{"id":33376,"date":"2025-09-28T17:31:36","date_gmt":"2025-09-28T09:31:36","guid":{"rendered":"http:\/\/192.168.10.115\/?p=33376"},"modified":"2025-09-28T17:31:36","modified_gmt":"2025-09-28T09:31:36","slug":"2025-09-28%e5%a6%82%e4%bd%95%e5%90%91%e4%b8%80%e6%ae%b5%e5%bc%8f%e7%ab%af%e5%88%b0%e7%ab%af%e6%b3%a8%e5%85%a5%e7%b1%bb%e4%ba%ba%e6%80%9d%e8%80%83%e7%9a%84%e8%83%bd%e5%8a%9b%ef%bc%9f%e6%b8%af%e7%a7%91o","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/09\/28\/33376\/","title":{"rendered":"2025-09-28\u5982\u4f55\u5411\u4e00\u6bb5\u5f0f\u7aef\u5230\u7aef\u6ce8\u5165\u7c7b\u4eba\u601d\u8003\u7684\u80fd\u529b\uff1f\u6e2f\u79d1OmniScene\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u8303\u5f0f&#8230;"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a 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class=\"wp-block-list\">\n<li>\u9879\u76ee\u94fe\u63a5\uff1ahttps:\/\/github.com\/ocean-luna\/OmniScene<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2509.19973<\/li>\n<\/ul>\n\n\n\n<p><strong>\u4e00\u3001\u5f15\u8a00<\/strong><\/p>\n\n\n\n<p>\u8fd1\u5e74\u6765\uff0c\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u5c55\uff0c\u5176\u6838\u5fc3\u9886\u57df\uff08\u5305\u62ec\u611f\u77e5\u3001\u8fd0\u52a8\u9884\u6d4b\u548c\u89c4\u5212\uff09\u5747\u5b9e\u73b0\u4e86\u7a81\u7834\u3002\u8fd9\u4e9b\u6280\u672f\u8fdb\u6b65\u5171\u540c\u4e3a\u66f4\u7cbe\u51c6\u3001\u66f4\u5b89\u5168\u7684\u9a7e\u9a76\u6027\u80fd\u5960\u5b9a\u4e86\u57fa\u7840\u3002\u5728\u6b64\u80cc\u666f\u4e0b\uff0c\u7aef\u5230\u7aef\uff08E2E\uff09\u81ea\u52a8\u9a7e\u9a76\u4f5c\u4e3a\u4e00\u79cd\u521b\u65b0\u8303\u5f0f\u9010\u6e10\u53d7\u5230\u5173\u6ce8\u3002\u901a\u8fc7\u5229\u7528\u5927\u89c4\u6a21\u6570\u636e\u96c6\uff0c\u7aef\u5230\u7aef\u65b9\u6cd5\u80fd\u591f\u5b66\u4e60\u5c06\u539f\u59cb\u4f20\u611f\u5668\u8f93\u5165\u76f4\u63a5\u6620\u5c04\u4e3a\u9884\u6d4b\u7684\u89c4\u5212\u8f68\u8ff9\uff0c\u4ece\u800c\u4e0d\u518d\u4f9d\u8d56\u624b\u52a8\u7684\u4e2d\u95f4\u5904\u7406\u73af\u8282\uff0c\u540c\u65f6\u63d0\u5347\u4e86\u7cfb\u7edf\u7684\u9002\u5e94\u6027\u4e0e\u53ef\u6269\u5c55\u6027\u3002<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u4f20\u7edf\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5728\u751f\u6210\u672a\u6765\u89c4\u5212\u8f68\u8ff9\u6216\u4f4e\u7ea7\u63a7\u5236\u6307\u4ee4\u65f6\uff0c\u5f80\u5f80\u672a\u80fd\u6709\u6548\u6574\u5408\u611f\u77e5\u4e0e\u573a\u666f\u7406\u89e3\u6a21\u5757\u3002\u8fd9\u79cd\u6574\u5408\u7f3a\u5931\u4f7f\u5176\u96be\u4ee5\u878d\u5165\u5173\u952e\u7684\u4e0a\u4e0b\u6587\u4fe1\u606f\uff08\u5982\u4ea4\u901a\u52a8\u6001\u548c\u5bfc\u822a\u7ea6\u675f\uff09\uff0c\u800c\u8fd9\u4e9b\u4fe1\u606f\u5bf9\u4e8e\u7a33\u5065\u7684\u81ea\u52a8\u9a7e\u9a76\u81f3\u5173\u91cd\u8981\u3002\u5728\u590d\u6742\u4e14\u6a21\u7cca\u7684\u573a\u666f\u4e2d\uff0c\u8fd9\u79cd\u5c40\u9650\u5c24\u4e3a\u7a81\u51fa\u2014\u2014\u6b64\u65f6\u5355\u4e00\u7684\u611f\u77e5\u6216\u7b80\u5355\u7684\u9884\u6d4b\u65e0\u6cd5\u6ee1\u8db3\u573a\u666f\u7406\u89e3\u9700\u6c42\uff0c\u4f8b\u5982\u5904\u7406\u590d\u6742\u7684\u4ea4\u901a\u4ea4\u4e92\u6216\u9075\u5b88\u4ea4\u901a\u89c4\u5219\u7b49\u573a\u666f\u3002<\/p>\n\n\n\n<p>\u4e0e\u4e4b\u76f8\u53cd\uff0c\u4eba\u7c7b\u89c6\u89c9\u4f1a\u6301\u7eed\u5c06\u611f\u77e5\u8f93\u5165\u8f6c\u5316\u4e3a\u573a\u666f\u7406\u89e3\uff0c\u5e76\u6839\u636e\u4e0d\u65ad\u53d8\u5316\u7684\u9a7e\u9a76\u73af\u5883\uff08\u5982\u4ea4\u901a\u4fe1\u53f7\u706f\u3001\u884c\u4eba\u6d3b\u52a8\u548c\u8f66\u9053\u6807\u7ebf\uff09\u8c03\u6574\u6ce8\u610f\u529b\u7126\u70b9\u3002\u8fd9\u79cd\u5177\u5907\u6ce8\u610f\u529b\u611f\u77e5\u80fd\u529b\u7684\u573a\u666f\u7406\u89e3\uff0c\u662f\u4eba\u7c7b\u62e5\u6709\u5353\u8d8a\u9a7e\u9a76\u80fd\u529b\u7684\u5173\u952e\u6240\u5728\u3002\u56e0\u6b64\u6784\u5efa\u4e00\u79cd\u80fd\u591f\u5b9e\u73b0\u7c7b\u4eba\u573a\u666f\u7406\u89e3\u7684\u7edf\u4e00\u65b9\u6cd5\uff0c\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u667a\u80fd\u51b3\u7b56\u4e0e\u5b89\u5168\u89c4\u5212\u81f3\u5173\u91cd\u8981\u3002<\/p>\n\n\n\n<figure 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\u591a\u6a21\u6001\u4fe1\u606f\u878d\u5408\u673a\u5236<\/strong><\/p>\n\n\n\n<p>\u8fd1\u5e74\u6765\uff0c\u57fa\u4e8e\u6ce8\u610f\u529b\u7684\u878d\u5408\u673a\u5236\u4e0e\u53ef\u5b66\u4e60\u878d\u5408\u7b56\u7565\u5df2\u6210\u4e3a\u591a\u6a21\u6001\u4fe1\u606f\u878d\u5408\u7684\u4e3b\u6d41\u8303\u5f0f\uff0c\u53ef\u6709\u6548\u5e94\u5bf9\u6a21\u6001\u5f02\u8d28\u6027\u4e0e\u6a21\u6001\u5931\u8861\u95ee\u9898\u3002\u8fd9\u4e9b\u65b9\u6cd5\u5728\u6355\u6349\u8de8\u6a21\u6001\u4ea4\u4e92\u3001\u52a8\u6001\u9002\u914d\u5404\u6a21\u6001\u76f8\u5173\u6027\u65b9\u9762\u5df2\u5c55\u73b0\u51fa\u663e\u8457\u6210\u6548\uff0c\u56e0\u6b64\u7279\u522b\u9002\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u3001\u673a\u5668\u4eba\u7b49\u590d\u6742\u4efb\u52a1\u573a\u666f\u3002<\/p>\n\n\n\n<p>\u57fa\u4e8e\u6ce8\u610f\u529b\u7684\u878d\u5408\u673a\u5236\u501f\u52a9\u6ce8\u610f\u529b\u7684\u4f18\u52bf\u5bf9\u6a21\u6001\u95f4\u4f9d\u8d56\u5173\u7cfb\u8fdb\u884c\u5efa\u6a21\uff0c\u4f7f\u6a21\u578b\u80fd\u591f\u805a\u7126\u4e8e\u4fe1\u606f\u6700\u4e30\u5bcc\u7684\u7279\u5f81\u3002\u57fa\u4e8eTransformer\u7684\u67b6\u6784\u5df2\u6210\u4e3a\u8be5\u65b9\u6cd5\u7684\u6838\u5fc3\u57fa\u7840\uff0c\u5176\u901a\u8fc7\u81ea\u6ce8\u610f\u529b\u4e0e\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\u5bf9\u4e0d\u540c\u6a21\u6001\u7684\u7279\u5f81\u8fdb\u884c\u878d\u5408\u3002\u4f8b\u5982\uff0cTransFuser\u5229\u7528Transformer\u6574\u5408\u89c6\u89c9\u4e0e\u6fc0\u5149\u96f7\u8fbe\uff08LiDAR\uff09\u7279\u5f81\uff0c\u5728\u4e09\u7ef4\u76ee\u6807\u68c0\u6d4b\u4e0e\u573a\u666f\u7406\u89e3\u4efb\u52a1\u4e2d\u5b9e\u73b0\u4e86\u6700\u4f18\u6027\u80fd\uff1b\u7c7b\u4f3c\u5730\uff0c\u8de8\u6a21\u6001\u6ce8\u610f\u529b\u7f51\u7edc\u901a\u8fc7\u6ce8\u610f\u529b\u5bf9\u89c6\u89c9\u4e0e\u6587\u672c\u7279\u5f81\u7684\u91cd\u8981\u6027\u8fdb\u884c\u52a0\u6743\uff0c\u5728\u56fe\u50cf-\u6587\u672c\u5339\u914d\u3001\u89c6\u89c9\u95ee\u7b54\u7b49\u4efb\u52a1\u4e2d\u63d0\u5347\u4e86\u6027\u80fd\u3002\u8fd9\u4e9b\u65b9\u6cd5\u5728\u6355\u6349\u957f\u7a0b\u4f9d\u8d56\u5173\u7cfb\u4e0e\u590d\u6742\u6a21\u6001\u4ea4\u4e92\u65b9\u9762\u8868\u73b0\u51fa\u8272\uff0c\u4f46\u901a\u5e38\u9700\u8981\u5927\u91cf\u8ba1\u7b97\u8d44\u6e90\uff0c\u8fd9\u5728\u5b9e\u65f6\u7cfb\u7edf\u4e2d\u7684\u5e94\u7528\u53d7\u5230\u4e86\u9650\u5236\u3002<\/p>\n\n\n\n<p>\u53e6\u4e00\u65b9\u9762\uff0c\u53ef\u5b66\u4e60\u878d\u5408\u673a\u5236\u56e0\u5176\u80fd\u591f\u6839\u636e\u4efb\u52a1\u9700\u6c42\u52a8\u6001\u8c03\u6574\u5404\u6a21\u6001\u8d21\u732e\u5ea6\u7684\u7279\u6027\u800c\u53d7\u5230\u5173\u6ce8\u3002\u8fd9\u7c7b\u65b9\u6cd5\u5f15\u5165\u6743\u91cd\u3001\u7cfb\u6570\u7b49\u53ef\u5b66\u4e60\u53c2\u6570\uff0c\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u5b9e\u73b0\u7279\u5f81\u7684\u81ea\u9002\u5e94\u878d\u5408\u3002\u4f8b\u5982\uff0c\u201c\u6a21\u6001\u611f\u77e5\u878d\u5408\u201d\uff08Modality-Aware Fusion\uff09\u901a\u8fc7\u8bbe\u8ba1\u53ef\u5b66\u4e60\u7cfb\u6570\u5e73\u8861\u89c6\u89c9\u4e0e\u6fc0\u5149\u96f7\u8fbe\u7279\u5f81\u7684\u91cd\u8981\u6027\uff0c\u63d0\u5347\u4e86\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u7684\u9c81\u68d2\u6027\uff1b\u53e6\u4e00\u7c7b\u5178\u578b\u65b9\u6cd5\u662f\u201c\u52a8\u6001\u878d\u5408\u7f51\u7edc\u201d\uff08Dynamic Fusion Networks\uff09\uff0c\u5176\u5229\u7528\u95e8\u63a7\u673a\u5236\u6839\u636e\u5f53\u524d\u4e0a\u4e0b\u6587\u7684\u76f8\u5173\u6027\u5bf9\u6a21\u6001\u8fdb\u884c\u9009\u62e9\u6027\u878d\u5408\u3002\u8fd9\u4e9b\u7b56\u7565\u5728\u5904\u7406\u6a21\u6001\u5931\u8861\u95ee\u9898\u65f6\u6548\u679c\u663e\u8457\u2014\u2014\u5f53\u67d0\u4e00\u6a21\u6001\u56e0\u81ea\u8eab\u4fe1\u606f\u4e30\u5bcc\u5ea6\u6216\u4efb\u52a1\u76f8\u5173\u6027\u800c\u5360\u636e\u4e3b\u5bfc\u5730\u4f4d\u65f6\uff0c\u53ef\u5b66\u4e60\u673a\u5236\u80fd\u52a8\u6001\u8c03\u6574\u878d\u5408\u8fc7\u7a0b\uff0c\u786e\u4fdd\u6240\u6709\u6a21\u6001\u90fd\u80fd\u4e3a\u6700\u7ec8\u8f93\u51fa\u63d0\u4f9b\u6709\u6548\u8d21\u732e\uff0c\u8fdb\u800c\u540c\u65f6\u63d0\u5347\u6a21\u578b\u6027\u80fd\u4e0e\u53ef\u89e3\u91ca\u6027\u3002<\/p>\n\n\n\n<p><strong>B. 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\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b<\/strong><\/p>\n\n\n\n<p>\u5c3d\u7ba1\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u5728\u5404\u7c7b\u901a\u7528\u4efb\u52a1\u4e2d\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u5c55\uff0c\u4f46\u5176\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u5e94\u7528\u4ecd\u9762\u4e34\u8bf8\u591a\u72ec\u7279\u6311\u6218\u3002\u8fd9\u4e9b\u6311\u6218\u6e90\u4e8e\u4ee5\u4e0b\u9700\u6c42\uff1a\u4e3a\u6a21\u578b\u6ce8\u5165\u9a7e\u9a76\u9886\u57df\u4e13\u5c5e\u77e5\u8bc6\u3001\u51c6\u786e\u89e3\u8bfb\u590d\u6742\u4ea4\u901a\u573a\u666f\u3001\u786e\u4fdd\u8f93\u51fa\u6ee1\u8db3\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u5b9e\u65f6\u5b89\u5168\u6027\u4e0e\u63a8\u7406\u8981\u6c42\u3002<\/p>\n\n\n\n<p>\u9996\u8981\u6311\u6218\u662f\u5982\u4f55\u6709\u6548\u878d\u5165\u9a7e\u9a76\u9886\u57df\u4e13\u5c5e\u6587\u672c\u63d0\u793a\uff0c\u4ee5\u4f20\u9012\u9a7e\u9a76\u73af\u5883\u4e2d\u72ec\u7279\u7684\u8bed\u4e49\u4fe1\u606f\u4e0e\u6ce8\u610f\u529b\u7ebf\u7d22\u3002\u4e0e\u901a\u7528\u89c6\u89c9-\u8bed\u8a00\u4efb\u52a1\u4e0d\u540c\uff0c\u81ea\u52a8\u9a7e\u9a76\u8981\u6c42\u6a21\u578b\u7406\u89e3\u7ec6\u5fae\u7684\u6307\u4ee4\uff08\u5982\u201c\u5728\u4eba\u884c\u6a2a\u9053\u524d\u793c\u8ba9\u884c\u4eba\u201d\u201c\u524d\u65b9\u7ea2\u706f\u9700\u5239\u8f66\u201d\uff09\uff0c\u5e76\u80fd\u9488\u5bf9\u5b89\u5168\u5173\u952e\u7ebf\u7d22\u52a8\u6001\u8c03\u6574\u63a8\u7406\u8fc7\u7a0b\u3002\u73b0\u6709\u57fa\u4e8eVLM\u7684\u7cfb\u7edf\u5f80\u5f80\u91c7\u7528\u901a\u7528\u63d0\u793a\u6216\u4f9d\u8d56\u5927\u89c4\u6a21\u89c6\u89c9-\u8bed\u8a00\u9884\u8bad\u7ec3\uff0c\u96be\u4ee5\u5145\u5206\u6355\u6349\u5b89\u5168\u9a7e\u9a76\u51b3\u7b56\u6240\u9700\u7684\u573a\u666f\u4e13\u5c5e\u4fe1\u606f\u3002<\/p>\n\n\n\n<p>\u6b64\u5916\uff0c\u5c06VLM\u6574\u5408\u5230\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6d41\u6c34\u7ebf\u4e2d\u4e5f\u9762\u4e34\u8fdb\u4e00\u6b65\u6311\u6218\u3002Drive-with-LLMs\u3001DriveGPT4\u7b49\u65b9\u6cd5\u5df2\u8bc1\u660e\u5229\u7528VLM\u8fdb\u884c\u8f68\u8ff9\u9884\u6d4b\u4e0e\u89c4\u5212\u7684\u53ef\u884c\u6027\uff0c\u4f46\u8fd9\u4e9b\u65b9\u6cd5\u901a\u5e38\u4f9d\u8d56\u771f\u503c\u611f\u77e5\u6570\u636e\u6216\u9886\u57df\u4e13\u5c5e\u5fae\u8c03\uff0c\u9650\u5236\u4e86\u5176\u5728\u591a\u6837\u5316\u771f\u5b9e\u573a\u666f\u4e2d\u7684\u6cdb\u5316\u80fd\u529b\u3002ELM\u3001DriveVLM\u7b49\u5176\u4ed6\u7814\u7a76\u5f3a\u8c03\u4e86\u5927\u89c4\u6a21\u8de8\u9886\u57df\u9884\u8bad\u7ec3\u7684\u91cd\u8981\u6027\uff0c\u4f46\u5728\u4f7f\u6a21\u578b\u8f93\u51fa\u4e0e\u4eba\u7c7b\u51b3\u7b56\u8fc7\u7a0b\u53ca\u53ef\u89e3\u91ca\u6027\u5bf9\u9f50\u65b9\u9762\u4ecd\u5b58\u5728\u6311\u6218\u3002\u7c7b\u4f3c\u5730\uff0cVLM-E2E\u63a2\u7d22\u4e86\u5728\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7a7a\u95f4\u4e2d\u878d\u5408\u591a\u6a21\u6001\u9a7e\u9a76\u5458\u6ce8\u610f\u529b\uff0c\u4f46\u57fa\u4e8eBEV\u7684\u6574\u5408\u53ef\u80fd\u4f1a\u4e22\u5931\u7ec6\u7c92\u5ea6\u4e09\u7ef4\u7a7a\u95f4\u4e0a\u4e0b\u6587\uff0c\u524a\u5f31\u8bed\u4e49-\u51e0\u4f55\u5bf9\u9f50\u6548\u679c\u3002<\/p>\n\n\n\n<p>\u53e6\u4e00\u5173\u952e\u95ee\u9898\u662f\u7f3a\u4e4f\u9488\u5bf9\u57ce\u5e02\u4e0e\u9ad8\u901f\u516c\u8def\u73af\u5883\u590d\u6742\u6027\u8bbe\u8ba1\u7684\u9ad8\u8d28\u91cf\u3001\u9a7e\u9a76\u4e13\u5c5e\u89c6\u89c9-\u8bed\u8a00\u6570\u636e\u96c6\u3002\u5c3d\u7ba1\u8fd1\u671f\u7814\u7a76\u5df2\u5f00\u59cb\u586b\u8865\u8fd9\u4e00\u7a7a\u767d\uff0c\u4f46\u4ecd\u9700\u8fdb\u4e00\u6b65\u6355\u6349\u7f55\u89c1\u3001\u957f\u5c3e\u6216\u5b89\u5168\u5173\u952e\u573a\u666f\u2014\u2014\u8fd9\u4e9b\u573a\u666f\u5bf9\u4e8e\u786e\u4fdd\u6a21\u578b\u7a33\u5065\u6027\u81f3\u5173\u91cd\u8981\u3002\u7efc\u4e0a\uff0c\u5c3d\u7ba1VLM\u4e3a\u81ea\u52a8\u9a7e\u9a76\u63d0\u4f9b\u4e86\u6781\u5177\u6f5c\u529b\u7684\u80fd\u529b\uff0c\u4f46\u8981\u63a8\u8fdb\u5176\u5e94\u7528\uff0c\u9700\u9488\u5bf9\u6027\u89e3\u51b3\u9886\u57df\u4e13\u5c5e\u8bed\u4e49\u3001\u6570\u636e\u7a00\u7f3a\u3001\u5b9e\u65f6\u53ef\u89e3\u91ca\u6027\u53ca\u6574\u5408\u7b49\u95ee\u9898\u3002\u672c\u7814\u7a76\u65e8\u5728\u901a\u8fc7\u8bbe\u8ba1\u9a7e\u9a76\u6ce8\u610f\u529b\u63d0\u793a\u3001\u5f00\u53d1\u7aef\u5230\u7aef\u89c6\u89c9-\u8bed\u8a00\u63a8\u7406\u65b0\u65b9\u6cd5\uff0c\u586b\u8865\u5b89\u5168\u5173\u952e\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u8fd9\u4e9b\u7a7a\u767d\u3002<\/p>\n\n\n\n<p><strong>\u4e09\u3001\u7b97\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n<p>\u672c\u8282\u5c06\u5168\u9762\u4ecb\u7ecdOmniScene\u6846\u67b6\uff08\u5982\u56fe2\u6240\u793a\uff09\u3002\u8be5\u7cfb\u7edf\u7684\u8f93\u5165\u5305\u62ec\u73af\u89c6\u56fe\u50cf\u3001\u64cd\u4f5c\u6307\u4ee4\u4e0e\u7528\u6237\u63d0\u793a\u3002\u8fd9\u4e9b\u591a\u6a21\u6001\u8f93\u5165\u9996\u5148\u7531\u5b66\u751f\u7aefOmniVLM\u6a21\u5757\u5904\u7406\uff0c\u751f\u6210\u63cf\u8ff0\u89c2\u6d4b\u573a\u666f\u7684\u7b80\u6d01\u6587\u672c\u6807\u6ce8\uff1b\u540c\u65f6\uff0c\u73af\u89c6\u56fe\u50cf\u901a\u8fc7\u89c6\u89c9\u7f16\u7801\u5c42\u63d0\u53d6\u89c6\u89c9\u7279\u5f81\u3002\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class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"500\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-534-1024x500.png\" alt=\"\" class=\"wp-image-33378\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-534-1024x500.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-534-300x146.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-534-768x375.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-534.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>A. \u9884\u5907\u77e5\u8bc6<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"691\" height=\"608\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/092801-1.png\" alt=\"\" class=\"wp-image-33381\" style=\"width:892px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092801-1.png 691w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092801-1-300x264.png 300w\" sizes=\"(max-width: 691px) 100vw, 691px\" \/><\/figure>\n\n\n\n<p><strong>1\uff09\u6700\u5927\u5316\u4e92\u4fe1\u606f<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"686\" height=\"190\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/092802.png\" alt=\"\" class=\"wp-image-33382\" style=\"width:895px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092802.png 686w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092802-300x83.png 300w\" sizes=\"(max-width: 686px) 100vw, 686px\" \/><\/figure>\n\n\n\n<p><strong>2\uff09\u6700\u5c0f\u5316\u6761\u4ef6\u71b5<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"687\" height=\"160\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/092803.png\" alt=\"\" class=\"wp-image-33383\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092803.png 687w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092803-300x70.png 300w\" sizes=\"(max-width: 687px) 100vw, 687px\" \/><\/figure>\n\n\n\n<p><strong>3\uff09\u8de8\u6a21\u6001\u76ee\u6807\u7684\u7edf\u4e00\u4f18\u5316<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"686\" height=\"114\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/092804.png\" alt=\"\" class=\"wp-image-33384\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092804.png 686w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092804-300x50.png 300w\" sizes=\"(max-width: 686px) 100vw, 686px\" \/><\/figure>\n\n\n\n<p><strong>B. \u5e08\u751f\u67b6\u6784\u7684OmniVLM<\/strong><\/p>\n\n\n\n<p><strong>1\uff09Teacher\u2013Student\u67b6\u6784<\/strong><\/p>\n\n\n\n<p>\u56fe3\u8be6\u7ec6\u5c55\u793a\u4e86\u57fa\u4e8e\u6559\u5e08\u7aefOmniVLM\u7684\u6570\u636e\u751f\u6210\u6d41\u7a0b\uff0c\u8be5\u6d41\u7a0b\u4e3a\u5b66\u751f\u7aef\u6a21\u578b\u9002\u914d\u63d0\u4f9b\u57fa\u7840\u3002\u6d41\u7a0b\u9996\u5148\u4ece\u77e5\u8bc6\u6316\u6398\u5f00\u59cb\uff1a\u4eceBench2Drive\u4e0enuScenes\u6570\u636e\u96c6\u4e2d\u7cfb\u7edf\u63d0\u53d6\u771f\u503c\u6807\u6ce8\u3001\u673a\u52a8\u4fe1\u53f7\u4e0e\u9886\u57df\u4e13\u5c5e\u9a7e\u9a76\u89c4\u5219\u3002\u5728\u771f\u503c\u6807\u6ce8\u63d0\u53d6\u4e2d\uff0c\u52a8\u6001\u969c\u788d\u7269\u7684\u9009\u53d6\u8303\u56f4\u4e3a\uff1a\u81ea\u8f66\u524d\u540e20\u7c73\u534a\u5f84\u5185\u3001\u8ddd\u79bb\u81ea\u8f66\u7ea615\u7c73\u7684\u533a\u57df\uff0c\u4ee5\u53ca\u81ea\u8f66\u524d\u65b950\u7c73\u534a\u5f84\u5185\u3001\u540e\u65b930\u7c73\u534a\u5f84\u5185\u3001\u8ddd\u79bb\u81ea\u8f66\u7ea630\u7c73\u7684\u533a\u57df\uff0c\u786e\u4fdd\u5305\u542b\u6bcf\u6761\u8f66\u9053\u4e2d\u6700\u8fd1\u7684\u76ee\u6807\uff1b\u4ea4\u901a\u6807\u5fd7\u6807\u6ce8\u57fa\u4e8e\u81ea\u8f66\u524d\u65b930\u7c73\u534a\u5f84\u5185\u3001\u8ddd\u79bb\u81ea\u8f66\u7ea630\u7c73\u7684\u76ee\u6807\uff1b\u4ea4\u901a\u4fe1\u53f7\u706f\u8bc6\u522b\u8303\u56f4\u4e3a\u81ea\u8f66\u524d\u65b950\u7c73\u534a\u5f84\u5185\u3001\u8ddd\u79bb\u81ea\u8f66\u7ea630\u7c73\u7684\u533a\u57df\u3002\u8fd9\u4e9b\u5143\u7d20\u5171\u540c\u6355\u6349\u4e86\u73af\u5883\u7279\u5f81\u7684\u591a\u6837\u6027\uff08\u5305\u62ec\u5929\u6c14\u6761\u4ef6\u3001\u52a8\u6001\u4ea4\u901a\u53c2\u4e0e\u8005\u3001\u9759\u6001\u573a\u666f\u7ec6\u8282\uff09\uff0c\u4e3a\u590d\u6742\u771f\u5b9e\u9a7e\u9a76\u573a\u666f\u7684\u6574\u4f53\u5efa\u6a21\u63d0\u4f9b\u652f\u6301\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"552\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-535-1024x552.png\" alt=\"\" class=\"wp-image-33385\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-535-1024x552.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-535-300x162.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-535-768x414.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-535.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u57fa\u4e8e\u4e0a\u8ff0\u7ed3\u6784\u5316\u77e5\u8bc6\u5e93\uff0c\u6559\u5e08\u7aefOmniVLM\u81ea\u52a8\u751f\u6210\u5305\u542b\u73af\u5883\u4e0a\u4e0b\u6587\u3001\u7c7b\u4eba\u6ce8\u610f\u529b\u7126\u70b9\u4e0e\u63a8\u7406\u6b65\u9aa4\u7684\u589e\u5f3a\u6587\u672c\u63cf\u8ff0\uff0c\u5f62\u6210\u9ad8\u8d28\u91cf\u89c6\u89c9-\u6587\u672c\u914d\u5bf9\u6570\u636e\uff0c\u4e3a\u4e0b\u6e38\u5b66\u4e60\u4e0e\u6a21\u578b\u9002\u914d\u63d0\u4f9b\u652f\u6301\u3002<\/p>\n\n\n\n<p>\u5728\u540e\u7eed\u5fae\u8c03\u9636\u6bb5\uff0c\u6838\u5fc3\u4efb\u52a1\u662f\u5229\u7528Bench2Drive\u4e0enuScenes\u7684\u7cbe\u9009\u6570\u636e\u5bf9\uff0c\u9002\u914d\u8f7b\u91cf\u7ea7\u5b66\u751f\u7aefOmniVLM\u3002\u5b66\u751f\u7aef\u6a21\u578b\u7684\u7cbe\u7b80\u8bbe\u8ba1\u5927\u5e45\u964d\u4f4e\u4e86\u8ba1\u7b97\u4e0e\u5185\u5b58\u5f00\u9500\uff0c\u4f7f\u5176\u80fd\u90e8\u7f72\u5728\u8f66\u8f7d\u5d4c\u5165\u5f0f\u7cfb\u7edf\u7b49\u8d44\u6e90\u53d7\u9650\u5e73\u53f0\u4e0a\uff0c\u540c\u65f6\u4fdd\u6301\u573a\u666f\u7406\u89e3\u4e0e\u9a7e\u9a76\u51b3\u7b56\u63a8\u7406\u80fd\u529b\u3002\u8fd9\u79cd\u5e08\u751f\u7b56\u7565\u4e0d\u4ec5\u63d0\u5347\u4e86\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u7684\u53ef\u89e3\u91ca\u6027\u4e0e\u8fd0\u884c\u6548\u7387\uff0c\u8fd8\u786e\u4fdd\u4e86\u5728\u786c\u4ef6\u8d44\u6e90\u6709\u9650\u7684\u5b9e\u9645\u573a\u666f\u4e2d\u5b9e\u73b0\u5feb\u901f\u63a8\u7406\u4e0e\u52a8\u6001\u9002\u914d\u3002<\/p>\n\n\n\n<p>\u672c\u67b6\u6784\u7684\u5173\u952e\u8bbe\u8ba1\u8003\u91cf\u4e4b\u4e00\u662f\u591a\u89c6\u56fe\u3001\u591a\u5e27\u89c6\u89c9\u8f93\u5165\u7b56\u7565\u3002\u5177\u4f53\u800c\u8a00\uff0c\u7cfb\u7edf\u5229\u7528\u81ea\u8f66\u4e0a\u5b89\u88c5\u76846\u4e2a\u6444\u50cf\u5934\u540c\u6b65\u91c7\u96c6\u89c6\u9891\u6d41\uff0c\u5b9e\u73b0\u5bf9\u5468\u56f4\u73af\u5883\u7684360\u5ea6\u5168\u9762\u8986\u76d6\u3002\u4e0e\u4ec5\u4f9d\u8d56\u524d\u89c6\u56fe\u50cf\u3001\u7f3a\u4e4f\u5168\u5c40\u6001\u52bf\u611f\u77e5\u7684\u4f20\u7edf\u65b9\u6cd5\u4e0d\u540c\uff0c\u672c\u65b9\u6cd5\u901a\u8fc7\u65f6\u7a7a\u4e30\u5bcc\u7684\u89c6\u89c9\u4e0a\u4e0b\u6587\u6355\u6349\u5173\u952e\u7684\u4fa7\u65b9\u4e0e\u540e\u65b9\u4fe1\u606f\uff0c\u4e3a\u7a33\u5065\u573a\u666f\u7406\u89e3\u63d0\u4f9b\u652f\u6301\u3002\u8fd9\u79cd\u591a\u89c6\u56fe\u3001\u591a\u5e27\u8303\u5f0f\u4f7f\u6a21\u578b\u7a81\u7834\u4e86\u4ee5\u5f80\u65b9\u6cd5\u7684\u6761\u4ef6\u72ec\u7acb\u6027\u5047\u8bbe\uff0c\u5145\u5206\u6316\u6398\u89c6\u89c9\u4e0e\u8bed\u8a00\u6a21\u6001\u95f4\u7684\u534f\u540c\u5173\u7cfb\u3002<\/p>\n\n\n\n<p>\u4e3a\u8fdb\u4e00\u6b65\u63d0\u5347\u7c7b\u4eba\u6ce8\u610f\u529b\u8bed\u4e49\u4e0e\u52a8\u6001\u73af\u5883\u5efa\u6a21\u80fd\u529b\uff0c\u672c\u7814\u7a76\u63d0\u51fa\u5168\u5c40\u591a\u6a21\u6001\u5bf9\u9f50\u7b56\u7565\u3002\u8be5\u7b56\u7565\u8054\u5408\u8003\u8651\u591a\u89c6\u56fe\u3001\u591a\u5e27\u89c6\u89c9\u7279\u5f81\u4e0e\u7ec6\u7c92\u5ea6\u6587\u672c\u4fe1\u606f\uff0c\u901a\u8fc7\u53ef\u5b66\u4e60\u76f8\u4f3c\u5ea6\u77e9\u9635\u5b9e\u73b0\u6574\u5408\u3002\u4e0e\u5355\u72ec\u5904\u7406\u5404\u6444\u50cf\u5934\u89c6\u56fe\u6216\u5e27\u4e0d\u540c\uff0c\u5bf9\u9f50\u673a\u5236\u805a\u5408\u6240\u6709\u89c6\u56fe\u4e0e\u65f6\u95f4\u7247\u6bb5\u7684\u7279\u5f81\uff0c\u5728\u7edf\u4e00\u7279\u5f81\u7a7a\u95f4\u4e2d\u5b9e\u73b0\u591a\u89c6\u56fe-\u591a\u5e27\u56fe\u50cf\u5d4c\u5165\u4e0e\u8bed\u4e49\u6587\u672c\u5d4c\u5165\u7684\u5bf9\u9f50\u3002\u57fa\u4e8e\u8bed\u4e49\u76f8\u5173\u6027\u7684\u81ea\u9002\u5e94\u52a0\u6743\u786e\u4fdd\u6784\u5efa\u5177\u5907\u5168\u5c40\u6027\u4e0e\u65f6\u95f4\u611f\u77e5\u6027\u7684\u8054\u5408\u8868\u793a\u3002\u8fd9\u4e00\u7b56\u7565\u751f\u6210\u4e86\u7a33\u5065\u3001\u6297\u5e72\u6270\u7684\u573a\u666f\u8868\u793a\uff0c\u5bf9\u5b89\u5168\u9ad8\u6548\u7684\u81ea\u52a8\u9a7e\u9a76\u81f3\u5173\u91cd\u8981\u3002<\/p>\n\n\n\n<p><strong>2\uff09OmniScene\u6807\u6ce8<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"688\" height=\"455\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/092805.png\" alt=\"\" class=\"wp-image-33386\" style=\"width:892px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092805.png 688w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092805-300x198.png 300w\" sizes=\"(max-width: 688px) 100vw, 688px\" \/><\/figure>\n\n\n\n<p><strong>C. \u5206\u5c42\u878d\u5408\u7b56\u7565<\/strong><\/p>\n\n\n\n<p>\u7c7b\u4eba\u6ce8\u610f\u529b\u4ece\u89c6\u89c9\u89c2\u6d4b\u4e2d\u6355\u6349\u4e30\u5bcc\u8bed\u4e49\u7ebf\u7d22\uff0c\u4e3a\u4e3b\u8981\u7f16\u7801\u51e0\u4f55\u4e0e\u7ed3\u6784\u5c5e\u6027\u7684\u4e09\u7ef4\u5b9e\u4f8b\u7279\u5f81\u63d0\u4f9b\u4e92\u8865\u4fe1\u606f\u3002\u4e3a\u5b9e\u73b0\u5168\u9762\u573a\u666f\u7406\u89e3\uff0c\u672c\u7814\u7a76\u63d0\u51fa\u5206\u5c42\u878d\u5408\u7b56\u7565\uff0c\u5b9e\u73b0\u4e24\u79cd\u6a21\u6001\u7684\u6709\u6548\u6574\u5408\u3002\u8be5\u878d\u5408\u7b56\u7565\u7684\u7ec6\u8282\u5982\u56fe4\u6240\u793a\u3002<\/p>\n\n\n\n<p><strong>1\uff09\u4e09\u7ef4\u5b9e\u4f8b\u521d\u59cb\u5316<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"689\" height=\"716\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/092806.png\" alt=\"\" class=\"wp-image-33387\" style=\"width:899px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092806.png 689w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092806-289x300.png 289w\" sizes=\"(max-width: 689px) 100vw, 689px\" \/><\/figure>\n\n\n\n<p><strong>2\uff094D\u65f6\u7a7a\u878d\u5408<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"692\" height=\"911\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/092807.png\" alt=\"\" class=\"wp-image-33388\" style=\"width:904px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092807.png 692w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092807-228x300.png 228w\" sizes=\"(max-width: 692px) 100vw, 692px\" \/><\/figure>\n\n\n\n<p><strong>3\uff09\u89c6\u89c9\u53ef\u53d8\u5f62\u805a\u5408<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"688\" height=\"800\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/092808.png\" alt=\"\" class=\"wp-image-33389\" style=\"width:894px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092808.png 688w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092808-258x300.png 258w\" sizes=\"(max-width: 688px) 100vw, 688px\" \/><\/figure>\n\n\n\n<p><strong>4\uff09\u6587\u672c\u6761\u4ef6\u805a\u5408<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"690\" height=\"439\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/092809.png\" alt=\"\" class=\"wp-image-33390\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092809.png 690w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092809-300x191.png 300w\" sizes=\"(max-width: 690px) 100vw, 690px\" \/><\/figure>\n\n\n\n<p><strong>5\uff09\u6df1\u5ea6\u4f18\u5316<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"687\" height=\"551\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/092810.png\" alt=\"\" class=\"wp-image-33391\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092810.png 687w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092810-300x241.png 300w\" sizes=\"(max-width: 687px) 100vw, 687px\" \/><\/figure>\n\n\n\n<p><strong>D. \u57fa\u4e8e\u89c6\u89c9\u7684\u7aef\u5230\u7aef\u6a21\u578b<\/strong><\/p>\n\n\n\n<p><strong>1\uff09\u591a\u6a21\u6001\u9884\u6d4b\u4e0e\u89c4\u5212<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"688\" height=\"498\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/092811.png\" alt=\"\" class=\"wp-image-33392\" style=\"width:892px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092811.png 688w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092811-300x217.png 300w\" sizes=\"(max-width: 688px) 100vw, 688px\" \/><\/figure>\n\n\n\n<p><strong>2\uff09\u5206\u5c42\u89c4\u5212\u9009\u62e9<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"687\" height=\"886\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/092812.png\" alt=\"\" class=\"wp-image-33393\" style=\"width:901px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092812.png 687w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092812-233x300.png 233w\" sizes=\"(max-width: 687px) 100vw, 687px\" \/><\/figure>\n\n\n\n<p><strong>3\uff09\u8bad\u7ec3\u76ee\u6807<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"690\" height=\"852\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/092813.png\" alt=\"\" class=\"wp-image-33394\" style=\"width:894px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092813.png 690w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092813-243x300.png 243w\" sizes=\"(max-width: 690px) 100vw, 690px\" \/><\/figure>\n\n\n\n<p><strong>\u56db\u3001\u5b9e\u9a8c\u7ed3\u679c\u8bbe\u7f6e<\/strong><\/p>\n\n\n\n<p><strong>A. \u6570\u636e\u96c6<\/strong><\/p>\n\n\n\n<p>\u672c\u7814\u7a76\u91c7\u7528nuScenes\u57fa\u51c6\u6570\u636e\u96c6\uff0c\u8fd9\u662f\u4e00\u4e2a\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u7814\u7a76\u7684\u5927\u89c4\u6a21\u591a\u6a21\u6001\u6570\u636e\u96c6\u3002\u8be5\u6570\u636e\u96c6\u5305\u542b1000\u4e2a\u591a\u6837\u5316\u7684\u57ce\u5e02\u9a7e\u9a76\u5e8f\u5217\uff0c\u6bcf\u4e2a\u5e8f\u5217\u65f6\u957f20\u79d2\uff0c\u4e14\u4ee52Hz\u7684\u9891\u7387\u8fdb\u884c\u5bc6\u96c6\u6807\u6ce8\uff0c\u6db5\u76d6\u4e86\u5404\u7c7b\u4ea4\u901a\u573a\u666f\u3001\u9053\u8def\u5e03\u5c40\u548c\u5929\u6c14\u6761\u4ef6\u3002\u6570\u636e\u901a\u8fc7\u4e00\u5957360\u00b0\u5168\u73af\u7ed5\u4f20\u611f\u5668\u5957\u4ef6\u91c7\u96c6\uff0c\u8be5\u5957\u4ef6\u5305\u62ec6\u4e2a\u540c\u6b65\u6444\u50cf\u5934\u30011\u4e2a\u6fc0\u5149\u96f7\u8fbe\uff08LiDAR\uff09\u30015\u4e2a\u96f7\u8fbe\u4ee5\u53ca1\u4e2aIMU\/GNSS\u5355\u5143\uff0c\u53ef\u63d0\u4f9b\u4e92\u8865\u7684\u51e0\u4f55\u4fe1\u606f\u548c\u8bed\u4e49\u4fe1\u606f\u3002\u5bf9\u4e8e\u6444\u50cf\u5934\u5b50\u7cfb\u7edf\uff0c\u6bcf\u5e27\u56fe\u50cf\u7684\u5185\u53c2\u548c\u5916\u53c2\u6821\u51c6\u6570\u636e\u5747\u5df2\u63d0\u4f9b\uff0c\u80fd\u591f\u5b9e\u73b0\u7cbe\u786e\u7684\u591a\u89c6\u56fe\u7a7a\u95f4\u914d\u51c6\u3002\u8be5\u6570\u636e\u96c6\u5305\u542b140\u4e07\u5f20\u6444\u50cf\u5934\u56fe\u50cf\u3001\u8d85\u8fc739\u4e07\u6b21\u6fc0\u5149\u96f7\u8fbe\u626b\u63cf\u6570\u636e\uff0c\u4ee5\u53ca\u9488\u5bf923\u4e2a\u4ee5\u4e0a\u76ee\u6807\u7c7b\u522b\u7684\u7ec6\u7c92\u5ea63D\u8fb9\u754c\u6846\u6807\u6ce8\uff0c\u76ee\u6807\u7c7b\u522b\u5305\u62ec\u8f66\u8f86\u3001\u884c\u4eba\u3001\u81ea\u884c\u8f66\u548c\u4ea4\u901a\u5143\u7d20\u7b49\u3002\u5176\u5728\u89c4\u6a21\u548c\u4f20\u611f\u5668\u591a\u6837\u6027\u4e0a\u7684\u4e30\u5bcc\u6027\uff0c\u4f7fnuScenes\u6210\u4e3a\u8bc4\u4f30\u81ea\u52a8\u9a7e\u9a76\u4e2d\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u7b97\u6cd5\u7684\u6807\u51c6\u57fa\u51c6\u6570\u636e\u96c6\u3002<\/p>\n\n\n\n<p><strong>B. \u8bc4\u4ef7\u6307\u6807<\/strong><\/p>\n\n\n\n<p>\u672c\u7814\u7a76\u9075\u5faa\u5df2\u6709\u7684\u57fa\u51c6\u534f\u8bae\uff0c\u5bf9\u81ea\u52a8\u9a7e\u9a76\u7684\u591a\u9879\u4efb\u52a1\u8fdb\u884c\u4e86\u5168\u9762\u8bc4\u4f30\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>3D\u76ee\u6807\u68c0\u6d4b<\/strong>\uff1a\u91c7\u7528\u5e73\u5747\u7cbe\u5ea6\u5747\u503c\uff08mAP\uff09\u3001\u7efc\u5408\u68c0\u6d4b\u5f97\u5206\uff08NDS\uff09\u4ee5\u53ca\u591a\u9879\u8bef\u5dee\u6307\u6807\u8fdb\u884c\u91cf\u5316\u8bc4\u4f30\uff0c\u5305\u62ec\u5e73\u79fb\u8bef\u5dee\uff08mATE\uff09\u3001\u5c3a\u5ea6\u8bef\u5dee\uff08mASE\uff09\u3001\u65b9\u5411\u8bef\u5dee\uff08mAOE\uff09\u3001\u901f\u5ea6\u8bef\u5dee\uff08mAVE\uff09\u548c\u5c5e\u6027\u9884\u6d4b\u8bef\u5dee\uff08mAAE\uff09\u3002<\/li>\n\n\n\n<li><strong>\u591a\u76ee\u6807\u8ddf\u8e2a<\/strong>\uff1a\u91c7\u7528\u5e73\u5747\u591a\u76ee\u6807\u8ddf\u8e2a\u7cbe\u5ea6\uff08AMOTA\uff09\u3001\u5e73\u5747\u591a\u76ee\u6807\u8ddf\u8e2a\u7cbe\u5ea6\uff08AMOTP\uff09\u3001\u53ec\u56de\u7387\uff08Recall\uff09\u548c\u8eab\u4efd\u5207\u6362\u6b21\u6570\uff08IDS\uff09\u4f5c\u4e3a\u8bc4\u4f30\u6307\u6807\u3002<\/li>\n\n\n\n<li><strong>\u8fd0\u52a8\u9884\u6d4b<\/strong>\uff1a\u8bc4\u4f30\u57fa\u51c6\u4e0e\u76f8\u5173\u7814\u7a76\u4e00\u81f4\uff0c\u5305\u542b\u56db\u9879\u5173\u952e\u6307\u6807\uff1a\u6700\u5c0f\u5e73\u5747\u4f4d\u79fb\u8bef\u5dee\uff08minADE\uff09\u3001\u6700\u5c0f\u6700\u7ec8\u4f4d\u79fb\u8bef\u5dee\uff08minFDE\uff09\u3001\u9057\u6f0f\u7387\uff08MR\uff09\u548c\u7aef\u5230\u7aef\u9884\u6d4b\u51c6\u786e\u7387\uff08EPA\uff09\u3002<\/li>\n\n\n\n<li><strong>\u89c4\u5212\u8bc4\u4f30<\/strong>\uff1a\u91c7\u7528\u4e24\u9879\u4e3b\u8981\u6307\u6807\uff1a\u8f68\u8ff9L2\u8bef\u5dee\uff08\u4e0e\u76f8\u5173\u7814\u7a76\u7684\u5b9e\u73b0\u4fdd\u6301\u4e00\u81f4\uff09\u548c\u78b0\u649e\u7387\u3002\u9488\u5bf9\u4ee5\u5f80\u78b0\u649e\u8bc4\u4f30\u65b9\u6cd5\u4e2d\u7684\u4e24\u4e2a\u5173\u952e\u5c40\u9650\u6027\uff0c\u672c\u7814\u7a76\u8fdb\u884c\u4e86\u6539\u8fdb\uff1a\u4e00\u662f\u4f20\u7edf\u76840.5\u7c73\u7f51\u683c\u5206\u8fa8\u7387\u5360\u7528\u56fe\u65b9\u6cd5\u56e0\u91cf\u5316\u8bef\u5dee\u65e0\u6cd5\u51c6\u786e\u68c0\u6d4b\u4e0e\u5c0f\u578b\u969c\u788d\u7269\u7684\u78b0\u649e\uff1b\u4e8c\u662f\u73b0\u6709\u65b9\u6cd5\u5ffd\u7565\u4e86\u8fd0\u52a8\u8fc7\u7a0b\u4e2d\u81ea\u8f66\u822a\u5411\u7684\u52a8\u6001\u53d8\u5316\u3002\u4e3a\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\uff0c\u672c\u7814\u7a76\u63d0\u51fa\u7684\u589e\u5f3a\u578b\u8bc4\u4f30\u534f\u8bae\u901a\u8fc7\u4ee5\u4e0b\u4e24\u70b9\u5b9e\u73b0\u6539\u8fdb\uff1a\uff081\uff09\u5bf9\u81ea\u8f66\u4e0e\u969c\u788d\u7269\u8fdb\u884c\u7cbe\u786e\u7684\u8fb9\u754c\u6846\u76f8\u4ea4\u68c0\u6d4b\uff0c\u6d88\u9664\u7f51\u683c\u91cf\u5316\u8bef\u5dee\uff1b\uff082\uff09\u4ece\u8f68\u8ff9\u70b9\u4e2d\u4f30\u8ba1\u504f\u822a\u89d2\uff0c\u4ee5\u5145\u5206\u8003\u8651\u8f66\u8f86\u671d\u5411\u7684\u53d8\u5316\u3002\u4e3a\u4fdd\u8bc1\u5bf9\u6bd4\u516c\u5e73\u6027\uff0c\u672c\u7814\u7a76\u4f7f\u7528\u76f8\u5173\u57fa\u7ebf\u6a21\u578b\u7684\u5b98\u65b9\u6743\u91cd\uff0c\u901a\u8fc7\u6539\u8fdb\u540e\u7684\u78b0\u649e\u68c0\u6d4b\u6846\u67b6\u5bf9\u5176\u91cd\u65b0\u8bc4\u4f30\u3002\u8be5\u4e25\u8c28\u7684\u8bc4\u4f30\u534f\u8bae\u80fd\u66f4\u51c6\u786e\u5730\u8861\u91cf\u590d\u6742\u9a7e\u9a76\u573a\u666f\u4e0b\u7684\u89c4\u5212\u6027\u80fd\u3002<\/li>\n\n\n\n<li><strong>\u89c6\u89c9\u95ee\u7b54\uff08VQA\uff09\u8bc4\u4f30<\/strong>\uff1a\u91c7\u7528CIDEr\uff08CI-r\uff09\u3001BLEU-1\uff08BL-1\uff09\u3001BLEU-4\uff08BL-4\uff09\u3001METEOR\uff08ME-R\uff09\u548cROUGE-L\uff08RO-L\uff09\u4f5c\u4e3a\u6027\u80fd\u57fa\u51c6\uff0c\u4ece\u8bed\u8a00\u8d28\u91cf\u548c\u89c6\u89c9-\u8bed\u8a00\u5bf9\u9f50\u5ea6\u4e24\u4e2a\u7ef4\u5ea6\u5bf9\u6a21\u578b\u8fdb\u884c\u5168\u9762\u8bc4\u4f30\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>C. \u5b9e\u73b0\u7ec6\u8282<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"687\" height=\"319\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/092814.png\" alt=\"\" class=\"wp-image-33395\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092814.png 687w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092814-300x139.png 300w\" sizes=\"(max-width: 687px) 100vw, 687px\" \/><\/figure>\n\n\n\n<p><strong>\u4e94\u3001\u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/strong><\/p>\n\n\n\n<p><strong>A. \u5b9a\u91cf\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p><strong>1\uff09\u611f\u77e5\u6027\u80fd<\/strong><\/p>\n\n\n\n<p>\u88681\u548c\u88682\u5c55\u793a\u4e86\u5728nuScenes\u9a8c\u8bc1\u96c6\u4e0a\u7684\u611f\u77e5\u7ed3\u679c\uff0c\u5305\u62ec\u68c0\u6d4b\u6027\u80fd\u548c\u8ddf\u8e2a\u6027\u80fd\u3002\u6240\u63d0\u6a21\u578b\u7684nuScenes\u68c0\u6d4b\u5f97\u5206\u6700\u9ad8\uff0c\u8fbe\u52300.526\uff0c\u4e14\u5e73\u5747\u5e73\u79fb\u8bef\u5dee\uff08mATE\uff09\u6700\u4f4e\uff0c\u4e3a0.555\u7c73\uff0c\u5728\u68c0\u6d4b\u7cbe\u5ea6\u548c\u5b9a\u4f4d\u7cbe\u5ea6\u4e0a\u5747\u4f18\u4e8eSparseDrive\u548cUniAD\u3002\u540c\u65f6\uff0c\u8be5\u6a21\u578b\u5728\u65b9\u5411\u8bef\u5dee\uff08mAOE\uff09\u3001\u901f\u5ea6\u8bef\u5dee\uff08mAVE\uff09\u548c\u5c5e\u6027\u9884\u6d4b\u8bef\u5dee\uff08mAAE\uff09\u4e0a\u4e5f\u53d6\u5f97\u4e86\u6700\u4f4e\u503c\uff0c\u4e14\u5e73\u5747\u7cbe\u5ea6\u5747\u503c\uff08mAP\uff09\u548c\u5c3a\u5ea6\u8bef\u5dee\uff08mASE\uff09\u4fdd\u6301\u7ade\u4e89\u529b\uff0c\u8fdb\u4e00\u6b65\u9a8c\u8bc1\u4e86\u5176\u5728\u590d\u6742\u57ce\u5e02\u73af\u5883\u4e2d\u5f3a\u5927\u7684\u611f\u77e5\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"227\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-536-1024x227.png\" alt=\"\" class=\"wp-image-33396\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-536-1024x227.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-536-300x66.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-536-768x170.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-536.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5728\u8ddf\u8e2a\u4efb\u52a1\u4e0a\uff0c\u6240\u63d0\u6a21\u578b\u5728\u5e73\u5747\u591a\u76ee\u6807\u8ddf\u8e2a\u7cbe\u5ea6\uff08AMOTP\uff09\u3001\u53ec\u56de\u7387\uff08Recall\uff09\u548c\u8eab\u4efd\u5207\u6362\u6b21\u6570\uff08IDS\uff09\u4e0a\u8868\u73b0\u6700\u4f73\uff1aAMOTP\u4e3a1.235\uff0c\u53ec\u56de\u7387\u4e3a0.528\uff0c\u8eab\u4efd\u5207\u6362\u6b21\u6570\u4ec5\u4e3a503\u6b21\uff0c\u663e\u8457\u4f18\u4e8e\u6240\u6709\u73b0\u6709\u57fa\u7ebf\u6a21\u578b\u3002\u5c3d\u7ba1SparseDrive\u7684\u5e73\u5747\u591a\u76ee\u6807\u8ddf\u8e2a\u7cbe\u5ea6\uff08AMOTA\uff09\u7565\u9ad8\uff0c\u4f46\u6240\u63d0\u65b9\u6cd5\u901a\u8fc7\u63d0\u5347\u53ec\u56de\u7387\u548c\u51cf\u5c11\u8eab\u4efd\u5207\u6362\u6b21\u6570\uff0c\u5728\u8ddf\u8e2a\u9c81\u68d2\u6027\u4e0a\u66f4\u5177\u4f18\u52bf\u3002\u8fd9\u4e9b\u7efc\u5408\u7ed3\u679c\u8868\u660e\uff0c\u8be5\u6a21\u578b\u5728\u57ce\u5e02\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\u80fd\u591f\u5b9e\u73b0\u53ef\u9760\u7684\u68c0\u6d4b\u548c\u8ddf\u8e2a\u6027\u80fd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"940\" height=\"484\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-537.png\" alt=\"\" class=\"wp-image-33397\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-537.png 940w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-537-300x154.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-537-768x395.png 768w\" sizes=\"(max-width: 940px) 100vw, 940px\" \/><\/figure>\n\n\n\n<p><strong>2\uff09\u9884\u6d4b\u6027\u80fd<\/strong><\/p>\n\n\n\n<p>\u88683\u5c55\u793a\u4e86\u5728nuScenes\u9a8c\u8bc1\u96c6\u4e0a\u7684\u9884\u6d4b\u7ed3\u679c\u3002\u6240\u63d0\u65b9\u6cd5\u5728\u6240\u6709\u6307\u6807\u4e0a\u5747\u4f18\u4e8e\u73b0\u6709\u57fa\u7ebf\u6a21\u578b\uff1a\u6700\u5c0f\u5e73\u5747\u4f4d\u79fb\u8bef\u5dee\uff08minADE\uff09\u548c\u6700\u5c0f\u6700\u7ec8\u4f4d\u79fb\u8bef\u5dee\uff08minFDE\uff09\u5206\u522b\u4f4e\u81f30.61\u7c73\u548c0.96\u7c73\uff0c\u8868\u660e\u8f68\u8ff9\u9884\u6d4b\u7cbe\u5ea6\u66f4\u9ad8\uff1b\u9057\u6f0f\u7387\uff08MR\uff09\u6700\u4f4e\uff0c\u4e3a0.128\uff0c\u7aef\u5230\u7aef\u9884\u6d4b\u51c6\u786e\u7387\uff08EPA\uff09\u6700\u9ad8\uff0c\u4e3a0.488\uff0c\u4f53\u73b0\u51fa\u8be5\u65b9\u6cd5\u5728\u8fd0\u52a8\u9884\u6d4b\u4e2d\u7684\u53ef\u9760\u6027\u548c\u9ad8\u6548\u6027\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u8be5\u65b9\u6cd5\u5728\u6027\u80fd\u4e0a\u6301\u7eed\u8d85\u8d8aSparseDrive\u548cUniAD\u7b49\u5f53\u524d\u6700\u4f18\u65b9\u6cd5\uff0c\u5145\u5206\u8bc1\u660e\u4e86\u5176\u5728\u590d\u6742\u57ce\u5e02\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"984\" height=\"512\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-538.png\" alt=\"\" class=\"wp-image-33398\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-538.png 984w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-538-300x156.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-538-768x400.png 768w\" sizes=\"(max-width: 984px) 100vw, 984px\" \/><\/figure>\n\n\n\n<p><strong>3\uff09\u89c4\u5212\u6027\u80fd<\/strong><\/p>\n\n\n\n<p>\u88684\u5c55\u793a\u4e86\u5728nuScenes\u9a8c\u8bc1\u96c6\u4e0a\u7684\u89c4\u5212\u6027\u80fd\uff0c\u5bf9\u6bd4\u5bf9\u8c61\u6db5\u76d6\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u3001\u57fa\u4e8e\u89c6\u89c9\u548c\u57fa\u4e8e\u5927\u8bed\u8a00\u6a21\u578b\uff08LLM\uff09\u7684\u591a\u79cd\u65b9\u6cd5\u3002\u6240\u63d0\u65b9\u6cd5\u5728\u51e0\u4e4e\u6240\u6709\u6307\u6807\u4e0a\u5747\u53d6\u5f97\u6700\u4f73\u7ed3\u679c\uff1a\u8f68\u8ff9L2\u8bef\u5dee\u5e73\u5747\u503c\u6700\u4f4e\uff0c\u4e3a0.58\u7c73\uff1b\u5728\u6240\u6709\u9884\u6d4b\u65f6\u57df\u4e0b\u5747\u8868\u73b0\u9886\u5148\uff0c1\u79d2\u30012\u79d2\u548c3\u79d2\u65f6\u7684L2\u8bef\u5dee\u5206\u522b\u4e3a0.28\u7c73\u30010.55\u7c73\u548c0.91\u7c73\uff0c\u4f18\u4e8e\u6240\u6709\u73b0\u6709\u65b9\u6cd5\u3002\u5728\u78b0\u649e\u7387\u65b9\u9762\uff0c\u8be5\u65b9\u6cd5\u5728\u6240\u6709\u65f6\u95f4\u6b65\u5747\u4fdd\u6301\u6700\u4f4e\u6216\u63a5\u8fd1\u6700\u4f4e\u6c34\u5e73\uff1a1\u79d2\u65f6\u78b0\u649e\u7387\u4e3a0%\uff0c2\u79d2\u65f6\u4e3a0.04%\uff0c\u8868\u660e\u5176\u5728\u77ed\u671f\u89c4\u5212\u4e2d\u7684\u5b89\u5168\u6027\u66f4\u4f18\uff1b3\u79d2\u65f6\u78b0\u649e\u7387\u4e3a0.19%\uff0c\u4e0e\u5176\u4ed6\u9886\u5148\u65b9\u6cd5\u6301\u5e73\u6216\u66f4\u4f18\u3002<\/p>\n\n\n\n<p>\u4e0eGenAD\u3001UAD\u3001SparseDrive\u7b49\u8fd1\u671f\u6027\u80fd\u4f18\u5f02\u7684\u57fa\u4e8e\u89c6\u89c9\u7684\u65b9\u6cd5\uff0c\u4ee5\u53caVLP-VAD\u3001Senna\u7b49\u57fa\u4e8eLLM\u7684\u65b9\u6cd5\u76f8\u6bd4\uff0c\u6240\u63d0\u65b9\u6cd5\u5728\u7cbe\u5ea6\u548c\u5b89\u5168\u6027\u4e0a\u5747\u5c55\u73b0\u51fa\u660e\u663e\u4f18\u52bf\u3002\u8fd9\u4e9b\u7ed3\u679c\u5145\u5206\u8bc1\u660e\u4e86\u8be5\u65b9\u6cd5\u5728\u590d\u6742\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u89c4\u5212\u4efb\u52a1\u4e2d\u7684\u6709\u6548\u6027\u548c\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"599\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-539-1024x599.png\" alt=\"\" class=\"wp-image-33399\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-539-1024x599.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-539-300x176.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-539-768x449.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-539.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>4\uff09\u89c6\u89c9\u95ee\u7b54\uff08VQA\uff09\u4efb\u52a1\u6027\u80fd<\/strong><\/p>\n\n\n\n<p>\u88685\u5c55\u793a\u4e86\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u7684\u7efc\u5408\u6027\u80fd\u5bf9\u6bd4\u3002\u6240\u63d0\u6a21\u578b\u5728\u6240\u6709\u8bc4\u4f30\u6307\u6807\u4e0a\u5747\u8f83\u73b0\u6709\u57fa\u7ebf\u6a21\u578b\u6709\u663e\u8457\u63d0\u5347\uff1aOmniVLM 7B\u6a21\u578b\u7684CIDEr\uff08CI-r\uff09\u5f97\u5206\u4e3a87.39\uff0c\u6bd4\u6700\u4f73\u57fa\u7ebf\u6a21\u578b\uff08InternVL3 14B\uff0c\u5f97\u520670.01\uff09\u9ad8\u51fa24.9%\uff1b\u5176BLEU-1\uff08BL-1\uff09\u5f97\u5206\u4e3a38.4\uff0c\u6bd4\u6700\u4f73\u57fa\u7ebf\u6a21\u578b\uff08Qwen2VL 72B\uff0c\u5f97\u520625.76\uff09\u9ad8\u51fa49.0%\u3002OmniVLM 3B\u6a21\u578b\u7684BLEU-4\uff08BL-4\uff09\u548cROUGE-L\uff08RO-L\uff09\u5f97\u5206\u6700\u9ad8\uff0c\u5206\u522b\u4e3a7.42\u548c28.97\uff0c\u5176\u4e2dBLEU-4\u5f97\u5206\u8f83Qwen2VL 72B\uff08\u5f97\u52064.46\uff09\u63d0\u5347\u4e8666.5%\uff0cROUGE-L\u5f97\u5206\u8f83Qwen2VL 72B\uff08\u5f97\u520626.56\uff09\u63d0\u5347\u4e869.1%\u3002\u5728\u5927\u591a\u6570\u4efb\u52a1\u4e2d\uff0cOmniVLM 3B\u548c7B\u6a21\u578b\u5747\u6301\u7eed\u4f18\u4e8eQwen2.5VL\u3001InternVL3\u7b49\u4e3b\u6d41\u6a21\u578b\uff0c\u5145\u5206\u8bc1\u660e\u4e86\u8be5\u65b9\u6cd5\u7684\u9c81\u68d2\u6027\u548c\u6709\u6548\u6027\uff0c\u4e5f\u51f8\u663e\u4e86\u5176\u5728\u590d\u6742\u57ce\u5e02\u73af\u5883\u4e2d\u5b9e\u73b0\u5168\u9762\u573a\u666f\u7406\u89e3\u4e0e\u63a8\u7406\u7684\u663e\u8457\u4f18\u52bf\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1010\" height=\"644\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-540.png\" alt=\"\" class=\"wp-image-33400\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-540.png 1010w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-540-300x191.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-540-768x490.png 768w\" sizes=\"(max-width: 1010px) 100vw, 1010px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>B. \u5b9a\u6027\u5206\u6790<\/strong><\/h3>\n\n\n\n<p>\u56fe5\u5c55\u793a\u4e86\u5341\u5b57\u8def\u53e3\u4e0d\u540c\u9a7e\u9a76\u610f\u56fe\u4e0b\u7684\u5b9a\u6027\u53ef\u89c6\u5316\u7ed3\u679c\u3002\u6240\u63d0OmniScene\u6a21\u578b\u8054\u5408\u5229\u7528\u591a\u89c6\u56fe\u611f\u77e5\u3001\u8f68\u8ff9\u9884\u6d4b\u548c\u6587\u672c\u5316\u9a7e\u9a76\u5458\u6ce8\u610f\u529b\uff0c\u5bf9\u590d\u6742\u7684\u5341\u5b57\u8def\u53e3\u573a\u666f\u8fdb\u884c\u89e3\u8bfb\u3002\u591a\u89c6\u56fe\u6444\u50cf\u5934\u56fe\u50cf\u4ece\u4e0d\u540c\u89c6\u89d2\u6355\u6349\u4e86\u5404\u7c7b\u52a8\u6001\u667a\u80fd\u4f53\u548c\u9759\u6001\u969c\u788d\u7269\uff1b\u9884\u6d4b\u7684\u591a\u6a21\u6001\u8f68\u8ff9\u5bf9\u5e94\u76f4\u884c\u3001\u5de6\u8f6c\u3001\u53f3\u8f6c\u7b49\u4e0d\u540c\u8f6c\u5411\u610f\u56fe\uff0c\u5c55\u793a\u4e86\u53ef\u884c\u7684\u672a\u6765\u8fd0\u52a8\u8d8b\u52bf\uff1b\u6587\u672c\u5316\u9a7e\u9a76\u5458\u6ce8\u610f\u529b\u5219\u901a\u8fc7\u7a81\u51fa\u5f71\u54cd\u81ea\u8f66\u51b3\u7b56\u7684\u5173\u952e\u76ee\u6807\uff08\u5982\u884c\u4eba\u3001\u65bd\u5de5\u4eba\u5458\u3001\u505c\u653e\u7684\u516c\u4ea4\u8f66\uff09\u548c\u4e0a\u4e0b\u6587\u7ebf\u7d22\uff0c\u63d0\u4f9b\u4e86\u8be6\u7ec6\u7684\u8bed\u4e49\u89e3\u91ca\u3002\u8fd9\u4e9b\u5168\u9762\u7684\u53ef\u89c6\u5316\u7ed3\u679c\u8868\u660e\uff0c\u8be5\u65b9\u6cd5\u80fd\u591f\u51c6\u786e\u611f\u77e5\u573a\u666f\u7ec6\u8282\u3001\u63a8\u65ad\u9a7e\u9a76\u610f\u56fe\uff0c\u5e76\u4e3a\u590d\u6742\u57ce\u5e02\u5341\u5b57\u8def\u53e3\u573a\u666f\u4e0b\u5b89\u5168\u53ef\u9760\u7684\u8fd0\u52a8\u89c4\u5212\u63d0\u4f9b\u53ef\u89e3\u91ca\u7684\u63a8\u7406\u4f9d\u636e\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"640\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-541-1024x640.png\" alt=\"\" class=\"wp-image-33401\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-541-1024x640.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-541-300x188.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-541-768x480.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-541.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe6\u5c55\u793a\u4e86SparseDrive\u3001OmniScene\u4e0e\u771f\u503c\uff08Ground Truth\uff09\u7684\u5b9a\u6027\u9e1f\u77b0\u56fe\uff08BEV\uff09\u53ef\u89c6\u5316\u5bf9\u6bd4\uff0c\u573a\u666f\u4e3a\u81ea\u8f66\u524d\u65b9\u51fa\u73b0\u591a\u540d\u884c\u4eba\u3001\u9700\u8fdb\u884c\u7d27\u6025\u907f\u969c\u64cd\u4f5c\u7684\u590d\u6742\u60c5\u51b5\u3002\u591a\u89c6\u56fe\u6444\u50cf\u5934\u56fe\u50cf\u6355\u6349\u4e86\u5341\u5b57\u8def\u53e3\u5904\u884c\u4eba\u4e0e\u8f66\u8f86\u7684\u4f4d\u7f6e\u548c\u8fd0\u52a8\u72b6\u6001\u3002\u5728\u9e1f\u77b0\u56fe\u4e2d\uff0cOmniScene\u7684\u8f68\u8ff9\u9884\u6d4b\u548c\u969c\u788d\u7269\u5b9a\u4f4d\u80fd\u529b\u66f4\u4f18\uff1a\u5176\u9884\u6d4b\u8f68\u8ff9\u4e0e\u771f\u503c\u9ad8\u5ea6\u5339\u914d\uff0c\u4e14\u80fd\u6709\u6548\u9002\u5e94\u52a8\u6001\u667a\u80fd\u4f53\u7684\u5b58\u5728\u3002\u4e0eSparseDrive\u76f8\u6bd4\uff0cOmniScene\u63d0\u4f9b\u4e86\u66f4\u7cbe\u51c6\u7684\u907f\u969c\u8def\u5f84\uff0c\u4f53\u73b0\u51fa\u5176\u5728\u611f\u77e5\u5173\u952e\u969c\u788d\u7269\u548c\u5236\u5b9a\u66f4\u5b89\u5168\u3001\u66f4\u53ef\u9760\u7684\u89c4\u5212\u51b3\u7b56\u65b9\u9762\u7684\u4f18\u52bf\u3002\u8fd9\u4e9b\u7ed3\u679c\u51f8\u663e\u4e86OmniScene\u5728\u5904\u7406\u884c\u4eba\u5bc6\u96c6\u3001\u5b89\u5168\u8981\u6c42\u9ad8\u7684\u590d\u6742\u57ce\u5e02\u573a\u666f\u4e2d\u7684\u4f18\u8d8a\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"705\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-542-1024x705.png\" alt=\"\" class=\"wp-image-33402\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-542-1024x705.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-542-300x207.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-542-768x529.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-542.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>C. \u6d88\u878d\u5b9e\u9a8c<\/strong><\/h3>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>1\uff09OmniScene\u4e2d\u5404\u8bbe\u8ba1\u7684\u6709\u6548\u6027<\/strong><\/h4>\n\n\n\n<p>\u5728nuScenes\u9a8c\u8bc1\u96c6\u4e0a\uff0c\u672c\u7814\u7a76\u9488\u5bf9OmniScene\u7684\u5173\u952e\u67b6\u6784\u8bbe\u8ba1\u5f00\u5c55\u4e86\u5168\u9762\u7684\u6d88\u878d\u5b9e\u9a8c\uff0c\u8bc4\u4f30\u5176\u5728\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u4efb\u52a1\u4e2d\u7684\u6709\u6548\u6027\u3002\u5982\u88686\u6240\u793a\uff0c\u6df1\u5ea6\u7ec6\u5316\uff08DR\uff09\u3001\u81ea\u8f66\u5b9e\u4f8b\u521d\u59cb\u5316\uff08EII\uff09\u3001\u65f6\u7a7a\u89e3\u8026\u4ea4\u53c9\u6ce8\u610f\u529b\uff08TDCA\u3001SDCA\uff09\u3001\u6587\u672c\u6761\u4ef6\u805a\u5408\uff08TCA\uff09\u7b49\u6bcf\u4e2a\u7ec4\u4ef6\uff0c\u5747\u5bf9\u6574\u4f53\u68c0\u6d4b\u548c\u8ddf\u8e2a\u6027\u80fd\u6709\u9010\u6b65\u63d0\u5347\u4f5c\u7528\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u65f6\u7a7a\u6ce8\u610f\u529b\u6a21\u5757\u6301\u7eed\u63d0\u5347\u5e73\u5747\u7cbe\u5ea6\u5747\u503c\uff08mAP\uff09\u548c\u7efc\u5408\u68c0\u6d4b\u5f97\u5206\uff08NDS\uff09\uff0c\u6709\u52a9\u4e8e\u6539\u5584\u76ee\u6807\u5b9a\u4f4d\u548c\u5206\u7c7b\u6548\u679c\uff1b\u800c\u5f15\u5165\u6587\u672c\u6761\u4ef6\u805a\u5408\u5219\u663e\u8457\u63d0\u5347\u4e86\u8ddf\u8e2a\u7a33\u5b9a\u6027\uff0c\u5177\u4f53\u8868\u73b0\u4e3a\u5e73\u5747\u591a\u76ee\u6807\u8ddf\u8e2a\u7cbe\u5ea6\uff08AMOTA\uff09\u548c\u53ec\u56de\u7387\uff08Recall\uff09\u7684\u63d0\u5347\u3002<\/p>\n\n\n\n<p>\u88687\u8fdb\u4e00\u6b65\u5c55\u793a\u4e86\u8fd9\u4e9b\u8bbe\u8ba1\u5bf9\u9884\u6d4b\u548c\u89c4\u5212\u7ed3\u679c\u7684\u5f71\u54cd\u3002\u96c6\u6210\u6240\u6709\u6240\u63d0\u6a21\u5757\u540e\uff0c\u6a21\u578b\u5728\u8f68\u8ff9\u9884\u6d4b\u4efb\u52a1\u4e2d\u7684\u6700\u5c0f\u5e73\u5747\u4f4d\u79fb\u8bef\u5dee\uff08minADE\uff09\u548c\u6700\u5c0f\u6700\u7ec8\u4f4d\u79fb\u8bef\u5dee\uff08minFDE\uff09\u6700\u4f4e\uff0c\u4e14\u89c4\u5212\u7cbe\u5ea6\u6700\u9ad8\u3001\u5404\u65f6\u95f4\u6b65\u7684\u78b0\u649e\u7387\u5747\u964d\u4f4e\u3002\u7279\u522b\u662f\u6587\u672c\u6761\u4ef6\u805a\u5408\u548c\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\u7684\u5f15\u5165\uff0c\u4f7f\u6a21\u578b\u80fd\u66f4\u6709\u6548\u5730\u5229\u7528\u4e0a\u4e0b\u6587\u4fe1\u606f\uff0c\u4ece\u800c\u5b9e\u73b0\u66f4\u5b89\u5168\u3001\u66f4\u51c6\u786e\u7684\u8fd0\u52a8\u89c4\u5212\u3002<\/p>\n\n\n\n<p>\u603b\u4f53\u800c\u8a00\uff0c\u6d88\u878d\u5b9e\u9a8c\u7ed3\u679c\u6e05\u6670\u8868\u660e\uff1a\u5728OmniScene\u4e2d\uff0c\u591a\u6a21\u6001\u6587\u672c\u7ebf\u7d22\u3001\u65f6\u7a7a\u6ce8\u610f\u529b\u6a21\u5757\u4e0e\u7ec6\u5316\u7b56\u7565\u7684\u7ed3\u5408\uff0c\u662f\u5176\u5728\u590d\u6742\u57ce\u5e02\u9a7e\u9a76\u73af\u5883\u4e2d\u5b9e\u73b0\u611f\u77e5-\u89c4\u5212\u5168\u6d41\u7a0b\u5747\u8861\u4e14\u4f18\u5f02\u6027\u80fd\u7684\u5173\u952e\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"600\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-543-1024x600.png\" alt=\"\" class=\"wp-image-33403\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-543-1024x600.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-543-300x176.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-543-768x450.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-543.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>2\uff09\u591a\u6a21\u6001\u8fd0\u52a8\u89c4\u5212\u7684\u8ba8\u8bba<\/strong><\/h4>\n\n\n\n<p>\u88688\u5c55\u793a\u4e86\u591a\u6a21\u6001\u8fd0\u52a8\u89c4\u5212\u4e2d\u8f68\u8ff9\u6a21\u5f0f\u6570\u91cf\u7684\u6d88\u878d\u5b9e\u9a8c\u7ed3\u679c\u3002\u968f\u7740\u6a21\u5f0f\u6570\u91cf\u7684\u589e\u52a0\uff0c\u89c4\u5212\u7cbe\u5ea6\u548c\u5b89\u5168\u6027\u5747\u4f1a\u53d7\u5230\u5f71\u54cd\uff1a\u5f53\u4f7f\u75286\u79cd\u6a21\u5f0f\u65f6\uff0c\u6a21\u578b\u6027\u80fd\u6700\u4f18\uff0c\u5e73\u5747L2\u8bef\u5dee\u6700\u4f4e\uff080.58\u7c73\uff09\uff0c\u5e73\u5747\u78b0\u649e\u7387\u6700\u4f4e\uff080.08%\uff09\uff1b\u82e5\u8f68\u8ff9\u6a21\u5f0f\u6570\u91cf\u8f83\u5c11\uff08\u59821\u79cd\u62162\u79cd\uff09\uff0c\u5219L2\u8bef\u5dee\u548c\u78b0\u649e\u7387\u4f1a\u7565\u6709\u4e0a\u5347\uff0c\u8868\u660e\u8fd0\u52a8\u591a\u6837\u6027\u4e0d\u8db3\uff1b\u53cd\u4e4b\uff0c\u82e5\u4f7f\u752810\u79cd\u6a21\u5f0f\uff0cL2\u8bef\u5dee\u4f1a\u663e\u8457\u589e\u52a0\u81f30.70\u7c73\uff0c\u8bf4\u660e\u6a21\u5f0f\u6570\u91cf\u8fc7\u591a\u53ef\u80fd\u5f15\u5165\u9884\u6d4b\u4e0d\u786e\u5b9a\u6027\uff0c\u964d\u4f4e\u89c4\u5212\u7cbe\u5ea6\u3002\u8fd9\u4e9b\u7ed3\u679c\u8868\u660e\uff0c\u9009\u62e9\u5408\u9002\u7684\u8f68\u8ff9\u6a21\u5f0f\u6570\u91cf\u5bf9\u4e8e\u5e73\u8861\u9884\u6d4b\u591a\u6837\u6027\u548c\u89c4\u5212\u7cbe\u5ea6\u81f3\u5173\u91cd\u8981\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"499\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-544-1024x499.png\" alt=\"\" class=\"wp-image-33404\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-544-1024x499.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-544-300x146.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-544-768x374.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-544.png 1030w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>3. \u5728\u5176\u4ed6\u7aef\u5230\u7aef\u6a21\u578b\u4e0a\u7684\u6cdb\u5316\u6027<\/strong><\/h4>\n\n\n\n<p>\u4e3a\u4e25\u683c\u8bc4\u4f30\u6a21\u578b\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u672c\u7814\u7a76\u5c06\u6587\u672c\u4ea4\u4e92\u5f15\u5bfc\u6a21\u5757\u96c6\u6210\u5230ST-P3\u4e2d\uff0c\u901a\u8fc7\u878d\u5408\u6587\u672c\u7279\u5f81\u4e0e\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7279\u5f81\uff0c\u4f7f\u6a21\u578b\u5728\u611f\u77e5\u548c\u89c4\u5212\u8fc7\u7a0b\u4e2d\u80fd\u591f\u540c\u65f6\u5229\u7528\u8bed\u4e49\u4fe1\u606f\u548c\u7a7a\u95f4\u4fe1\u606f\u3002<\/p>\n\n\n\n<p>\u88689\u5c55\u793a\u4e86\u8be5\u96c6\u6210\u65b9\u6848\u7684\u5b9a\u91cf\u7ed3\u679c\u3002\u672c\u7814\u7a76\u7cfb\u7edf\u5730\u8bc4\u4f30\u4e86\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u6027\u80fd\uff0c\u5176\u4e2d\u611f\u77e5\u4efb\u52a1\u62a5\u544a\u4e86\u8f66\u8f86\u548c\u884c\u4eba\u7684\u4ea4\u5e76\u6bd4\uff08IoU\uff09\uff0c\u9884\u6d4b\u4efb\u52a1\u62a5\u544a\u4e86\u4ea4\u5e76\u6bd4\uff08IoU\uff09\u3001\u5168\u666f\u8d28\u91cf\uff08PQ\uff09\u3001\u5206\u5272\u8d28\u91cf\uff08SQ\uff09\u548c\u8bc6\u522b\u8d28\u91cf\uff08RQ\uff09\uff0c\u89c4\u5212\u4efb\u52a1\u5219\u8bc4\u4f30\u4e861\u79d2\u30012\u79d2\u548c3\u79d2\u65f6\u7684L2\u4f4d\u7f6e\u8bef\u5dee\u53ca\u5bf9\u5e94\u65f6\u95f4\u57df\u7684\u78b0\u649e\u7387\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"237\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-545-1024x237.png\" alt=\"\" class=\"wp-image-33405\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-545-1024x237.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-545-300x69.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-545-768x178.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-545.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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