-768x402.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-297.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u53ef\u63a7\u751f\u6210<\/strong><\/p>\n\n\n\n<p>\u56fe4\u901a\u8fc7\u9ad8\u5c42\u547d\u4ee4\u548c\u7ec6\u7c92\u5ea6\u53d8\u6362\u5c55\u793a\u4e86\u672c\u6587\u6846\u67b6\u7684\u53ef\u63a7\u6027\u3002\u5bf9\u4e8e\u9ad8\u5c42\u63a7\u5236\uff0c\u4e0d\u540c\u7684\u547d\u4ee4\uff08\u4f8b\u5982\u201c\u5de6\u8f6c\/\u53f3\u8f6c\u201d\uff09\u751f\u62106\u79d2\u7684\u573a\u666f\uff0c\u5176\u4e2d\u81ea\u6211\u8f66\u8f86\u7684\u52a8\u4f5c\u52a8\u6001\u5f71\u54cd\u5468\u56f4\u4ee3\u7406\u3002\u4f8b\u5982\uff0c\u201c\u53f3\u8f6c\u201d\u547d\u4ee4\u5bfc\u81f4\u5361\u8f66\u78b0\u649e\uff0c\u5c55\u793a\u4e86\u672c\u6587\u6a21\u578b\u4eff\u771f\u590d\u6742\u4ea4\u4e92\u548c\u8fb9\u7f18\u60c5\u51b5\u7684\u80fd\u529b\u3002\u7ec6\u7c92\u5ea6\u63a7\u5236\u901a\u8fc7\u76f4\u63a5\u64cd\u4f5c\u53d8\u6362\u77e9\u9635\u5b9e\u73b0\uff0c\u5141\u8bb8\u7cbe\u786e\u7684\u573a\u666f\u751f\u6210\uff08\u7c73\/\u5f27\u5ea6\u7ea7\u7cbe\u5ea6\uff09\u3002\u5e95\u884c\u5c55\u793a\u4e86\u4e00\u4e2a\u5931\u8d25\u6848\u4f8b\uff1a\u7531\u53d8\u6362\u77e9\u9635\uff08\u8bad\u7ec3\u671f\u95f4\u672a\u89c1\u8fc7\uff09\u8868\u793a\u7684\u5012\u8f66\u573a\u666f\u5bfc\u81f4\u4e0d\u73b0\u5b9e\u7684\u9759\u6001\u4ee3\u7406\u884c\u4e3a\u3002\u672c\u6587\u8ba4\u4e3a\u8fd9\u4e2a\u95ee\u9898\u53ef\u4ee5\u901a\u8fc7\u5728\u6570\u636e\u96c6\u4e2d\u591a\u6837\u5316\u53d8\u6362\u77e9\u9635\u7684\u5206\u5e03\u6765\u7f13\u89e3\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"931\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-298-1024x931.png\" alt=\"\" class=\"wp-image-31143\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-298-1024x931.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-298-300x273.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-298-768x698.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-298.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u7ed3\u8bba<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u76843D\u573a\u666f\u5206\u8bcd\u6846\u67b6\u7528\u4e8e3D\u573a\u666f\u751f\u6210\u3002\u672c\u6587\u7684I2-Scene 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Forecasting<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin. 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