{"id":34051,"date":"2025-10-25T17:32:36","date_gmt":"2025-10-25T09:32:36","guid":{"rendered":"http:\/\/192.168.10.115\/?p=34051"},"modified":"2025-10-25T17:32:36","modified_gmt":"2025-10-25T09:32:36","slug":"2025-10-25-%e4%b8%8a%e4%ba%a4omninwm%ef%bc%9a%e7%aa%81%e7%a0%b4%e4%b8%89%e7%bb%b4%e9%a9%be%e9%a9%b6%e4%bb%bf%e7%9c%9f%e6%9e%81%e9%99%90%e7%9a%84%e3%80%8c%e5%85%a8%e7%9f%a5%e3%80%8d%e4%b8%96%e7%95%8c","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/10\/25\/34051\/","title":{"rendered":"2025-10-25 \u4e0a\u4ea4OmniNWM\uff1a\u7a81\u7834\u4e09\u7ef4\u9a7e\u9a76\u4eff\u771f\u6781\u9650\u7684\u300c\u5168\u77e5\u300d\u4e16\u754c\u6a21\u578b"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/hM2hoQ52XXvj6r_76b8Kcg\">https:\/\/mp.weixin.qq.com\/s\/hM2hoQ52XXvj6r_76b8Kcg<\/a><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"339\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-82-1024x339.png\" alt=\"\" class=\"wp-image-34052\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-82-1024x339.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-82-300x99.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-82-768x255.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-82.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8bba\u6587\u6807\u9898<\/strong>: OmniNWM: Omniscient Driving Navigation World Models<\/li>\n\n\n\n<li><strong>\u4f5c\u8005<\/strong>: Bohan Li, Zhuang Ma, Dalong Du, Baorui Peng, Zhujin Liang, Zhenqiang Liu, Chao Ma, Yueming Jin, Hao Zhao, Wenjun Zeng, Xin Jin<\/li>\n\n\n\n<li><strong>\u673a\u6784<\/strong>: \u4e0a\u6d77\u4ea4\u901a\u5927\u5b66, \u4e1c\u65b9\u7406\u5de5\u5927\u5b66\uff08\u5b81\u6ce2\uff09, PhiGent, \u65b0\u52a0\u5761\u56fd\u7acb\u5927\u5b66, \u6e05\u534e\u5927\u5b66<\/li>\n\n\n\n<li><strong>\u8bba\u6587\u5730\u5740<\/strong>: https:\/\/arxiv.org\/abs\/2510.18313<\/li>\n\n\n\n<li><strong>\u4ee3\u7801\u4ed3\u5e93<\/strong>: https:\/\/github.com\/Arlo0o\/OmniNWM<\/li>\n<\/ul>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u7684\u7ec8\u6781\u7b54\u6848\u4f1a\u6765\u81ea\u865a\u62df\u4e16\u754c\u5417\uff1f\u300aOmniNWM\u300b\u7ed9\u51fa\u4e86\u4e00\u4e2a\u6fc0\u52a8\u4eba\u5fc3\u7684\u65b9\u5411\u3002\u8fd9\u9879\u7814\u7a76\u63d0\u51fa\u4e86\u4e00\u4e2a<strong>\u5168\u666f\u3001\u591a\u6a21\u6001\u3001\u5e26\u7cbe\u786e\u63a7\u5236\u4e0e\u5185\u5728\u5956\u52b1<\/strong>\u7684\u9a7e\u9a76\u5bfc\u822a\u4e16\u754c\u6a21\u578b\uff0c\u5728\u751f\u6210\u8d28\u91cf\u3001\u63a7\u5236\u7cbe\u5ea6\u4e0e\u957f\u65f6\u5e8f\u7a33\u5b9a\u6027\u4e0a<strong>\u5168\u9762\u8d85\u8d8a\u73b0\u6709SOTA<\/strong>\uff0c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u7684\u4eff\u771f\u8bad\u7ec3\u4e0e\u95ed\u73af\u8bc4\u4f30\u6811\u7acb\u4e86\u65b0\u6807\u6746\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"789\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-83-1024x789.png\" alt=\"\" class=\"wp-image-34053\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-83-1024x789.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-83-300x231.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-83-768x592.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-83.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>OmniNWM \u7684\u591a\u79cd\u529f\u80fd\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>(a) \u6839\u636e\u53c2\u8003\u56fe\u50cf\u548c\u8f93\u5165\u8f68\u8ff9\uff0cOmniNWM\u53ef\u8054\u5408\u751f\u6210\u5168\u9762\u7684\u591a\u6a21\u6001\u8f93\u51fa\uff0c\u5305\u62ec\u5168\u666fRGB\u3001\u8bed\u4e49\u3001\u6df1\u5ea6\u548c3D Occupancy\u89c6\u9891\u3002<br><\/li>\n\n\n\n<li>(b) \u4ee5\u4e0d\u540c\u7684\u8f93\u5165\u8f68\u8ff9\u4e3a\u6761\u4ef6\uff0cOmniNWM \u901a\u8fc7\u5c06\u5176\u8f6c\u6362\u4e3a\u5f52\u4e00\u5316\u7684<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=265445813&amp;content_type=Article&amp;match_order=1&amp;q=Pl%C3%BCcker+Ray-map&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Pl\u00fccker Ray-map<\/a><\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f5c\u4e3a\u50cf\u7d20\u7ea7\u6307\u5bfc\uff0c\u4fc3\u8fdb\u7cbe\u786e\u7684\u5168\u666f\u76f8\u673a\u63a7\u5236\u3002<br><\/li>\n\n\n\n<li>(c) OmniNWM \u53ef\u901a\u8fc7\u95ed\u73af\u7ba1\u7ebf\u5b9e\u73b0\u65e0\u9650\u5236\u7684\u957f\u671f\u5bfc\u822a\uff1a\u89c4\u5212\u8f68\u8ff9\u6307\u5bfc\u591a\u6a21\u6001\u751f\u6210\uff0c\u800c\u5bc6\u96c6\u5956\u52b1\u5219\u6765\u81ea\u751f\u6210\u76843D Occupancy\u3002<br><\/li>\n<\/ul>\n\n\n\n<p>\u8d85\u8d8aGT\u957f\u5ea6\u7684\u957f\u65f6\u5e8f\u81ea\u9a7e\u573a\u666f\u5bfc\u822a\u751f\u6210\u793a\u4f8b\uff08\u4e0eOmniNWM-VLA\u89c4\u5212\u5668\u76f8\u7ed3\u5408\uff09<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"193\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/1025-2-1024x193.gif\" alt=\"\" class=\"wp-image-34057\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/1025-2-1024x193.gif 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/1025-2-300x57.gif 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/1025-2-768x145.gif 768w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"640\" height=\"121\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/10251.gif\" alt=\"\" class=\"wp-image-34056\"\/><\/figure>\n\n\n\n<p>\u57fa\u4e8e\u5f52\u4e00\u5316Pl\u00fccker Ray-map\u63a7\u5236\u7684OOD\u8f68\u8ff9\u751f\u6210\u793a\u4f8b(control.gif \/ reverse.gif )<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1964693239215920366_0\">Motivation\uff1a\u7a81\u7834\u9a7e\u9a76\u4e16\u754c\u6a21\u578b\u7684\u4e09\u5927\u6838\u5fc3\u6311\u6218<\/h2>\n\n\n\n<p>\u5f53\u524d\u81ea\u52a8\u9a7e\u9a76\u4e16\u754c\u6a21\u578b\u867d\u7136\u5728\u89c6\u9891\u751f\u6210\u65b9\u9762\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u5c55\uff0c\u4f46\u5728\u6784\u5efa\u9c81\u68d2\u4e14\u901a\u7528\u7684\u95ed\u73af\u4eff\u771f\u7cfb\u7edf\u65f6\uff0c\u4ecd\u7136\u9762\u4e34\u4e09\u5927\u6838\u5fc3\u6311\u6218\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u72b6\u6001\uff08State\uff09\u7684\u5c40\u9650\u6027<\/strong>\uff1a\u73b0\u6709\u6a21\u578b\u5927\u591a\u4f9d\u8d56<strong>\u5355\u4e00\u6a21\u6001\u7684RGB\u89c6\u9891<\/strong>\uff0c\u4e14\u751f\u6210\u957f\u5ea6\u6709\u9650\u3002\u8fd9\u65e0\u6cd5\u6355\u6349\u771f\u5b9e\u4e16\u754c\u9a7e\u9a76\u573a\u666f\u7684\u5b8c\u6574\u51e0\u4f55\u4e0e\u8bed\u4e49\u590d\u6742\u6027\uff0c\u5bf9\u4e8e\u9700\u8981\u591a\u6a21\u6001\u8f93\u5165\u7684\u4e0b\u6e38\u4efb\u52a1\u548c\u95ed\u73af\u8bc4\u4f30\u6765\u8bf4\u662f\u4e00\u4e2a\u5de8\u5927\u74f6\u9888\u3002<br><\/li>\n\n\n\n<li><strong>\u52a8\u4f5c\uff08Action\uff09\u7684\u6a21\u7cca\u6027<\/strong>\uff1a\u4e3a\u4e86\u63a7\u5236\u751f\u6210\u8fc7\u7a0b\uff0c\u73b0\u6709\u65b9\u6cd5\u901a\u5e38\u91c7\u7528\u7a00\u758f\u7684\u52a8\u4f5c\u7f16\u7801\uff0c\u4f8b\u5982\u8f68\u8ff9\u7684\u8def\u70b9\uff08waypoints\uff09\u3002\u8fd9\u79cd\u65b9\u5f0f<strong>\u96be\u4ee5\u5b9e\u73b0\u5bf9\u5168\u666f\u89c6\u9891\u7684\u7cbe\u786e\u3001\u591a\u89c6\u89d2\u4e00\u81f4\u7684\u64cd\u63a7<\/strong>\uff0c\u5e76\u4e14\u5728\u9762\u5bf9\u5206\u5e03\u5916\uff08OOD\uff09\u7684\u8f68\u8ff9\u65f6\u6cdb\u5316\u80fd\u529b\u53d7\u9650\u3002<br><\/li>\n\n\n\n<li><strong>\u5956\u52b1\uff08Reward\uff09\u7684\u7f3a\u5931<\/strong>\uff1a\u6709\u6548\u7684\u5956\u52b1\u51fd\u6570\u662f\u8bc4\u4f30\u548c\u4f18\u5316\u9a7e\u9a76\u7b56\u7565\u7684\u5173\u952e\u3002\u7136\u800c\uff0c\u5927\u591a\u6570\u4e16\u754c\u6a21\u578b<strong>\u7f3a\u4e4f\u4e00\u4e2a\u96c6\u6210\u3001\u7edf\u4e00\u7684\u5956\u52b1\u673a\u5236<\/strong>\u3002\u90e8\u5206\u7814\u7a76\u867d\u63d0\u51fa\u4e86\u57fa\u4e8e\u5916\u90e8\u56fe\u50cf\u6a21\u578b\u7684\u5956\u52b1\u51fd\u6570\uff0c\u4f46\u8fd9\u4e0d\u4ec5\u589e\u52a0\u4e86\u7cfb\u7edf\u590d\u6742\u5ea6\uff0c\u4e5f\u96be\u4ee5\u5728\u590d\u6742\u7684\u9a7e\u9a76\u73af\u5883\u4e2d\u63d0\u4f9b\u7cbe\u786e\u7684\u8bc4\u4f30\u3002<br><\/li>\n<\/ol>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p><strong>\u6838\u5fc3\u6d1e\u5bdf<\/strong>\uff1a\u4e00\u4e2a\u771f\u6b63\u6709\u6548\u7684\u81ea\u52a8\u9a7e\u9a76\u4e16\u754c\u6a21\u578b\uff0c\u5fc5\u987b\u5728<strong>\u72b6\u6001\uff08State\uff09\u3001\u52a8\u4f5c\uff08Action\uff09\u3001\u5956\u52b1\uff08Reward\uff09<\/strong> \u8fd9\u4e09\u4e2a\u7ef4\u5ea6\u4e0a\u5b9e\u73b0\u7edf\u4e00\u548c\u534f\u540c\u3002\u5b83\u4e0d\u5e94\u4ec5\u4ec5\u662f\u4e00\u4e2a\u201c\u89c6\u9891\u751f\u6210\u5668\u201d\uff0c\u800c\u5fc5\u987b\u662f\u4e00\u4e2a<strong>\u53ef\u4ea4\u4e92\u3001\u53ef\u8bc4\u4f30\u3001\u53ef\u6269\u5c55\u7684\u7efc\u5408\u6027\u865a\u62df\u9a7e\u9a76\u73af\u5883<\/strong>\u3002<\/p>\n<\/blockquote>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-a35f2589184747b06a88bab4d790c0ba_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><em>\u88681\uff1aOmniNWM \u4e0e\u73b0\u6709\u4e16\u754c\u6a21\u578b\u5728\u72b6\u6001\u3001\u52a8\u4f5c\u3001\u5956\u52b1\u4e09\u4e2a\u7ef4\u5ea6\u7684\u80fd\u529b\u5bf9\u6bd4<\/em><\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1964693239215920366_1\">Method\uff1a\u4e09\u4f4d\u4e00\u4f53\u7684\u7edf\u4e00\u67b6\u6784<\/h2>\n\n\n\n<p>\u9488\u5bf9\u4e0a\u8ff0\u6311\u6218\uff0cOmniNWM \u63d0\u51fa\u4e86\u4e00\u4e2a\u521b\u65b0\u7684\u7edf\u4e00\u6846\u67b6\uff0c\u5176\u6838\u5fc3\u5728\u4e8e\u5c06<strong>\u72b6\u6001\u751f\u6210\u3001\u52a8\u4f5c\u63a7\u5236\u3001\u5956\u52b1\u8bc4\u4f30<\/strong>\u4e09\u8005\u65e0\u7f1d\u96c6\u6210\u3002\u6574\u4f53\u67b6\u6784\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u4e3b\u8981\u5305\u542b\u4ee5\u4e0b\u51e0\u4e2a\u5173\u952e\u6a21\u5757\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u5168\u666f\u591a\u6a21\u6001\u751f\u6210 (State)<\/strong> \uff1a\u5229\u7528 <strong>Panoramic Diffusion Transformer (PDiT)<\/strong> \u4f5c\u4e3a\u6838\u5fc3\uff0c\u8054\u5408\u751f\u6210\u50cf\u7d20\u7ea7\u5bf9\u9f50\u7684 <strong>RGB\u3001\u8bed\u4e49\u3001\u6df1\u5ea6\u30013D Occupancy<\/strong> \u56db\u79cd\u6a21\u6001\u7684\u89c6\u9891\u3002<br><\/li>\n\n\n\n<li><strong>\u5f52\u4e00\u5316Pl\u00fccker Ray-map\u63a7\u5236 (Action)<\/strong> \uff1a\u5c06\u8f93\u5165\u7684\u81ea\u6211\u8f68\u8ff9\u7f16\u7801\u4e3a\u7a20\u5bc6\u7684\u3001\u51e0\u4f55\u611f\u77e5\u7684 <strong>Pl\u00fccker Ray-map<\/strong>\uff0c\u4f5c\u4e3a\u50cf\u7d20\u7ea7\u5f15\u5bfc\u4fe1\u53f7\uff0c\u5b9e\u73b0\u5bf9\u5168\u666f\u76f8\u673a\u751f\u6210\u7684\u7cbe\u51c6\u63a7\u5236\u3002<br><\/li>\n\n\n\n<li><strong>\u5185\u751f\u7a20\u5bc6\u5956\u52b1 (Reward)<\/strong> \uff1a\u76f4\u63a5\u5229\u7528\u751f\u6210\u7684 <strong>3D Occupancy<\/strong> \u6765\u5b9a\u4e49\u57fa\u4e8e\u89c4\u5219\u7684\u7a20\u5bc6\u5956\u52b1\u51fd\u6570\uff0c\u7528\u4e8e\u8bc4\u4f30\u9a7e\u9a76\u884c\u4e3a\u7684\u5408\u89c4\u6027\u4e0e\u5b89\u5168\u6027\uff0c\u4ece\u800c\u652f\u6301\u95ed\u73af\u89c4\u5212\u3002<br><\/li>\n\n\n\n<li><strong>Flexible Forcing \u957f\u65f6\u5e8f\u751f\u6210<\/strong>\uff1a\u5f15\u5165\u4e00\u79cd\u7075\u6d3b\u7684\u566a\u58f0\u6ce8\u5165\u7b56\u7565\uff0c\u4f7f\u6a21\u578b\u80fd\u591f\u751f\u6210\u8fdc\u8d85\u8bad\u7ec3\u6570\u636e\u957f\u5ea6\uff08\u4f8b\u5982\u4ece241\u5e27\u6269\u5c55\u5230321\u5e27\uff09\u7684\u7a33\u5b9a\u89c6\u9891\u5e8f\u5217\u3002<br><\/li>\n<\/ol>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-32d0e0c52bebc265e277429d35c224f4_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1964693239215920366_2\">1 \u591a\u6a21\u6001\u72b6\u6001\u751f\u6210\uff1a\u50cf\u7d20\u5bf9\u9f50\u7684\u56db\u6a21\u6001\u8054\u5408\u8f93\u51fa<\/h3>\n\n\n\n<p>OmniNWM \u9996\u6b21\u5b9e\u73b0 <strong>RGB\u3001\u8bed\u4e49\u56fe\u3001\u5ea6\u91cf\u6df1\u5ea6\u56fe\u30013D \u8bed\u4e49 Occupancy<\/strong> \u7684\u8054\u5408\u751f\u6210\uff0c\u4e14\u56db\u8005\u5728\u50cf\u7d20\u7ea7\u522b\u5bf9\u9f50\u3002<\/p>\n\n\n\n<p><strong>\u67b6\u6784\u8bbe\u8ba1<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f7f\u7528 <strong>Panoramic Diffusion Transformer (PDiT)<\/strong> \u4f5c\u4e3a\u4e3b\u5e72<br><\/li>\n\n\n\n<li>\u5bf9 RGB\u3001\u8bed\u4e49\u3001\u6df1\u5ea6\u4e09\u6a21\u6001\u5206\u522b\u7f16\u7801\u4e3a\u6f5c\u5728\u53d8\u91cf<br><\/li>\n\n\n\n<li><strong>\u901a\u9053\u62fc\u63a5<\/strong>\u540e\u8f93\u5165 PDiT \u8054\u5408\u53bb\u566a\uff1a<br><\/li>\n\n\n\n<li>\u5171\u4eab\u89e3\u7801\u5668\u8f93\u51fa\u5bf9\u9f50\u7684\u4e09\u6a21\u6001\u89c6\u9891<br><\/li>\n<\/ul>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p>\u2705 <strong>\u8bad\u7ec3\u6280\u5de7<\/strong>\uff1a\u8bed\u4e49\u56fe\u5728 VAE \u7f16\u7801\u524d\u8fdb\u884c<strong>\u4f2a\u5f69\u8272\u5316<\/strong>\uff0c\u89e3\u7801\u540e\u901a\u8fc7<strong>\u6700\u8fd1\u90bb\u5339\u914d<\/strong>\u8fd8\u539f\u7c7b\u522b\u6807\u7b7e\uff0c\u786e\u4fdd\u8de8\u6a21\u6001\u4e00\u81f4\u6027\u3002<\/p>\n<\/blockquote>\n\n\n\n<p><strong>3D Occupancy \u751f\u6210\uff08\u7528\u4e8e\u5956\u52b1\uff09<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-87f3dff3f35e482e8c0cba67ed530bf3_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5229\u7528\u751f\u6210\u7684 RGB\u3001\u8bed\u4e49\u3001\u6df1\u5ea6\u56fe\uff0c\u901a\u8fc7 <strong>SE3D Block + Outer Product<\/strong> \u751f\u6210 3D Occupancy\uff1a<\/p>\n\n\n\n<p>\u5176\u4e2d\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\uff1a\u7531 EfficientNet-B7 \u63d0\u53d6\u7684 RGB \u56fe\u50cf\u7279\u5f81<br><\/li>\n\n\n\n<li>\uff1a\u6df1\u5ea6\u56fe\u4e0e\u8bed\u4e49\u56fe\u7ecf\u5377\u79ef\u4e0b\u91c7\u6837\u540e\u7684\u7279\u5f81<br><\/li>\n\n\n\n<li>\uff1a\u81ea\u9002\u5e94\u805a\u5408\u7f51\u7edc\uff08SE3D Blocks\uff09<br><\/li>\n\n\n\n<li>\uff1a\u5916\u79ef\uff08outer product\uff09\uff0c\u878d\u5408\u51e0\u4f55\u4e0e\u8bed\u4e49\u4e0a\u4e0b\u6587<br><\/li>\n<\/ul>\n\n\n\n<p>\u6700\u7ec8\u901a\u8fc7\u4e0a\u91c7\u6837 + Softmax \u5f97\u5230 <strong>3D \u8bed\u4e49\u4f53\u7d20\u7f51\u683c<\/strong>\u3002<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p><strong>\u610f\u4e49<\/strong>\uff1a\u8be5 Occupancy \u4e0d\u4ec5\u7528\u4e8e\u53ef\u89c6\u5316\uff0c\u66f4\u662f<strong>\u5956\u52b1\u8ba1\u7b97\u4e0e\u95ed\u73af\u89c4\u5212\u7684\u6838\u5fc3\u4f9d\u636e<\/strong>\u3002<\/p>\n<\/blockquote>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1964693239215920366_3\">2 \u52a8\u4f5c\u63a7\u5236\uff1a\u5f52\u4e00\u5316\u5168\u666f Pl\u00fccker Ray-map<\/h3>\n\n\n\n<p>\u4f20\u7edf\u65b9\u6cd5\u4f9d\u8d56\u7a00\u758f\u7684\u8f68\u8ff9\u70b9\uff08\u5982 \u8def\u70b9\uff09\u63a7\u5236\u751f\u6210\uff0c\u96be\u4ee5\u5b9e\u73b0\u591a\u89c6\u89d2\u51e0\u4f55\u4e00\u81f4\u7684\u7cbe\u51c6\u64cd\u63a7\u3002OmniNWM \u521b\u65b0\u6027\u5730\u63d0\u51fa <strong>\u5f52\u4e00\u5316\u5168\u666f Pl\u00fccker Ray-map<\/strong> \u2014\u2014 \u4e00\u79cd\u50cf\u7d20\u7ea7\u3001\u51e0\u4f55\u4e00\u81f4\u3001\u96f6\u6837\u672c\u6cdb\u5316\u7684\u52a8\u4f5c\u8868\u793a\uff0c\u5c06\u8f93\u5165\u8f68\u8ff9\u8f6c\u5316\u4e3a\u7a20\u5bc6\u7684\u5c04\u7ebf\u573a\u6307\u5bfc\u751f\u6210\u8fc7\u7a0b\u3002<\/p>\n\n\n\n<p><strong>Pl\u00fccker \u5750\u6807\u5b9a\u4e49<\/strong><\/p>\n\n\n\n<p>\u5bf9\u7b2c \u4e2a\u76f8\u673a\u89c6\u89d2\u4e2d\u50cf\u7d20 \uff0c\u5176 Pl\u00fccker \u5d4c\u5165\u4e3a\u516d\u7ef4\u5411\u91cf\uff1a<\/p>\n\n\n\n<p>\u5176\u4e2d \u4e3a\u76f8\u673a\u4e2d\u5fc3\uff0c \u4e3a\u4ece\u76f8\u673a\u4e2d\u5fc3\u6307\u5411\u50cf\u7d20\u7684\u4e16\u754c\u5c04\u7ebf\u65b9\u5411\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-13dd2869d523a1eab0e31456c0480d0f_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u4e3a\u652f\u6301\u8de8\u6570\u636e\u96c6\u3001\u591a\u76f8\u673a\u914d\u7f6e\u6cdb\u5316\uff0cOmniNWM \u5bf9Ray-map\u8fdb\u884c<strong>\u53cc\u91cd\u5f52\u4e00\u5316<\/strong>\uff1a<\/p>\n\n\n\n<p><strong>\u53cc\u91cd\u5f52\u4e00\u5316\uff1a\u6784\u5efa\u7edf\u4e00 Pl\u00fccker \u7a7a\u95f4\uff08\u5bf9\u5e94\u56fe5(a)(b)\uff09<\/strong><\/p>\n\n\n\n<p>\u4e3a\u652f\u6301\u8de8\u6570\u636e\u96c6\u3001\u591a\u76f8\u673a\u914d\u7f6e\u4e0b\u7684\u6cdb\u5316\u80fd\u529b\uff0cOmniNWM \u5bf9 Ray-map \u8fdb\u884c <strong>\u5c3a\u5ea6\u5f52\u4e00\u5316<\/strong> \u4e0e <strong>\u4f4d\u59ff\u5f52\u4e00\u5316<\/strong>\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5c3a\u5ea6\u5f52\u4e00\u5316<\/strong>\uff08\u7edf\u4e00\u5185\u53c2\uff09\uff1a\u7edf\u4e00\u4f7f\u7528\u524d\u89c6\u76f8\u673a\u5185\u53c2 \u91cd\u6295\u5f71\u6240\u6709\u89c6\u89d2\u5c04\u7ebf\uff0c\u6d88\u9664\u56e0\u76f8\u673a\u7126\u8ddd\u5dee\u5f02\u5bfc\u81f4\u7684\u5c3a\u5ea6\u6f02\u79fb\uff1b<br>\u5176\u4e2d \u4e3a<strong>\u524d\u89c6\u76f8\u673a\u5185\u53c2<\/strong>\uff0c\u786e\u4fdd\u6240\u6709\u5c04\u7ebf\u5728\u540c\u4e00\u5ea6\u91cf\u5c3a\u5ea6\u4e0b\u3002<br><\/li>\n\n\n\n<li><strong>\u4f4d\u59ff\u5f52\u4e00\u5316<\/strong>\uff08\u7edf\u4e00\u5750\u6807\u7cfb\uff09\uff1a\u5c06\u6240\u6709\u76f8\u673a\u4e2d\u5fc3\u4e0e\u5c04\u7ebf\u65b9\u5411\u53d8\u6362\u81f3\u524d\u89c6\u76f8\u673a\u5750\u6807\u7cfb\u4e0b\u3002<br><\/li>\n<\/ul>\n\n\n\n<p>\u6700\u7ec8\u5f52\u4e00\u5316 Pl\u00fccker \u5750\u6807\u4e3a\uff1a<\/p>\n\n\n\n<p>\u901a\u8fc7\u8fd9\u4e00\u8fc7\u7a0b\uff0c<strong>\u4e0d\u540c\u76f8\u673a\u89c6\u89d2\u3001\u4e0d\u540c\u8f68\u8ff9\u5f62\u6001\u88ab\u6620\u5c04\u5230\u540c\u4e00\u4e2a\u51e0\u4f55\u4e00\u81f4\u7684 3D Pl\u00fccker \u7a7a\u95f4\u4e2d<\/strong>\uff08\u56fe5(b)\uff09\uff0c\u4f7f\u5f97\u6a21\u578b\u80fd\u4ee5\u7edf\u4e00\u8bed\u4e49\u7406\u89e3\u4efb\u610f\u8f68\u8ff9\uff0c\u663e\u8457\u63d0\u5347\u63a7\u5236\u6cdb\u5316\u6027\u3002<\/p>\n\n\n\n<p><strong>\u8f68\u8ff9\u591a\u6837\u6027\u589e\u5f3a\uff08\u5bf9\u5e94\u56fe5(c)\uff09<\/strong><\/p>\n\n\n\n<p>\u539f\u59cb NuScenes \u6570\u636e\u96c6\u4e2d\u8f68\u8ff9\u5206\u5e03\u9ad8\u5ea6\u96c6\u4e2d\uff08\u5982\u4e3b\u5e72\u9053\u76f4\u884c\uff09\uff0c\u9650\u5236\u4e86\u6a21\u578b\u5bf9\u590d\u6742\u9a7e\u9a76\u884c\u4e3a\uff08\u5982\u6025\u8f6c\u5f2f\u3001\u5012\u8f66\u3001\u53d8\u9053\u5207\u5165\uff09\u7684\u5efa\u6a21\u80fd\u529b\u3002OmniNWM \u7684\u5f52\u4e00\u5316\u7b56\u7565 <strong>\u89e3\u8026\u4e86\u8f68\u8ff9\u51e0\u4f55\u4e0e\u5177\u4f53\u76f8\u673a\u914d\u7f6e<\/strong>\uff0c\u4f7f\u5f97\u5728\u8bad\u7ec3\u6216\u63a8\u7406\u65f6\u53ef\u8f7b\u677e\u6ce8\u5165 OOD\uff08Out-of-Distribution\uff09\u8f68\u8ff9\uff08\u5982\u56fe\u4e2d control.gif \/ reverse.gif \u6240\u793a\uff09\u3002<\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u8868\u660e\uff0c\u8be5\u7b56\u7565\u663e\u8457\u6269\u5c55\u4e86\u6709\u6548\u8f68\u8ff9\u7684\u8986\u76d6\u8303\u56f4\uff0c\u8f68\u8ff9\u5206\u5e03\u591a\u6837\u6027\u8fdc\u8d85\u539f\u59cb\u6570\u636e\u96c6<\/strong>\uff08\u56fe5(c)\uff09\uff0c\u4e3a\u4eff\u771f\u4e2d\u7684\u6781\u7aef\u573a\u666f\u751f\u6210\u4e0e\u7b56\u7565\u9c81\u68d2\u6027\u8bad\u7ec3\u5960\u5b9a\u57fa\u7840\u3002<\/p>\n\n\n\n<p>\u2705 <strong>\u4f18\u52bf\u603b\u7ed3<\/strong>\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8f7b\u91cf\u3001\u65e0\u53c2\u6570\u3001\u65e0\u9700\u8bad\u7ec3<br><\/li>\n\n\n\n<li>\u652f\u6301 <strong>\u96f6\u6837\u672c\u8fc1\u79fb<\/strong> \u81f3 \u4e0d\u540c\u6570\u636e\u96c6\u548c\u4e0d\u540c\u76f8\u673a\u6570\u91cf\u7b49\u65b0\u914d\u7f6e<br><\/li>\n\n\n\n<li>\u5b9e\u73b0 <strong>\u50cf\u7d20\u7ea7\u7cbe\u51c6\u63a7\u5236<\/strong>\uff08RotErr \u4ec5 1.42\u00d710\u207b\u00b2\uff0c\u63a5\u8fd1 GT\uff09<br><\/li>\n\n\n\n<li>\u6784\u5efa <strong>\u7edf\u4e00\u52a8\u4f5c\u8bed\u4e49\u7a7a\u95f4<\/strong>\uff0c\u89e3\u9501\u4e30\u5bcc OOD \u8f68\u8ff9\u751f\u6210\u80fd\u529b<br><\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1964693239215920366_4\">3 \u957f\u65f6\u5e8f\u751f\u6210\uff1aFlexible Forcing\u7b56\u7565<\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-f7ce5f07f2bf14f025766b2e851937b8_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u4e3a\u7a81\u7834\u73b0\u6709\u6a21\u578b\u4ec5\u80fd\u751f\u6210\u8f83\u77ed\u5e27\u6570\u7684\u9650\u5236\uff0cOmniNWM \u652f\u6301\u8d85\u8fc7GT\u957f\u5ea6\u7684 <strong>321 \u5e27\u8d85\u957f\u5e8f\u5217\u751f\u6210<\/strong>\u3002<\/p>\n\n\n\n<p><strong>\u591a\u5c42\u7ea7\u566a\u58f0\u6ce8\u5165<\/strong><\/p>\n\n\n\n<p>\u8bad\u7ec3\u65f6\u5bf9\u6bcf\u5e27 \u3001\u6bcf\u89c6\u89d2 \u7684\u6f5c\u5728\u8868\u793a \u65bd\u52a0\u72ec\u7acb\u566a\u58f0\uff1a<\/p>\n\n\n\n<p>\u5176\u4e2d\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\uff1a\u53ef\u5b66\u4e60\u7f29\u653e\u56e0\u5b50<\/li>\n<\/ul>\n\n\n\n<p><strong>\u4e24\u79cd\u63a8\u7406\u6a21\u5f0f<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5e27\u7ea7\u81ea\u56de\u5f52<\/strong>\uff08Frame-level\uff09\uff1a<br>\u9002\u7528\u4e8e\u9010\u5e27\u89c4\u5212<br><\/li>\n\n\n\n<li><strong>\u7247\u6bb5\u7ea7\u81ea\u56de\u5f52<\/strong>\uff08Clip-level\uff09\uff1a<br>\u9ad8\u6548\u751f\u6210\u957f\u89c6\u9891\uff08FVD@201\u5e27 = 25.22\uff0c\u8fdc\u4f18\u4e8e\u6d88\u878d\u6a21\u578b 386.72\uff09<br><\/li>\n<\/ul>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p><strong>\u6548\u679c<\/strong>\uff1a\u89c1\u4e0b\u56fe\uff0cFlexible Forcing\u663e\u8457\u6291\u5236\u957f\u65f6\u5e8f\u4e2d\u7684\u7ed3\u6784\u9000\u5316\u3002<\/p>\n<\/blockquote>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-c6a6795f3aee355f05a22052f237b872_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1964693239215920366_5\">4 \u5185\u751f\u7a20\u5bc6\u5956\u52b1\uff1a\u57fa\u4e8e Occupancy \u7684\u9a7e\u9a76\u5408\u89c4\u6027\u8bc4\u4f30<\/h3>\n\n\n\n<p>OmniNWM <strong>\u65e0\u9700\u5916\u90e8\u6a21\u578b<\/strong>\uff0c\u76f4\u63a5\u5229\u7528\u751f\u6210\u7684 3D Occupancy \u5b9a\u4e49\u7a20\u5bc6\u5956\u52b1\uff1a<\/p>\n\n\n\n<p><strong>\u4e09\u9879\u5956\u52b1\u8be6\u89e3<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u78b0\u649e\u60e9\u7f5a<\/strong>\uff08Collision Reward\uff09\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5f53 ego \u8f66\u8f86\u4e0e Occupancy \u4e2d\u969c\u788d\u7269\uff08\u8f66\u3001\u884c\u4eba\u7b49\uff09\u78b0\u649e<br><\/li>\n\n\n\n<li>\u9ad8\u901f\u78b0\u649e\u60e9\u7f5a\u66f4\u91cd<br><\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u8d8a\u754c\u60e9\u7f5a<\/strong>\uff08Boundary Reward\uff09\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5f53\u8f66\u8f86\u9a76\u51fa \u201cdrivable surface\u201d \u533a\u57df<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u901f\u5ea6\u5956\u52b1<\/strong>\uff08Velocity Reward\uff09\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5f53\u901f\u5ea6\u8d85\u51fa<\/li>\n<\/ul>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p><strong>\u9a8c\u8bc1<\/strong>\uff1a\u4e0b\u56fe\u5c55\u793a\u5728\u201c\u5bf9\u5411\u5361\u8f66\u201d\u573a\u666f\u4e2d\uff0c\u5956\u52b1\u51fd\u6570\u80fd\u6709\u6548\u533a\u5206<strong>\u78b0\u649e\u3001\u907f\u8ba9\u4e0d\u8db3\u3001\u6210\u529f\u89c4\u907f<\/strong>\u4e09\u79cd\u884c\u4e3a\u3002<\/p>\n<\/blockquote>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-cb36496a21867e26c7457803a412904b_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1964693239215920366_6\">5 OmniNWM-VLA \u2014\u2014 \u8bed\u4e49-\u51e0\u4f55\u8054\u5408\u63a8\u7406\u7684\u89c4\u5212\u667a\u80fd\u4f53<\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-889d9257adb7d403180021854e60988f_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u4e3a\u5b9e\u73b0\u771f\u6b63\u7684\u95ed\u73af\u4eff\u771f\uff0cOmniNWM \u5f15\u5165\u4e86\u4e00\u4e2a\u4e13\u7528\u7684 <strong>Vision-Language-Action\uff08VLA\uff09\u89c4\u5212\u5668<\/strong>\uff0c\u547d\u540d\u4e3a <strong>OmniNWM-VLA<\/strong>\u3002\u8be5\u6a21\u5757\u57fa\u4e8e\u5f3a\u5927\u7684\u591a\u6a21\u6001\u5927\u6a21\u578b <strong><a href=\"https:\/\/zhida.zhihu.com\/search?content_id=265445813&amp;content_type=Article&amp;match_order=1&amp;q=Qwen-2.5-VL&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Qwen-2.5-VL<\/a><\/strong><\/p>\n\n\n\n<p>\u6784\u5efa\uff0c\u4f46\u9488\u5bf9\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u8fdb\u884c\u4e86\u5173\u952e\u6027\u589e\u5f3a\uff0c\u4f7f\u5176\u80fd\u591f <strong>\u7406\u89e3\u591a\u6a21\u6001\u73af\u5883\u3001\u63a8\u7406\u9a7e\u9a76\u610f\u56fe\uff0c\u5e76\u8f93\u51fa\u9ad8\u7cbe\u5ea6\u8f68\u8ff9<\/strong>\u3002<\/p>\n\n\n\n<p><strong>\u6838\u5fc3\u67b6\u6784\uff1aTri-Modal Mamba-based Interpreter\uff08<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=265445813&amp;content_type=Article&amp;match_order=1&amp;q=Tri-MIDI&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Tri-MIDI<\/a><\/strong><\/p>\n\n\n\n<p><strong>\uff09<\/strong><\/p>\n\n\n\n<p>OmniNWM-VLA \u7684\u6838\u5fc3\u521b\u65b0\u5728\u4e8e\u5176 <strong>Tri-MIDI \u878d\u5408\u6a21\u5757<\/strong>\u2014\u2014\u4e00\u4e2a\u8f7b\u91cf\u3001\u5373\u63d2\u5373\u7528\u7684 <strong>Mamba-based \u591a\u6a21\u6001\u89e3\u91ca\u5668<\/strong>\uff0c\u7528\u4e8e\u5c06 RGB\u3001\u6df1\u5ea6\u3001\u8bed\u4e49\u4e09\u8def\u8f93\u5165\u7edf\u4e00\u7f16\u7801\u4e3a\u5bcc\u542b\u7a7a\u95f4\u8bed\u4e49\u7684\u6f5c\u5728\u8868\u793a\u3002 \u5177\u4f53\u6d41\u7a0b\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u8f93\u5165\u5bf9\u9f50<\/strong><br>\u5c06\u751f\u6210\u7684\u591a\u89c6\u89d2 RGB \u56fe\u50cf \u3001\u5ea6\u91cf\u6df1\u5ea6\u56fe \u548c\u8bed\u4e49\u5206\u5272\u56fe \u62fc\u63a5\u4e3a\u7edf\u4e00\u7684\u5168\u666f\u7f51\u683c \uff0c\u786e\u4fdd\u8de8\u89c6\u89d2\u7a7a\u95f4\u4e00\u81f4\u6027\u3002<br><\/li>\n\n\n\n<li><strong>\u6a21\u6001\u72ec\u7acb\u7f16\u7801<\/strong><br>\u4f7f\u7528\u9884\u8bad\u7ec3\u7f16\u7801\u5668\u5206\u522b\u63d0\u53d6\u5404\u6a21\u6001\u7279\u5f81\uff1a\u5176\u4e2d\uff1a<br><\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\uff1aCLIP \u89c6\u89c9\u7f16\u7801\u5668\uff08\u5904\u7406 RGB\uff09<br><\/li>\n\n\n\n<li>\uff1aSigLIP \u7f16\u7801\u5668\uff08\u5904\u7406\u6df1\u5ea6\uff09<br><\/li>\n\n\n\n<li>\uff1aSegFormer\uff08\u5904\u7406\u8bed\u4e49\uff09<br><\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u7edf\u4e00\u5d4c\u5165\u4e0e\u878d\u5408<\/strong><br>\u901a\u8fc7\u6a21\u6001\u7279\u5b9a MLP \u6295\u5f71\u81f3\u5171\u4eab\u7a7a\u95f4\uff1a\u518d\u7531 <strong>Mamba \u72b6\u6001\u7a7a\u95f4\u6a21\u578b<\/strong> \u8fdb\u884c\u8de8\u6a21\u6001\u878d\u5408\uff08\u53d7\u6587\u672c\u67e5\u8be2 \u5f15\u5bfc\uff09\uff1a<br><\/li>\n\n\n\n<li><strong>\u7ed3\u6784\u5316\u8f93\u51fa<\/strong><br>\u501f\u52a9 <strong>Tokenized Rationale\uff08TOR\uff09\u673a\u5236<\/strong>\uff0c\u5728\u8f93\u51fa\u5e8f\u5217\u4e2d\u63d2\u5165\u7279\u6b8a\u63a8\u7406\u951a\u70b9\uff0c\u6700\u7ec8\u9884\u6d4b\uff1a<br><\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>2D \u8def\u70b9\u5750\u6807<\/strong><br><\/li>\n\n\n\n<li><strong>\u822a\u5411\u89d2<\/strong><br><\/li>\n<\/ul>\n\n\n\n<p>OmniNWM-VLA \u91c7\u7528 <strong>\u56e0\u679c\u8bed\u8a00\u5efa\u6a21\u76ee\u6807<\/strong>\uff0c\u5c06\u8f68\u8ff9\u89c6\u4e3a\u201c\u52a8\u4f5c\u5e8f\u5217\u201d\u8fdb\u884c next-token \u9884\u6d4b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-83aa57515db818269aa9e1b1dffdddeb_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5176\u4e2d\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\uff1aTri-MIDI \u5904\u7406\u540e\u7684\u591a\u6a21\u6001\u8f93\u5165\uff08RGB+\u6df1\u5ea6+\u8bed\u4e49\uff09<br><\/li>\n\n\n\n<li>\uff1a\u76ee\u6807\u8f68\u8ff9\u5e8f\u5217\uff08\u542b\u5750\u6807\u4e0e\u822a\u5411\u89d2\uff09<br><\/li>\n\n\n\n<li>\uff1a\u5e8f\u5217\u957f\u5ea6<br><\/li>\n<\/ul>\n\n\n\n<p>\u8be5\u76ee\u6807\u4f7f\u6a21\u578b\u65e2\u80fd\u7ee7\u627f Qwen-VL \u7684\u4e16\u754c\u77e5\u8bc6\uff0c\u53c8\u80fd\u5b66\u4e60\u9a7e\u9a76\u573a\u666f\u4e0b\u7684 <strong>\u65f6\u7a7a\u8fde\u8d2f\u6027\u4e0e\u7269\u7406\u5408\u7406\u6027<\/strong>\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1964693239215920366_7\">Experiment\uff1a\u5168\u9762 SOTA\uff0c\u95ed\u73af\u9a8c\u8bc1\u6709\u6548<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1964693239215920366_8\">\u89c6\u9891\u751f\u6210\u8d28\u91cf<\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-3088849280620727ac9e8aff4eaaf762_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p>\u2705 <strong>\u5173\u952e<\/strong>\uff1a<strong>\u65e0\u9700 Occupancy \u6216\u70b9\u4e91\u7b49\u4f53\u79ef\u6761\u4ef6<\/strong>\uff0c\u4ecd\u8d85\u8d8a\u6240\u6709 SOTA\u3002<\/p>\n<\/blockquote>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1964693239215920366_9\">\u6df1\u5ea6\u56fe\u751f\u6210<\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-dc2048191c88f5a2e97ef3481eb5e0e9_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p>\u2705 <strong>\u5173\u952e<\/strong>\uff1a<strong>\u4ee5\u751f\u6210\u7684\u65b9\u5f0f<\/strong>\uff0c\u8d85\u8d8a\u6240\u6709SOTA\u7684\u9884\u6d4b\u7c7bOccupancy\u6a21\u578b\u3002<\/p>\n<\/blockquote>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1964693239215920366_10\">3D Occupancy \u9884\u6d4b<\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-0d428160413cb243a15d4ef374d378ca_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p><strong>\u7a81\u7834<\/strong>\uff1a<strong>\u4ee5\u751f\u6210\u7684\u65b9\u5f0f<\/strong>\uff0c\u4ec5\u7528 RGB \u8f93\u5165\uff0c<strong>\u8d85\u8d8a LiDAR \u65b9\u6cd5<\/strong>\u3002<\/p>\n<\/blockquote>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1964693239215920366_11\">\u76f8\u673a\u63a7\u5236\u7cbe\u5ea6<\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-86a72e4b57fb0ffc0e74ce75c71d23dc_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p><strong>\u7a81\u7834<\/strong>\uff1a<strong>\u5f52\u4e00\u5316\u5168\u666f Pl\u00fccker Ray-map<\/strong>\uff0c\u6709\u6548\u5168\u65b9\u4f4d\u63d0\u5347\u63a7\u5236\u7cbe\u5ea6\u3002<\/p>\n<\/blockquote>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1964693239215920366_12\">\u95ed\u73af\u89c4\u5212\u8bc4\u4f30<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u901a\u7528\u96c6\u6210\u6027<\/strong> OmniNWM\u652f\u6301\u76f4\u63a5\u96c6\u6210\u5404\u79cdVLA\u6a21\u5757\uff0c\u4ee5\u8fdb\u884c\u95ed\u73af\u8bc4\u4f30\u3002<br><\/li>\n\n\n\n<li><strong>Scenario Pass Rate (SPR)<\/strong> \u663e\u8457\u63d0\u5347<br><\/li>\n\n\n\n<li><strong>\u5e73\u5747\u5956\u52b1<\/strong> \u5206\u5e03\u66f4\u96c6\u4e2d\u4e8e\u9ad8\u5206\u533a\u57df\uff0c\u8bc1\u660e\u5956\u52b1\u51fd\u6570\u5224\u522b\u529b\u5f3a<br><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-752d12c14111763cd9de04c2c5749d1c_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1964693239215920366_13\">\u96f6\u6837\u672c\u6cdb\u5316<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u65e0\u7f1d\u8fc1\u79fb\u5230 <strong>nuPlan\u4e0eIn-House\u6570\u636e\u96c6<\/strong><br><\/li>\n\n\n\n<li>\u652f\u6301 <strong>\u4e0d\u540c\u76f8\u673a\u6570\u91cf<\/strong> \u914d\u7f6e\uff0c\u65e0\u9700\u5fae\u8c03\u76f4\u63a5\u91c7\u6837<br><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-41f3a14a4e8a33f987e8f6bcd5b79f65_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1964693239215920366_14\">\u603b\u7ed3<\/h2>\n\n\n\n<p>OmniNWM \u9996\u6b21\u5728 <strong>\u72b6\u6001\u3001\u52a8\u4f5c\u3001\u5956\u52b1<\/strong> \u4e09\u5927\u7ef4\u5ea6\u5b9e\u73b0\u7edf\u4e00\uff0c\u4e3a\u6784\u5efa<strong>\u9ad8\u4fdd\u771f\u3001\u53ef\u4ea4\u4e92\u3001\u53ef\u8bc4\u4f30<\/strong>\u7684\u81ea\u52a8\u9a7e\u9a76\u4e16\u754c\u6a21\u578b\u6811\u7acb\u4e86\u65b0\u6807\u6746, \u5176\u6838\u5fc3\u8d21\u732e\u5305\u62ec\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u56db\u6a21\u6001\u8054\u5408\u751f\u6210<\/strong>\uff08RGB\/\u8bed\u4e49\/\u6df1\u5ea6\/Occupancy\uff09\uff0c\u50cf\u7d20\u5bf9\u9f50\u3001\u8bed\u4e49\u4e00\u81f4<br><\/li>\n\n\n\n<li><strong>\u5f52\u4e00\u5316 Pl\u00fccker Ray-map<\/strong>\uff0c\u5b9e\u73b0\u50cf\u7d20\u7ea7\u7cbe\u51c6\u3001\u96f6\u6837\u672c\u6cdb\u5316\u7684\u76f8\u673a\u63a7\u5236<br><\/li>\n\n\n\n<li><strong>Occupancy \u5185\u751f\u7a20\u5bc6\u5956\u52b1<\/strong>\uff0c\u652f\u6301\u53ef\u89e3\u91ca\u3001\u53ef\u5fae\u7684\u95ed\u73af\u8bc4\u4f30<br><\/li>\n\n\n\n<li><strong>Flexible Forcing\u7b56\u7565<\/strong>\uff0c\u7a81\u7834\u6570\u636e\u96c6\u89c6\u9891\u957f\u5ea6\u9650\u5236\u7684\u957f\u65f6\u5e8f\u751f\u6210\uff08\u8bad\u7ec3\u4ec5\u7528\u523033\u5e27\u957f\u5ea6\u7684\u89c6\u9891\uff09<\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin. [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-34051","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":3,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/34051"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=34051"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/34051\/revisions"}],"predecessor-version":[{"id":34058,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/34051\/revisions\/34058"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=34051"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=34051"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=34051"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}