{"id":32175,"date":"2025-08-19T17:31:24","date_gmt":"2025-08-19T09:31:24","guid":{"rendered":"http:\/\/192.168.10.115\/?p=32175"},"modified":"2025-08-19T17:31:24","modified_gmt":"2025-08-19T09:31:24","slug":"2025-08-19-%e6%80%a7%e8%83%bd%e6%9a%b4%e6%b6%a84%ef%bc%81cbdes-moe%ef%bc%9amoe%e7%84%95%e5%8f%91bev%e7%ac%ac%e4%ba%8c%e6%98%a5%ef%bc%8c%e6%80%a7%e8%83%bd%e7%9b%b4%e6%8e%a5sota%ef%bc%88%e6%b8%85","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/08\/19\/32175\/","title":{"rendered":"2025-08-19 \u6027\u80fd\u66b4\u6da84%\uff01CBDES MoE\uff1aMoE\u7115\u53d1BEV\u7b2c\u4e8c\u6625\uff0c\u6027\u80fd\u76f4\u63a5SOTA\uff08\u6e05\u534e&\u5e1d\u56fd\u7406\u5de5\uff09"},"content":{"rendered":"\n

\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin.qq.com\/s\/KwYJ_5cFu3ousv_c7oQmZw<\/a><\/p>\n\n\n\n

\u57fa\u4e8e\u591a\u4f20\u611f\u5668\u7684BEV\u611f\u77e5\u5df2\u7ecf\u6210\u4e3a\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7684\u7684\u6838\u5fc3\uff0c\u7136\u800c\u73b0\u6709\u65b9\u6cd5\u4ecd\u7136\u9762\u4e34\u8f93\u5165\u9002\u5e94\u6027\u6709\u9650\u3001\u5efa\u6a21\u80fd\u529b\u53d7\u9650\u4ee5\u53ca\u6cdb\u5316\u4e0d\u4f73\u7b49\u95ee\u9898\u3002\u9488\u5bf9\u8fd9\u4e9b\u6311\u6218\uff0c\u6e05\u534e\u5927\u5b66\u3001\u4f26\u6566\u5e1d\u56fd\u7406\u5de5\u5b66\u9662\u548c\u6b66\u6c49\u7406\u5de5\u7684\u56e2\u961f\u63d0\u51fa\u4e86CBDES MoE\uff0c\u4e00\u79cd\u5728\u529f\u80fd\u6a21\u5757\u5c42\u9762\u5b9e\u73b0\u5206\u5c42\u89e3\u8026\u7684\u4e13\u5bb6\u6df7\u5408\u7ed3\u6784\u3002\u4e5f\u662f\u9996\u4e2a\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u5185\u4ee5\u529f\u80fd\u6a21\u5757\u7c92\u5ea6\u6784\u5efa\u7684\u6a21\u5757\u5316\u4e13\u5bb6\u6df7\u5408\u6846\u67b6\u3002<\/p>\n\n\n\n

CBDES MoE\u96c6\u6210\u4e86\u591a\u4e2a\u7ed3\u6784\u5f02\u6784\u7684\u4e13\u5bb6\u7f51\u7edc\uff0c\u5e76\u91c7\u7528\u8f7b\u91cf\u7ea7\u7684\u81ea\u6ce8\u610f\u529b\u8def\u7531\u5668\uff08Self-Attention Router, SAR\uff09\u95e8\u63a7\u673a\u5236\uff0c\u4ece\u800c\u5b9e\u73b0\u52a8\u6001\u4e13\u5bb6\u8def\u5f84\u9009\u62e9\u4ee5\u53ca\u7a00\u758f\u3001\u611f\u77e5\u8f93\u5165\u7684\u9ad8\u6548\u63a8\u7406\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u662f\u9488\u5bf9\u89c6\u89c9backbone\u7684MoE\uff0c\u96c6\u6210\u56db\u79cdbackbone\u2014\u2014Swin Transformer\u3001ResNet\u3001ConvNeXt\u548cPVT\uff0c\u6709\u70b9\u7c7b\u4f3c\u4e8e\u6a21\u578b\u96c6\u6210\uff0c\u4f46\u901a\u8fc7MoE\u4e00\u6b21\u6027\u89e3\u51b3\u3002<\/p>\n\n\n\n

\u6700\u7ec8\u7684\u5b9e\u9a8c\u7ed3\u679c\u5f88\u4e0d\u9519\uff0c\u5728nuScenes\u76843D\u76ee\u6807\u68c0\u6d4b\u4efb\u52a1\u4e0a\uff0c\u76f8\u8f83\u4e8e\u6700\u5f3a\u7684\u5355\u4e13\u5bb6\u6a21\u578b\uff0cmAP\u63d0\u5347\u4e861.6\u4e2a\u767e\u5206\u70b9\uff0cNDS\u63d0\u5347\u4e864.1\u4e2a\u767e\u5206\u70b9\uff0c\u9a8c\u8bc1\u4e86\u6240\u63d0\u65b9\u6cd5\u7684\u6709\u6548\u6027\u548c\u5b9e\u9645\u4f18\u52bf\u3002<\/p>\n\n\n\n

\u548c\u5927\u6a21\u578b\u4e2d\u7684MoE\u4e0d\u540c\uff0c\u7531\u4e8e\u662fbackbone\u5c42\u7ea7\u7684MoE\uff0c\u8f66\u7aef\u90e8\u7f72\u96be\u5ea6\u53ef\u80fd\u8f83\u5927\uff0c\u4f46\u5728\u4e91\u7aef\u6a21\u578b\u4e2d\u8fd8\u662f\u503c\u5f97\u5c1d\u8bd5\u7684\u3002\u672a\u6765\u53ef\u4ee5\u8fdb\u4e00\u6b65\u63a2\u7d22\u591a\u4efb\u52a1\u3001\u591a\u6a21\u6001\u7684MoE\uff0c\u540c\u65f6\u9488\u5bf9\u90e8\u7f72\u505a\u4e00\u4e9b\u4e13\u95e8\u7684\u4f18\u5316\u3002<\/p>\n\n\n\n

<\/strong>\u5f15\u8a00<\/strong><\/strong><\/h2>\n\n\n\n

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\u4e3a\u5e94\u5bf9\u8fd9\u4e9b\u6311\u6218\uff0c\u5148\u524d\u7684\u7814\u7a76\u63a2\u7d22\u4e86\u81ea\u9002\u5e94\u6a21\u5757\uff0c\u4f8b\u5982\u52a8\u6001\u5377\u79ef\u548c\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u3002\u5c3d\u7ba1\u8fd9\u4e9b\u6280\u672f\u63d0\u9ad8\u4e86\u5c40\u90e8\u7075\u6d3b\u6027\uff0c\u4f46\u4ecd\u5c40\u9650\u4e8e\u521a\u6027\u7684\u5355\u4e00\u7f51\u7edc\u7ed3\u6784\u3002\u7531\u4e8e\u7f3a\u4e4f\u7c97\u7c92\u5ea6\u7684\u67b6\u6784\u9002\u5e94\u6027\uff0c\u6b64\u7c7b\u6a21\u578b\u96be\u4ee5\u6839\u636e\u8f93\u5165\u53d8\u5316\u52a8\u6001\u91cd\u65b0\u5206\u914d\u8ba1\u7b97\u8d44\u6e90\uff0c\u4ece\u800c\u963b\u788d\u4e86\u5176\u5728\u5b89\u5168\u5173\u952e\u578b\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\u7684\u5927\u89c4\u6a21\u90e8\u7f72\u3002\u4e13\u5bb6\u6df7\u5408\uff08Mixture-of-Experts, MoE\uff09\u8303\u5f0f\u63d0\u4f9b\u4e86\u4e00\u79cd\u65b0\u7684\u7684\u89e3\u51b3\u65b9\u6848\u3002\u901a\u8fc7\u57fa\u4e8e\u5b66\u4e60\u5230\u7684\u8def\u7531\u673a\u5236\u5b9e\u73b0\u52a8\u6001\u4e13\u5bb6\u9009\u62e9\uff0cMoE\u6a21\u578b\u80fd\u591f\u5728\u8ba1\u7b97\u6548\u7387\u548c\u8868\u793a\u4e30\u5bcc\u6027\u4e4b\u95f4\u7075\u6d3b\u5e73\u8861\u3002\u5c3d\u7ba1MoE\u5728\u81ea\u7136\u8bed\u8a00\u5904\u7406\u548c\u89c6\u89c9-\u8bed\u8a00\u4efb\u52a1\u4e2d\u53d6\u5f97\u4e86\u663e\u8457\u6210\u529f\uff0c\u4f46\u5176\u5728\u57fa\u4e8eBEV\u7684\u4e09\u7ef4\u611f\u77e5\u4e2d\u7684\u6f5c\u529b\u5c1a\u672a\u5f97\u5230\u5145\u5206\u6316\u6398\u3002\u7279\u522b\u662f\uff0c\u8bbe\u8ba1\u9002\u7528\u4e8e\u591a\u6a21\u6001\u878d\u5408\u7684\u5f02\u6784\u4e13\u5bb6backbone\u548c\u8def\u7531\u7b56\u7565\uff0c\u4ecd\u9762\u4e34\u72ec\u7279\u6311\u6218\uff0c\u5c1a\u672a\u5f97\u5230\u5145\u5206\u89e3\u51b3\u3002<\/p>\n\n\n\n

\u5728\u672c\u7814\u7a76\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86CBDES MoE\uff0c\u4e00\u79cd\u4e13\u4e3aBEV\u611f\u77e5\u4efb\u52a1\u8bbe\u8ba1\u7684\u5206\u5c42\u89e3\u8026\u4e13\u5bb6\u6df7\u5408\u67b6\u6784\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u5f15\u5165\u4e86\u591a\u6837\u5316\u7684backbone\u4e13\u5bb6\u6c60\u3001\u8f7b\u91cf\u7ea7\u95e8\u63a7\u8def\u7531\u7f51\u7edc\u548c\u7a00\u758f\u6fc0\u6d3b\u673a\u5236\uff0c\u4ee5\u5b9e\u73b0\u9ad8\u6548\u3001\u81ea\u9002\u5e94\u548c\u53ef\u6269\u5c55\u76843D\u611f\u77e5\u3002\u5728nuScenes\u57fa\u51c6\u4e0a\u7684\u7efc\u5408\u5b9e\u9a8c\u8868\u660e\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u590d\u6742\u548c\u591a\u6837\u7684\u9a7e\u9a76\u573a\u666f\u4e0b\u6301\u7eed\u8d85\u8d8a\u5f3a\u5927\u7684\u5355backbone\u57fa\u7ebf\u6a21\u578b\u3002\u6211\u4eec\u7684\u4e3b\u8981\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n

    \n
  • CBDES MoE<\/strong>\u00a0\u5f15\u5165\u4e86\u4e00\u79cd\u5168\u65b0\u7684\u57fa\u4e8e\u4e13\u5bb6\u7684\u67b6\u6784\uff0c\u5305\u542b\u4e00\u4e2a\u591a\u9636\u6bb5\u5f02\u6784backbone\u8bbe\u8ba1\u6c60\u3002\u901a\u8fc7\u652f\u6301\u5206\u5c42\u89e3\u8026\u548c\u52a8\u6001\u4e13\u5bb6\u9009\u62e9\uff0c\u8be5\u6a21\u578b\u589e\u5f3a\u4e86\u573a\u666f\u9002\u5e94\u6027\u548c\u7279\u5f81\u8868\u793a\u80fd\u529b\u3002<\/li>\n\n\n\n
  • \u5f00\u53d1\u4e86\u4e00\u79cd\u8f7b\u91cf\u7ea7\u3001\u5206\u5c42\u7684\u8def\u7531\u673a\u5236\uff0c\u96c6\u6210\u4e86\u5377\u79ef\u64cd\u4f5c\u3001\u81ea\u6ce8\u610f\u529b\u548c\u591a\u5c42\u611f\u77e5\u673a\uff08MLP\uff09\u3002\u8be5\u6a21\u5757\u5b9e\u73b0\u4e86\u4ece\u8f93\u5165\u5230\u4e13\u5bb6\u7684\u7aef\u5230\u7aef\u5b66\u4e60\u6620\u5c04\uff0c\u652f\u6301\u7a00\u758f\u6fc0\u6d3b\u548c\u9ad8\u6548\u7684\u52a8\u6001\u63a8\u7406\u3002<\/li>\n\n\n\n
  • \u5728nuScenes\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u5927\u91cf\u5b9e\u9a8c\uff0c\u7ed3\u679c\u8868\u660eCBDES MoE\u5728\u591a\u6837\u4e14\u5177\u6709\u6311\u6218\u6027\u7684\u73af\u5883\u6761\u4ef6\u4e0b\u6301\u7eed\u8d85\u8d8a\u5f3a\u5927\u7684\u5355backbone\u57fa\u7ebf\u6a21\u578b\u3002<\/li>\n<\/ul>\n\n\n\n

    <\/strong>\u76f8\u5173\u5de5\u4f5c\u56de\u987e<\/strong><\/strong><\/h2>\n\n\n\n

    \u591a\u6a21\u6001BEV\u611f\u77e5<\/strong><\/h3>\n\n\n\n

    \u968f\u7740\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u53d1\u5c55\uff0c\u591a\u4f20\u611f\u5668\u4fe1\u606f\u878d\u5408\u5df2\u6210\u4e3a\u63d0\u5347\u611f\u77e5\u7cbe\u5ea6\u4e0e\u9c81\u68d2\u6027\u7684\u5173\u952e\u6280\u672f\u3002\u65e9\u671f\u65b9\u6cd5\u901a\u5e38\u4f9d\u8d56\u4e8e\u72ec\u7acb\u7684\u6d41\u6c34\u7ebf\u9636\u6bb5\u6216\u57fa\u4e8e\u70b9\u4e91\u7684\u878d\u5408\u65b9\u6cd5\uff08\u4f8b\u5982PointPillars\u3001VoxelNet\uff09\uff0c\u4f46\u8fd9\u4e9b\u65b9\u6cd5\u96be\u4ee5\u5145\u5206\u5229\u7528\u56fe\u50cf\u4e30\u5bcc\u7684\u7eb9\u7406\u4e0e\u8bed\u4e49\u4fe1\u606f\u3002\u8fd1\u5e74\u6765\uff0c\u7531\u4e8e\u5176\u7edf\u4e00\u7684\u7a7a\u95f4\u6295\u5f71\u7279\u6027\uff0c\u9e1f\u77b0\u56fe\uff08BEV\uff09\u8868\u793a\u65b9\u6cd5\u65e5\u76ca\u53d7\u5230\u5173\u6ce8\u3002BEVDet\u3001BEVDepth\u3001BEVFormer\u7b49\u65b9\u6cd5\u901a\u8fc7\u5c06\u591a\u89c6\u89d2\u76f8\u673a\u56fe\u50cf\u6295\u5f71\u5230BEV\u7a7a\u95f4\uff0c\u5728\u4e09\u7ef4\u76ee\u6807\u68c0\u6d4b\u548c\u5730\u56fe\u5206\u5272\u4efb\u52a1\u4e2d\u5c55\u73b0\u51fa\u663e\u8457\u7684\u6027\u80fd\u63d0\u5347\u3002<\/p>\n\n\n\n

    \u8fdb\u4e00\u6b65\u5730\uff0cBEVFusion\u7b49\u7814\u7a76\u63d0\u51fa\u4e86\u7279\u5f81\u7ea7\u591a\u6a21\u6001\u878d\u5408\u6846\u67b6\uff0c\u901a\u8fc7\u5728BEV\u7a7a\u95f4\u5185\u5bf9\u9f50\u5e76\u8054\u5408\u5efa\u6a21\u76f8\u673a\u4e0e\u6fc0\u5149\u96f7\u8fbe\uff08LiDAR\uff09\u4fe1\u606f\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u901a\u5e38\u91c7\u7528\u56fa\u5b9a\u7684\u5355\u4e3b\u5e72\u67b6\u6784\uff08\u5982ResNet\u3001Swin Transformer\uff09\uff0c\u7f3a\u4e4f\u5bf9\u591a\u6837\u5316\u548c\u52a8\u6001\u53d8\u5316\u8f93\u5165\u6761\u4ef6\u7684\u9002\u5e94\u80fd\u529b\u3002<\/p>\n\n\n\n

    \u52a8\u6001\u8bbe\u8ba1\u8303\u5f0f<\/strong><\/h3>\n\n\n\n

    \u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u5177\u6709\u9ad8\u5ea6\u7684\u53d8\u5f02\u6027\u2014\u2014\u5305\u62ec\u5149\u7167\u3001\u5929\u6c14\u3001\u89c6\u89d2\u548c\u9053\u8def\u5e03\u5c40\u2014\u2014\u8981\u6c42\u611f\u77e5\u7cfb\u7edf\u5177\u5907\u7075\u6d3b\u4e14\u5f3a\u5927\u7684\u5efa\u6a21\u80fd\u529b\u3002\u5355\u4e00\u7684\u56fa\u5b9a\u67b6\u6784\u5728\u53d7\u63a7\u6761\u4ef6\u4e0b\u8868\u73b0\u53ef\u9760\uff0c\u4f46\u5728\u9886\u57df\u8fc1\u79fb\u6216\u4efb\u52a1\u8f6c\u6362\u65f6\u6027\u80fd\u5f80\u5f80\u4e0b\u964d\u3002<\/p>\n\n\n\n

    \u8fd1\u671f\u7814\u7a76\u5f15\u5165\u4e86\u52a8\u6001\u5377\u79ef\u548c\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u673a\u5236\uff0c\u4ee5\u5b9e\u73b0\u57fa\u4e8e\u8f93\u5165\u7279\u5f81\u7684\u81ea\u9002\u5e94\u53c2\u6570\u8c03\u6574\uff0c\u4ece\u800c\u63d0\u5347\u6a21\u578b\u9c81\u68d2\u6027\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u5de5\u4f5c\u4e3b\u8981\u5728\u5355\u4e00\u67b6\u6784\u5185\u7684\u7ec6\u7c92\u5ea6\u6a21\u5757\u5c42\u9762\u8fdb\u884c\u64cd\u4f5c\uff0c\u672a\u80fd\u63d0\u4f9b\u5b8f\u89c2\u5c42\u9762\u7684\u67b6\u6784\u591a\u6837\u6027\u6216\u52a8\u6001\u8def\u5f84\u8c03\u5ea6\u80fd\u529b\u3002\u5728\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u7814\u7a76\u4e2d\uff0c\u4ecd\u8feb\u5207\u9700\u8981\u4e00\u79cd\u673a\u5236\uff0c\u65e2\u80fd\u5b9e\u73b0\u7ed3\u6784\u591a\u6837\u6027\u4e0e\u52a8\u6001\u9009\u62e9\uff0c\u53c8\u80fd\u4fdd\u6301\u63a8\u7406\u6548\u7387\u3002<\/p>\n\n\n\n

    MoE\u67b6\u6784<\/strong><\/h3>\n\n\n\n

    Jacobs\u7b49\u4eba\u6700\u521d\u63d0\u51fa\u7684\u4e13\u5bb6\u6df7\u5408\uff08MoE\uff09\u67b6\u6784\uff0c\u901a\u8fc7\u57fa\u4e8e\u8f93\u5165\u4f9d\u8d56\u7684\u95e8\u63a7\u673a\u5236\u5b9e\u73b0\u52a8\u6001\u4e13\u5bb6\u9009\u62e9\uff0c\u4ece\u800c\u5728\u589e\u5f3a\u8868\u793a\u80fd\u529b\u7684\u540c\u65f6\u63a7\u5236\u8ba1\u7b97\u6210\u672c\u3002\u5728\u81ea\u7136\u8bed\u8a00\u5904\u7406\uff08NLP\uff09\u9886\u57df\uff0cGShard\u548cSwitch Transformers\u7b49\u6a21\u578b\u5df2\u8bc1\u660e\uff0c\u7a00\u758f\u6fc0\u6d3b\u7684\u4e13\u5bb6\u7ed3\u6784\u53ef\u4ee5\u5728\u4e0d\u5e26\u6765\u6c89\u91cd\u63a8\u7406\u5f00\u9500\u7684\u60c5\u51b5\u4e0b\u7ebf\u6027\u6269\u5c55\u6a21\u578b\u5bb9\u91cf\u3002\u6700\u8fd1\uff0cDeepSeekMoE\u8fdb\u4e00\u6b65\u63a8\u52a8\u4e86\u8fd9\u4e00\u8fb9\u754c\uff0c\u901a\u8fc7\u4e13\u5bb6\u7a00\u758f\u6027\u548c\u4f18\u5316\u8def\u7531\uff0c\u5c06MoE\u6a21\u578b\u6269\u5c55\u81f3\u8d85\u8fc7\u5343\u4ebf\u53c2\u6570\uff0c\u540c\u65f6\u4fdd\u6301\u9ad8\u6548\u6027\u3002\u5728\u89c6\u89c9\u9886\u57df\uff0cVision MoE\u901a\u8fc7\u5f15\u5165\u4e13\u5bb6\u6a21\u5757\uff0c\u5728\u5206\u7c7b\u548c\u68c0\u6d4b\u7b49\u4efb\u52a1\u4e2d\u8868\u73b0\u51fa\u8272\u3002<\/p>\n\n\n\n

    \u7136\u800c\uff0c\u7cfb\u7edf\u6027\u5730\u5c06MoE\u96c6\u6210\u5230\u81ea\u52a8\u9a7e\u9a76\u7684\u591a\u6a21\u6001BEV\u611f\u77e5\u4e2d\u4ecd\u5904\u4e8e\u63a2\u7d22\u9636\u6bb5\u3002\u6311\u6218\u5305\u62ec\u8bbe\u8ba1\u5408\u9002\u7684\u4e13\u5bb6\u7ec4\u5408\u3001\u9ad8\u6548\u7684\u95e8\u63a7\u673a\u5236\uff0c\u4ee5\u53ca\u5728BEV\u6295\u5f71\u7a7a\u95f4\u4e2d\u4fdd\u6301\u8de8\u6a21\u6001\u4e00\u81f4\u6027\u3002<\/p>\n\n\n\n

    \u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684MoE\u7814\u7a76<\/strong><\/h3>\n\n\n\n

    \u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\uff0c\u5df2\u6709\u5148\u9a71\u6027\u5de5\u4f5c\u5f00\u59cb\u5c06MoE\u5f15\u5165\u7aef\u5230\u7aef\u4efb\u52a1\u5b66\u4e60\u3002\u4f8b\u5982\uff0cARTEMIS\u5c06MoE\u5f15\u5165\u8f68\u8ff9\u89c4\u5212\uff0c\u5229\u7528\u52a8\u6001\u8def\u7531\u89e3\u51b3\u5728\u6a21\u7cca\u5f15\u5bfc\u6761\u4ef6\u4e0b\u7684\u6027\u80fd\u9000\u5316\u95ee\u9898\uff0c\u5b9e\u73b0\u4e86\u8de8\u573a\u666f\u7684\u9c81\u68d2\u89c4\u5212\u3002DriveMoE\u5219\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u89c6\u89c9\u7684MoE\u7528\u4e8e\u611f\u77e5\uff0c\u4ee5\u53ca\u4e00\u79cd\u57fa\u4e8e\u884c\u4e3a\u7684MoE\u7528\u4e8e\u51b3\u7b56\uff0c\u5b9e\u73b0\u4e86\u591a\u89c6\u89d2\u5904\u7406\u7684\u89e3\u8026\u548c\u591a\u6837\u5316\u9a7e\u9a76\u6280\u80fd\uff0c\u5e76\u5728Bench2Drive\u57fa\u51c6\u4e0a\u53d6\u5f97\u4e86\u6700\u5148\u8fdb\u7684\u7ed3\u679c\u3002<\/p>\n\n\n\n

    \u8fd9\u4e9b\u5de5\u4f5c\u8bc1\u5b9e\u4e86MoE\u80fd\u591f\u589e\u5f3a\u7aef\u5230\u7aef\u89c4\u5212\u548c\u51b3\u7b56\u6a21\u5757\u7684\u591a\u6837\u6027\u4e0e\u9002\u5e94\u6027\u3002\u7136\u800c\uff0c\u4e0a\u8ff0\u7814\u7a76\u4e3b\u8981\u805a\u7126\u4e8e\u7aef\u5230\u7aef\u7684\u89c4\u5212\u548c\u51b3\u7b56\u5c42\u3002\u76ee\u524d\uff0c\u5c1a\u7f3a\u4e4f\u5728\u591a\u6a21\u6001BEV\u611f\u77e5\u7cfb\u7edf\u4e2d\u5b9e\u73b0\u5206\u5c42\u3001\u89e3\u8026\u7684\u52a8\u6001\u4e13\u5bb6\u9009\u62e9\u7684\u7cfb\u7edf\u6027\u89e3\u51b3\u65b9\u6848\u3002<\/p>\n\n\n\n

    <\/strong>CBDES MoE\u7b97\u6cd5\u8be6\u89e3<\/strong><\/strong><\/h2>\n\n\n\n

    \u5728\u672c\u8282\u4e2d\uff0c\u6211\u4eec\u4ecb\u7ecd\u4e86\u6240\u63d0\u51fa\u7684CBDES MoE\u7684\u67b6\u6784\u4e0e\u8bbe\u8ba1\u7ec6\u8282\uff0c\u8fd9\u662f\u4e00\u79cd\u4e13\u4e3a\u81ea\u52a8\u9a7e\u9a76\u4e2d\u591a\u6a21\u6001BEV\u611f\u77e5\u4efb\u52a1\u8bbe\u8ba1\u7684\u65b0\u578b\u591a\u4e13\u5bb6\u6a21\u578b\u3002CBDES MoE\u6a21\u5757\u88ab\u8bbe\u8ba1\u4e3a\u4e00\u79cd\u5373\u63d2\u5373\u7528\u7684\u4e3b\u5e72\u7f51\u7edc\uff0c\u901a\u8fc7\u5229\u7528\u67b6\u6784\u591a\u6837\u6027\u4e0e\u8f93\u5165\u81ea\u9002\u5e94\u8def\u7531\u673a\u5236\u6765\u589e\u5f3a\u7279\u5f81\u8868\u793a\u80fd\u529b\u3002<\/p>\n\n\n\n

    \u6211\u4eec\u7684\u8bbe\u8ba1\u901a\u8fc7\u5f15\u5165\u5f02\u6784\u4e13\u5bb6\u7ec4\u5408\u3001\u8f93\u5165\u4f9d\u8d56\u7684\u52a8\u6001\u8def\u7531\u4ee5\u53caBEV\u7a7a\u95f4\u4e2d\u7684\u7279\u5f81\u7ea7\u805a\u5408\uff0c\u6709\u6548\u89e3\u51b3\u4e86\u5355\u4e3b\u5e72\u878d\u5408\u7f51\u7edc\u7684\u5c40\u9650\u6027\u3002<\/p>\n\n\n\n

    \u6574\u4f53\u6846\u67b6<\/strong><\/h3>\n\n\n\n

    CBDES MoE\u6a21\u5757\u96c6\u6210\u4e8e\u7c7b\u4f3cBEVFusion\u7684\u6846\u67b6\u4e2d\uff0c\u5176\u4e2d\u591a\u89c6\u89d2\u76f8\u673a\u56fe\u50cf\u88ab\u6295\u5f71\u5230BEV\u7a7a\u95f4\uff0c\u5e76\u4e0e\u6fc0\u5149\u96f7\u8fbe\uff08LiDAR\uff09\/\u96f7\u8fbe\u6a21\u6001\u878d\u5408\uff0c\u4ee5\u6267\u884c\u4e09\u7ef4\u76ee\u6807\u68c0\u6d4b\u548c\u5730\u56fe\u5206\u5272\u7b493D\u611f\u77e5\u4efb\u52a1\u3002\u6211\u4eec\u5c06\u4f20\u7edf\u7684\u9759\u6001\u56fe\u50cf\u4e3b\u5e72\u66ff\u6362\u4e3a\u4e00\u4e2a\u5f02\u6784\u7684\u4e13\u5bb6\u6df7\u5408\uff08Mixture-of-Experts\uff09\u6a21\u5757\uff0c\u7528\u4e8e\u5728BEV\u6295\u5f71\u524d\u63d0\u53d6\u56fe\u50cf\u7279\u5f81\u3002\u6bcf\u4e2a\u4e13\u5bb6\u72ec\u7acb\u5904\u7406\u8f93\u5165\u56fe\u50cf\uff0c\u7136\u540e\u5229\u7528\u76f8\u673a\u5230BEV\u7684\u89c6\u56fe\u53d8\u6362\u5c42\u5c06\u7279\u5f81\u6295\u5f71\u81f3BEV\u7a7a\u95f4\u3002\u6240\u6709\u540e\u7eed\u64cd\u4f5c\uff0c\u5982\u6a21\u6001\u878d\u5408\u548c\u4efb\u52a1\u5934\uff0c\u5747\u4e0eBEVFusion\u7b49\u6807\u51c6\u6d41\u6c34\u7ebf\u4fdd\u6301\u517c\u5bb9\u3002<\/p>\n\n\n\n

    \u5982\u56fe1\u6240\u793a\uff0cCBDES MoE\u7531\u56db\u4e2a\u7ed3\u6784\u5404\u5f02\u7684\u4e13\u5bb6\u7f51\u7edc\u3001\u4e00\u4e2a\u8f7b\u91cf\u7ea7\u53ef\u5b66\u4e60\u7684\u8def\u7531\u6a21\u5757\u4ee5\u53ca\u4e00\u4e2a\u4e13\u5bb6\u8f93\u51fa\u7684\u8f6f\u7279\u5f81\u878d\u5408\u673a\u5236\u7ec4\u6210\u3002\u6bcf\u4e2a\u7ec4\u4ef6\u7684\u8bbe\u8ba1\u5747\u4ee5\u6548\u7387\u3001\u591a\u6837\u6027\u4e0e\u8f93\u5165\u9002\u5e94\u6027\u4e3a\u6838\u5fc3\uff0c\u4f7f\u6a21\u578b\u80fd\u591f\u5728\u4e0d\u540c\u89c6\u89c9\u6761\u4ef6\u548c\u4efb\u52a1\u9700\u6c42\u4e0b\u9009\u62e9\u6027\u5730\u6fc0\u6d3b\u4e13\u5bb6\u8def\u5f84\u3002<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n

    \u5f02\u6784\u4e13\u5bb6\u96c6\u8bbe\u8ba1<\/strong><\/h3>\n\n\n\n

    CBDES MoE\u7684\u4e00\u9879\u4e3b\u8981\u521b\u65b0\u5728\u4e8e\u4e13\u5bb6\u4e3b\u5e72\u7f51\u7edc\u4e4b\u95f4\u7684\u663e\u5f0f\u67b6\u6784\u5f02\u6784\u6027\u3002\u4e0e\u4f7f\u7528\u76f8\u540c\u67b6\u6784\u7684\u4e13\u5bb6\u4e0d\u540c\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u7531\u56db\u79cd\u4e0d\u540c\u7684\u89c6\u89c9\u4e3b\u5e72\u7ec4\u6210\u7684\u4e13\u5bb6\u6c60\uff0c\u6bcf\u79cd\u4e3b\u5e72\u4ee3\u8868\u6df1\u5ea6\u89c6\u89c9\u8868\u793a\u5b66\u4e60\u4e2d\u7684\u4e0d\u540c\u8303\u5f0f\uff1a<\/p>\n\n\n\n

      \n
    • Swin Transformer<\/strong>\uff1a\u4e00\u79cd\u91c7\u7528\u57fa\u4e8e\u7a97\u53e3\u7684\u81ea\u6ce8\u610f\u529b\u4e0e\u79fb\u4f4d\u7a97\u53e3\u673a\u5236\u7684\u5206\u5c42Transformer\uff0c\u7279\u522b\u64c5\u957f\u6355\u6349\u5927\u89c6\u91ce\u573a\u666f\u4e2d\u7684\u5168\u5c40\u7a7a\u95f4\u7ed3\u6784\u3002<\/li>\n\n\n\n
    • ResNet<\/strong>\uff1a\u4e00\u79cd\u4f7f\u7528\u6b8b\u5dee\u8fde\u63a5\u7684\u7ecf\u5178\u5377\u79ef\u4e3b\u5e72\u3002\u5c3d\u7ba1\u7ed3\u6784\u7b80\u5355\uff0c\u4f46\u5176\u4e3a\u5c40\u90e8\u7ed3\u6784\u7f16\u7801\u548c\u8fb9\u7f18\u68c0\u6d4b\u63d0\u4f9b\u4e86\u5f3a\u5927\u7684\u5f52\u7eb3\u504f\u7f6e\uff0c\u5c24\u5176\u5728\u5149\u7167\u4e0d\u8db3\u6216\u7eb9\u7406\u7f3a\u5931\u7684\u6761\u4ef6\u4e0b\u8868\u73b0\u4f18\u5f02\u3002<\/li>\n\n\n\n
    • ConvNeXt<\/strong>\uff1a\u4e00\u79cd\u53d7Transformer\u542f\u53d1\u4f46\u4fdd\u6301\u5168\u5377\u79ef\u8bbe\u8ba1\u7684\u73b0\u4ee3\u5316\u5377\u79ef\u7f51\u7edc\u67b6\u6784\uff0c\u5728\u5c40\u90e8\u6027\u4e0e\u53ef\u6269\u5c55\u6027\u4e4b\u95f4\u53d6\u5f97\u5e73\u8861\uff0c\u4ee5\u8f83\u5c11\u7684\u624b\u5de5\u5148\u9a8c\u63d0\u4f9b\u5f3a\u5927\u7684\u8868\u793a\u80fd\u529b\u3002<\/li>\n\n\n\n
    • yramid Vision Transformer\uff08PVT\uff09<\/strong>\uff1a\u4e00\u79cd\u4e13\u4e3a\u5bc6\u96c6\u9884\u6d4b\u4efb\u52a1\u8bbe\u8ba1\u7684\u5206\u5c42Transformer\uff0c\u901a\u8fc7\u5f15\u5165\u7a7a\u95f4\u7f29\u51cf\u6ce8\u610f\u529b\u673a\u5236\uff0c\u5728\u5168\u5c40\u4e0a\u4e0b\u6587\u5efa\u6a21\u4e0e\u8ba1\u7b97\u6210\u672c\u4e4b\u95f4\u5b9e\u73b0\u5e73\u8861\uff0c\u9002\u7528\u4e8e\u591a\u5c3a\u5ea6\u76ee\u6807\u5efa\u6a21\u3002<\/li>\n<\/ul>\n\n\n\n

      \u901a\u8fc7\u96c6\u6210\u56db\u79cd\u7ed3\u6784\u5dee\u5f02\u663e\u8457\u7684\u4e13\u5bb6\u4e3b\u5e72\uff0c\u6a21\u578b\u80fd\u591f\u53d7\u76ca\u4e8e\u591a\u6837\u5316\u7684\u5f52\u7eb3\u504f\u7f6e\u4e0e\u8868\u793a\u80fd\u529b\u3002\u8fd9\u4e9b\u4e13\u5bb6\u4e0d\u4ec5\u5728\u67b6\u6784\u4e0a\u4e0d\u540c\uff0c\u5176\u611f\u53d7\u91ce\u7279\u6027\u3001\u53c2\u6570\u5316\u6a21\u5f0f\u548c\u8ba1\u7b97\u5f00\u9500\u4e5f\u5404\u4e0d\u76f8\u540c\u3002\u8fd9\u79cd\u5f02\u6784\u6027\u5bf9\u4e8e\u5efa\u6a21\u771f\u5b9e\u4e16\u754c\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\u5de8\u5927\u7684\u53d8\u5f02\u6027\u81f3\u5173\u91cd\u8981\uff08\u4f8b\u5982\u57ce\u5e02\u4e0e\u4e61\u6751\u3001\u767d\u5929\u4e0e\u591c\u665a\u3001\u6674\u6717\u4e0e\u96fe\u5929\uff09\u3002\u6bcf\u4e2a\u4e13\u5bb6\u5728\u6355\u6349\u7279\u5b9a\u56fe\u50cf\u6a21\u5f0f\u65b9\u9762\u8868\u73b0\u51fa\u8272\uff0c\u4ece\u800c\u4f7f\u7cfb\u7edf\u5bf9\u52a8\u6001\u591a\u53d8\u7684\u9053\u8def\u573a\u666f\u66f4\u5177\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n

      \u81ea\u6ce8\u610f\u529b\u8def\u7531\u5668SAR<\/strong><\/p>\n\n\n\n

      \"\"<\/figure>\n\n\n\n
      \"\"<\/figure>\n\n\n\n
      \"\"<\/figure>\n\n\n\n
      \"\"<\/figure>\n\n\n\n

      \u5b9e\u9a8c\u7ed3\u679c<\/strong><\/strong><\/h2>\n\n\n\n

      \u4e3a\u8bc4\u4f30\u6240\u63d0\u51fa\u7684CBDES MoE\u6846\u67b6\u7684\u6709\u6548\u6027\uff0c\u6211\u4eec\u8fdb\u884c\u4e86\u5168\u9762\u7684\u5b9e\u9a8c\uff0c\u91cd\u70b9\u7814\u7a76\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u4e09\u7ef4\u76ee\u6807\u68c0\u6d4b\u4efb\u52a1\u3002\u76ee\u6807\u662f\u8bc4\u4f30\u52a8\u6001\u5f02\u6784\u4e13\u5bb6\u9009\u62e9\u5e26\u6765\u7684\u6027\u80fd\u63d0\u5347\u4ee5\u53ca\u8d1f\u8f7d\u5747\u8861\u6b63\u5219\u5316\u5e26\u6765\u7684\u76ca\u5904\u3002\u6211\u4eec\u5c06CBDES MoE\u4e0e\u591a\u4e2a\u5f3a\u5355\u4e13\u5bb6\u57fa\u7ebf\u6a21\u578b\u8fdb\u884c\u6bd4\u8f83\uff0c\u5e76\u8fdb\u884c\u6d88\u878d\u7814\u7a76\u4ee5\u5206\u79bb\u6bcf\u4e2a\u7ec4\u4ef6\u7684\u8d21\u732e\u3002<\/p>\n\n\n\n

      \u5b9e\u9a8c\u8bbe\u7f6e<\/strong><\/h3>\n\n\n\n

      \u6211\u4eec\u5c06CBDES MoE\u96c6\u6210\u5230\u5b98\u65b9\u7684BEVFusion\u4ee3\u7801\u5e93\u4e2d\u8fdb\u884c\u6027\u80fd\u8bc4\u4f30\u3002\u56db\u4e2a\u4e13\u5bb6\u2014\u2014Swin Transformer\u3001ResNet\u3001ConvNeXt\u548cPVT\u2014\u2014\u5747\u5728ImageNet-1K\u4e0a\u8fdb\u884c\u4e86\u9884\u8bad\u7ec3\uff0c\u5e76\u88ab\u9002\u914d\u4ee5\u5339\u914dBEVFusion\u76f8\u673a\u5206\u652f\u7684\u8f93\u5165-\u8f93\u51fa\u63a5\u53e3\u3002<\/p>\n\n\n\n

      \u5b9e\u9a8c\u5728nuScenes\u4e0a\u5c55\u5f00\uff0c\u5177\u4f53\u7684\u8bc4\u6d4b\u3001\u8ba1\u7b97\u8d44\u6e90\u548c\u8d85\u53c2\u6570\u53ef\u4ee5\u53c2\u8003\u539f\u6587\u3002<\/p>\n\n\n\n

      \u4e0e\u5355\u4e13\u5bb6\u6a21\u578b\u7684\u6bd4\u8f83<\/strong><\/h3>\n\n\n\n
      \"\"<\/figure>\n\n\n\n

      \u4e3a\u8bc4\u4f30\u4e13\u5bb6\u591a\u6837\u6027\u548c\u52a8\u6001\u8def\u7531\u7684\u8d21\u732e\uff0c\u6211\u4eec\u5c06CBDES MoE\u4e0e\u56db\u4e2a\u57fa\u7ebf\u6a21\u578b\u8fdb\u884c\u6bd4\u8f83\uff0c\u6bcf\u4e2a\u57fa\u7ebf\u4f7f\u7528\u5355\u4e00\u7684\u4e13\u5bb6\u4e3b\u5e72\uff1aSwin Transformer\u3001ResNet\u3001ConvNeXt\u548cPVT\u3002\u6240\u6709\u6a21\u578b\u5171\u4eab\u76f8\u540c\u7684BEV\u878d\u5408\u3001\u68c0\u6d4b\u5934\u548c\u8bad\u7ec3\u914d\u7f6e\uff0c\u4ee5\u786e\u4fdd\u516c\u5e73\u6bd4\u8f83\u3002\u5355\u4e13\u5bb6\u53d8\u4f53\u7701\u7565\u4e86MoE\u7ed3\u6784\u548c\u8def\u7531\u673a\u5236\u3002<\/p>\n\n\n\n

      \u5982\u88681\u6240\u793a\uff0cCBDES MoE\u5728mAP\u548cNDS\u4e0a\u5747\u6301\u7eed\u4f18\u4e8e\u6240\u6709\u56db\u4e2a\u5355\u4e13\u5bb6\u57fa\u7ebf\u3002\u8fd9\u9a8c\u8bc1\u4e86\u4e13\u5bb6\u591a\u6837\u6027\u548c\u81ea\u9002\u5e94\u8def\u7531\u673a\u5236\u5728\u63d0\u5347\u4e09\u7ef4\u68c0\u6d4b\u6027\u80fd\u65b9\u9762\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n

      \"\"<\/figure>\n\n\n\n

      \u9664\u4e86\u7cbe\u5ea6\u6307\u6807\u5916\uff0c\u6211\u4eec\u8fd8\u5728\u56fe4\u4e2d\u6bd4\u8f83\u4e86\u8bad\u7ec3\u8fc7\u7a0b\u3002CBDES MoE\u8868\u73b0\u51fa\u66f4\u5feb\u7684\u6536\u655b\u901f\u5ea6\uff0c\u5e76\u5728\u6574\u4e2a\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u4fdd\u6301\u66f4\u4f4e\u7684\u635f\u5931\uff0c\u8868\u660e\u5176\u4f18\u5316\u7a33\u5b9a\u6027\u66f4\u9ad8\uff0c\u5b66\u4e60\u6548\u7387\u66f4\u4f18\u3002<\/p>\n\n\n\n

      \"\"<\/figure>\n\n\n\n

      \u4e3a\u8fdb\u4e00\u6b65\u8bf4\u660e\u8fd9\u4e9b\u5b9a\u91cf\u63d0\u5347\uff0c\u56fe2\u5c55\u793a\u4e86\u5728\u56db\u79cd\u4e0d\u540c\u73af\u5883\u6761\u4ef6\u4e0b\u4ee3\u8868\u6027\u573a\u666f\u7684BEV 3D\u76ee\u6807\u68c0\u6d4b\u7ed3\u679c\u7684\u5b9a\u6027\u6bd4\u8f83\u3002\u524d\u4e24\u884c\u63cf\u7ed8\u4e86\u80fd\u89c1\u5ea6\u826f\u597d\u7684\u6b63\u5e38\u767d\u5929\u573a\u666f\uff0c\u800c\u7b2c\u4e09\u548c\u7b2c\u56db\u884c\u5c55\u793a\u4e86\u66f4\u5177\u6311\u6218\u6027\u7684\u6761\u4ef6\uff1a\u7b2c\u4e09\u884c\u5305\u542b\u96e8\u96fe\uff0c\u7b2c\u56db\u884c\u4e3a\u591c\u95f4\u62cd\u6444\u3002\u5728\u6240\u6709\u573a\u666f\u4e2d\uff0cCBDES MoE\u4ea7\u751f\u7684\u7ed3\u679c\u4e0eGT\u66f4\u4e3a\u63a5\u8fd1\uff0c\u5c24\u5176\u662f\u5728\u7eff\u8272\u6846\u6807\u51fa\u7684\u533a\u57df\u3002<\/p>\n\n\n\n

      \u5728\u6674\u6717\u7684\u767d\u5929\u573a\u666f\u4e2d\uff0cCBDES MoE\u76f8\u6bd4\u5355\u4e13\u5bb6\u6a21\u578b\u8868\u73b0\u51fa\u66f4\u5f3a\u7684\u4e00\u81f4\u6027\u548c\u66f4\u5c11\u7684\u6f0f\u68c0\u3002\u5728\u6076\u52a3\u6761\u4ef6\u4e0b\u2014\u2014\u4f8b\u5982\u56e0\u96fe\u5bfc\u81f4\u80fd\u89c1\u5ea6\u4f4e\u6216\u591c\u95f4\u5149\u7167\u6709\u9650\u2014\u2014\u6211\u4eec\u7684\u6a21\u578b\u901a\u8fc7\u5728\u57fa\u7ebf\u6a21\u578b\u51fa\u73b0\u8bef\u68c0\u6216\u5b8c\u5168\u65e0\u6cd5\u5b9a\u4f4d\u76ee\u6807\u65f6\u4ecd\u80fd\u4fdd\u6301\u7a33\u5065\u7684\u68c0\u6d4b\u800c\u4f18\u4e8e\u57fa\u7ebf\u3002\u8fd9\u4e9b\u7ed3\u679c\u51f8\u663e\u4e86\u52a8\u6001\u4e13\u5bb6\u8def\u7531\u7684\u4f18\u52bf\uff1a\u901a\u8fc7\u4e3a\u6bcf\u4e2a\u8f93\u5165\u9009\u62e9\u6700\u5408\u9002\u7684\u4e13\u5bb6\uff0cCBDES MoE\u80fd\u591f\u66f4\u597d\u5730\u9002\u5e94\u73af\u5883\u53d8\u5316\uff0c\u5e76\u5728\u591a\u6837\u5316\u7684\u771f\u5b9e\u4e16\u754c\u6761\u4ef6\u4e0b\u5c55\u73b0\u51fa\u5353\u8d8a\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n

      \u8d1f\u8f7d\u5747\u8861\u6b63\u5219\u5316\u7684\u5f71\u54cd<\/strong><\/h3>\n\n\n\n

      \u6211\u4eec\u8fdb\u4e00\u6b65\u5206\u6790\u4e86\u8d1f\u8f7d\u5747\u8861\u6b63\u5219\u5316\u5bf9\u68c0\u6d4b\u6027\u80fd\u7684\u5f71\u54cd\u3002\u6bd4\u8f83\u4e86CBDES MoE\u7684\u4e24\u4e2a\u53d8\u4f53\uff1a\u4e00\u4e2a\u5728\u8bad\u7ec3\u4e2d\u52a0\u5165\u4e86\u8d1f\u8f7d\u5747\u8861\u635f\u5931\uff0c\u53e6\u4e00\u4e2a\u6ca1\u6709\u3002<\/p>\n\n\n\n

      \u5982\u88682\u6240\u793a\uff0c\u4f7f\u7528\u8d1f\u8f7d\u5747\u8861\u6b63\u5219\u5316\u7684CBDES MoE\u5728mAP\u548cNDS\u4e0a\u5747\u663e\u8457\u4f18\u4e8e\u672a\u4f7f\u7528\u8be5\u6b63\u5219\u5316\u7684\u7248\u672c\u3002<\/p>\n\n\n\n

      \"\"<\/figure>\n\n\n\n

      \u4e3a\u66f4\u597d\u5730\u7406\u89e3\u8d1f\u8f7d\u5747\u8861\u635f\u5931\u5bf9\u4e13\u5bb6\u5229\u7528\u7387\u7684\u5f71\u54cd\uff0c\u6211\u4eec\u5728\u56fe3\u4e2d\u53ef\u89c6\u5316\u4e86\u8def\u7531\u5668\u7684\u884c\u4e3a\u3002\u4e24\u4e2a\u70ed\u56fe\u5206\u522b\u5c55\u793a\u4e86\u5728\u6709\u548c\u6ca1\u6709\u8d1f\u8f7d\u5747\u8861\u6b63\u5219\u5316\u9879\u7684\u60c5\u51b5\u4e0b\uff0c\u5206\u914d\u7ed9\u6bcf\u4e2a\u4e13\u5bb6\u7684\u8f6f\u8def\u7531\u6982\u7387\u3002<\/p>\n\n\n\n

      \u5728\u6ca1\u6709\u8d1f\u8f7d\u5747\u8861\u635f\u5931\uff08\u56fe3b\uff09\u7684\u60c5\u51b5\u4e0b\uff0c\u8def\u7531\u6982\u7387\u4e25\u91cd\u504f\u5411\u4e00\u4e2a\u4e3b\u5bfc\u4e13\u5bb6\uff0c\u5bfc\u81f4\u4e25\u91cd\u7684\u4e13\u5bb6\u4e0d\u5e73\u8861\u548c\u5176\u4f59\u4e13\u5bb6\u7684\u5229\u7528\u4e0d\u8db3\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u5f53\u5e94\u7528\u8d1f\u8f7d\u5747\u8861\u635f\u5931\uff08\u56fe3a\uff09\u65f6\uff0c\u8def\u7531\u6982\u7387\u5728\u6240\u6709\u56db\u4e2a\u4e13\u5bb6\u4e4b\u95f4\u5206\u5e03\u5f97\u66f4\u52a0\u5747\u5300\uff0c\u6700\u7ec8\u7684\u9009\u62e9\u8868\u73b0\u51fa\u66f4\u5927\u7684\u591a\u6837\u6027\u3002\u8fd9\u8bc1\u5b9e\u4e86\u6b63\u5219\u5316\u9879\u4fc3\u4f7f\u8def\u7531\u5668\u63a2\u7d22\u5b8c\u6574\u7684\u4e13\u5bb6\u7a7a\u95f4\uff0c\u5e76\u9632\u6b62\u9677\u5165\u9000\u5316\u7684\u8def\u7531\u6a21\u5f0f\u3002<\/p>\n\n\n\n

      \"\"<\/figure>\n\n\n\n

      \u6539\u8fdb\u7684\u4e13\u5bb6\u591a\u6837\u6027\u76f4\u63a5\u4fc3\u6210\u4e86\u66f4\u597d\u7684\u6027\u80fd\uff0c\u5982\u88682\u6240\u793a\uff0c\u5728\u4e13\u5bb6\u4f7f\u7528\u5747\u8861\u7684\u60c5\u51b5\u4e0b\uff0cmAP\u548cNDS\u5747\u66f4\u9ad8\u3002\u8fd9\u4e9b\u7ed3\u679c\u51f8\u663e\u4e86\u5728\u57fa\u4e8eMoE\u7684\u611f\u77e5\u7cfb\u7edf\u4e2d\u5f15\u5165\u8d1f\u8f7d\u5747\u8861\u4ee5\u5145\u5206\u5229\u7528\u5176\u5efa\u6a21\u80fd\u529b\u7684\u5fc5\u8981\u6027\u3002<\/p>\n\n\n\n

      \u7ed3\u8bba<\/strong><\/strong><\/h2>\n\n\n\n

      \u672c\u6587\u63d0\u51fa\u4e86CBDES MoE\uff0c\u4e00\u79cd\u4e13\u4e3a\u81ea\u52a8\u9a7e\u9a76\u529f\u80fd\u6a21\u5757\u8bbe\u8ba1\u7684\u65b0\u578b\u5206\u5c42\u89e3\u8026MoE\u6846\u67b6\u3002\u901a\u8fc7\u96c6\u6210\u56db\u79cd\u7ed3\u6784\u5f02\u6784\u7684\u4e13\u5bb6\u4e3b\u5e72\u2014\u2014Swin Transformer\u3001ResNet\u3001ConvNeXt\u548cPVT\uff0c\u5e76\u5f15\u5165\u8f7b\u91cf\u7ea7\u7684\u81ea\u6ce8\u610f\u529b\u8def\u7531\u5668\uff08SAR\uff09\u5b9e\u73b0\u56fe\u50cf\u7ea7\u7684\u52a8\u6001\u4e13\u5bb6\u9009\u62e9\uff0c\u6211\u4eec\u7684\u6a21\u578b\u80fd\u591f\u4e3a\u6bcf\u4e2a\u8f93\u5165\u81ea\u9002\u5e94\u5730\u6fc0\u6d3b\u6700\u5408\u9002\u7684\u4e13\u5bb6\u3002\u6b64\u5916\uff0c\u6211\u4eec\u8fd8\u5f15\u5165\u4e86\u8d1f\u8f7d\u5747\u8861\u6b63\u5219\u5316\u9879\uff0c\u4ee5\u9632\u6b62\u4e13\u5bb6\u574d\u584c\u5e76\u786e\u4fdd\u8bad\u7ec3\u7a33\u5b9a\u3002\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u7684\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0cCBDES MoE\u5728mAP\u548cNDS\u6307\u6807\u4e0a\u6301\u7eed\u4f18\u4e8e\u5355\u4e13\u5bb6\u57fa\u7ebf\uff0c\u9a8c\u8bc1\u4e86\u6240\u63d0\u6846\u67b6\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n

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