{"id":35423,"date":"2025-12-11T17:32:47","date_gmt":"2025-12-11T09:32:47","guid":{"rendered":"http:\/\/192.168.10.115\/?p=35423"},"modified":"2025-12-11T17:32:47","modified_gmt":"2025-12-11T09:32:47","slug":"2025-12-11-percept-wam%ef%bc%9a%e7%9c%9f%e6%ad%a3%e3%80%8c%e7%9c%8b%e6%87%82%e4%b8%96%e7%95%8c%e3%80%8d%e7%9a%84%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e5%a4%a7%e8%84%91%ef%bc%8c%e6%84%9f%e7%9f%a5","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/12\/11\/35423\/","title":{"rendered":"2025-12-11 Percept-WAM\uff1a\u771f\u6b63\u300c\u770b\u61c2\u4e16\u754c\u300d\u7684\u81ea\u52a8\u9a7e\u9a76\u5927\u8111\uff0c\u611f\u77e5\u5230\u884c\u52a8\u7684\u4e00\u4f53\u5316\u6a21\u578b"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/baijiahao.baidu.com\/s?id=1851101803637590632&amp;wfr=spider&amp;for=pc\">https:\/\/baijiahao.baidu.com\/s?id=1851101803637590632&amp;wfr=spider&amp;for=pc<\/a><\/p>\n\n\n\n<p>\u5728\u8fc7\u53bb\u51e0\u5e74\uff0c\u81ea\u52a8\u9a7e\u9a76\u5708\u6d41\u884c\u4e00\u53e5\u8bdd\uff1a<strong>\u300c\u5927\u6a21\u578b\u4f1a\u8bf4\u8bdd\uff0c\u4f46\u4e0d\u4f1a\u5f00\u8f66\u3002\u300d<\/strong><\/p>\n\n\n\n<p>\u4e00\u65b9\u9762\uff0c\u5927\u89c4\u6a21\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=267443623&amp;content_type=Article&amp;match_order=1&amp;q=VLM&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">VLM<\/a>\uff09\u5728\u6587\u672c\u7406\u89e3\u548c\u903b\u8f91\u63a8\u7406\u4e0a\u7a81\u98de\u731b\u8fdb\uff1b\u53e6\u4e00\u65b9\u9762\uff0c\u4e00\u65e6\u628a\u5b83\u4eec\u653e\u5230\u771f\u5b9e\u9053\u8def\u4e0a\uff0c\u8ba9\u5b83\u4eec\u5904\u7406\u957f\u5c3e\u573a\u666f\u3001\u8fdc\u8ddd\u79bb\u76ee\u6807\u548c\u590d\u6742\u535a\u5f08\u65f6\uff0c\u8fd9\u4e9b \u201c\u806a\u660e\u5927\u8111\u201d \u5374\u5e38\u5e38\u72af\u4f4e\u7ea7\u9519\u8bef\uff1a\u770b\u4e0d\u6e05\u3001\u5b9a\u4f4d\u4e0d\u51c6\u3001\u53cd\u5e94\u4e0d\u7a33\u5b9a\u3002\u6df1\u5c42\u539f\u56e0\u5728\u4e8e \u2014\u2014 <strong>\u73b0\u6709 VLM \u5728\u7a7a\u95f4\u611f\u77e5\u548c\u51e0\u4f55\u7406\u89e3\u4e0a\u7684\u80fd\u529b\uff0c\u8fdc\u8fdc\u8ddf\u4e0d\u4e0a\u5b83\u4eec\u5728\u8bed\u4e49\u5c42\u9762\u7684 \u201c\u8868\u8fbe\u80fd\u529b\u201d<\/strong>\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u8ba9\u5927\u6a21\u578b\u771f\u7684\u80fd \u201c\u770b\u61c2\u4e16\u754c\u201d\uff0c\u5728\u5f88\u591a\u73b0\u6709\u65b9\u6848\u4e2d\uff0c\u7814\u7a76\u8005\u4f1a\u5728\u8bad\u7ec3\u4e2d\u52a0\u5165\u4e00\u4e9b \u201c\u611f\u77e5\u7c7b QA\u201d \u95ee\u9898\uff0c\u6bd4\u5982\u95ee \u201c\u5de6\u524d\u65b9\u6709\u6ca1\u6709\u8f66\u201d\u201c\u4e24\u8f66\u8ddd\u79bb\u6709\u591a\u8fdc\u201d\u3002\u4f46\u8fd9\u7c7b\u76d1\u7763\u66f4\u591a\u505c\u7559\u5728\u8bed\u4e49\u6807\u7b7e\u548c\u7c97\u7565\u76f8\u5bf9\u5173\u7cfb\u5c42\u9762\uff0c\u5e76\u6ca1\u6709\u8ba9\u6a21\u578b\u771f\u6b63\u5b66\u4f1a\u53ef\u7528\u4e8e\u63a7\u5236\u51b3\u7b56\u7684\u5f3a 2D\/3D \u611f\u77e5\u80fd\u529b \u2014\u2014 \u4f8b\u5982\u7cbe\u786e\u3001\u7a33\u5b9a\u7684\u68c0\u6d4b\u6846\u3001\u5206\u5272\u7ed3\u679c\u548c <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=267443623&amp;content_type=Article&amp;match_order=1&amp;q=BEV&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">BEV<\/a><\/p>\n\n\n\n<p>\u611f\u77e5\u4fe1\u606f\u3002\u6362\u53e5\u8bdd\u8bf4\uff0c\u4eca\u5929\u5f88\u591a VLA \u4ecd\u7136\u505c\u7559\u5728\u300c\u4f1a\u56de\u7b54\u5173\u4e8e\u4e16\u754c\u7684\u95ee\u9898\u300d\uff0c\u800c\u4e0d\u662f\u300c\u771f\u7684\u770b\u6e05\u8fd9\u4e2a\u4e16\u754c\u300d\u3002\u8fd9\u79cd \u201c\u5f31\u611f\u77e5\u7684\u5927\u6a21\u578b\u201d\uff0c\u663e\u7136\u4e0d\u8db3\u4ee5\u652f\u6491\u81ea\u52a8\u9a7e\u9a76\u548c\u5e7f\u4e49\u5177\u8eab\u667a\u80fd\u5bf9\u7a7a\u95f4\u7406\u89e3\u7684\u9ad8\u8981\u6c42\u3002<\/p>\n\n\n\n<p>\u8fd1\u65e5\uff0c\u6765\u81ea\u5f15\u671b\u667a\u80fd\u4e0e\u590d\u65e6\u5927\u5b66\u7684\u7814\u7a76\u56e2\u961f\u8054\u5408\u63d0\u51fa\u4e86\u4e00\u4e2a\u9762\u5411\u81ea\u52a8\u9a7e\u9a76\u7684\u65b0\u4e00\u4ee3\u5927\u6a21\u578b \u2014\u2014Percept-WAM\uff08Perception-Enhanced World\u2013Awareness\u2013Action Model\uff09\u3002\u8be5\u6a21\u578b\u65e8\u5728\u5728\u4e00\u4e2a\u7edf\u4e00\u7684\u5927\u6a21\u578b\u4e2d\uff0c<strong>\u5c06\u300c\u770b\u89c1\u4e16\u754c\uff08Perception\uff09\u300d\u300c\u7406\u89e3\u4e16\u754c\uff08World\u2013Awareness\uff09\u300d\u548c\u300c\u9a71\u52a8\u8f66\u8f86\u884c\u52a8\uff08Action\uff09\u300d\u771f\u6b63\u6253\u901a\uff0c\u5f62\u6210\u4e00\u6761\u4ece\u611f\u77e5\u5230\u51b3\u7b56\u7684\u5b8c\u6574\u94fe\u8def<\/strong>\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-98a72c899abdfdfc21867604732e0f20_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aPercept-WAM: Perception-Enhanced World-Awareness-Action Model for Robust End-to-End Autonomous Driving<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2511.19221\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2511.19221<\/a><\/li>\n<\/ul>\n\n\n\n<p><strong>\u6574\u4f53\u67b6\u6784 \/ \u4efb\u52a1\u4ecb\u7ecd<\/strong><\/p>\n\n\n\n<p>\u5728\u67b6\u6784\u8bbe\u8ba1\u4e0a\uff0c\u5982\u56fe 1 \u6240\u793a\uff0cPercept-WAM \u57fa\u4e8e<strong>\u5177\u5907\u901a\u7528\u63a8\u7406\u80fd\u529b\u7684 VLM<\/strong> <strong>\u4e3b\u5e72\u6784\u5efa<\/strong>\uff0c\u5728\u4fdd\u7559\u5176\u539f\u6709\u8bed\u8a00\u4e0e\u63a8\u7406\u4f18\u52bf\u7684\u540c\u65f6\uff0c<strong>\u5f15\u5165 <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=267443623&amp;content_type=Article&amp;match_order=1&amp;q=World-PV&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">World-PV<\/a><\/strong><strong> \/ <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=267443623&amp;content_type=Article&amp;match_order=1&amp;q=World-BEV&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">World-BEV<\/a><\/strong><\/p>\n\n\n\n<p><strong>\u4e16\u754c Token<\/strong>\uff0c<strong>\u7edf\u4e00 PV \/ BEV \u89c6\u89d2\u4e0b\u7684 2D\/3D \u611f\u77e5\u8868\u793a<\/strong>\uff1a\u901a\u8fc7\u53ef\u5b66\u4e60\u7684 BEV \u7ea7\u6805\u683c Token \u5c06\u591a\u89c6\u89d2 PV \u7279\u5f81\u9690\u5f0f\u6620\u5c04\u5230 BEV \u7a7a\u95f4\uff0c\u5e76\u91c7\u7528\u6805\u683c\u6761\u4ef6\uff08grid-conditioned\uff09\u9884\u6d4b\u673a\u5236\uff1b\u5728\u89e3\u7801\u4fa7\uff0c\u5219\u7ed3\u5408 IoU-aware \u7f6e\u4fe1\u5ea6\u8f93\u51fa\u4e0e\u5e76\u884c\u81ea\u56de\u5f52\u89e3\u7801\u7b49\u5173\u952e\u6280\u672f\u6765\u63d0\u5347\u8f93\u51fa\u7684\u7cbe\u5ea6\u53ca\u6548\u7387\uff0c\u540c\u65f6\u914d\u5907\u8f7b\u91cf\u7ea7\u52a8\u4f5c\u89e3\u7801\u5934\uff0c\u7528\u4e8e\u9ad8\u6548\u9884\u6d4b\u672a\u6765\u884c\u8f66\u8f68\u8ff9\u3002<\/p>\n\n\n\n<p>\u5728\u8bad\u7ec3\u4efb\u52a1\u4e0a\uff0cPercept-WAM \u63a5\u6536\u591a\u89c6\u89d2\u6d41\u5f0f\u89c6\u9891\u3001LiDAR \u70b9\u4e91 (\u53ef\u9009) \u4ee5\u53ca\u6587\u672c\u67e5\u8be2\u4f5c\u4e3a\u8f93\u5165\uff0c\u5728\u540c\u4e00\u6a21\u578b\u4e0a<strong>\u8054\u5408\u4f18\u5316 PV \u4e0b\u7684 2D \u68c0\u6d4b\u3001\u5b9e\u4f8b\u5206\u5272\u3001\u8bed\u4e49\u5206\u5272\u3001\u5355\u76ee 3D \u68c0\u6d4b\u4efb\u52a1\u7b49\uff0c BEV \u4e0b\u7684 3D \u68c0\u6d4b\u4e0e BEV map \u5206\u5272\u4efb\u52a1\u7b49\uff0c\u4ee5\u53ca\u57fa\u4e8e\u591a\u5e27\u8f93\u5165\u7684\u8f68\u8ff9\u9884\u6d4b\u4efb\u52a1<\/strong>\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-9cd10fbdd8c1c13dae436ae3d0acb977_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><em>\u56fe 1\uff1aPercept-WAM \u6a21\u578b\u6574\u4f53\u67b6\u6784\u56fe<\/em><\/p>\n\n\n\n<p><strong>\u6838\u5fc3\u8bbe\u8ba1\uff1aWorld-PV \/ World-BEV<\/strong><\/p>\n\n\n\n<p><strong>\u628a\u4e16\u754c\u538b\u6210\u4e00\u7ec4 Token<\/strong><\/p>\n\n\n\n<p>Percept-WAM \u56f4\u7ed5 World\u2013Awareness\u2013Action \u6784\u5efa<strong>\u7edf\u4e00\u7684\u4e16\u754c token \u7a7a\u95f4<\/strong>\uff1a\u591a\u89c6\u89d2\u56fe\u50cf\u548c 3D \u573a\u666f\u88ab\u538b\u7f29\u4e3a\u4e00\u5c0f\u7ec4\u7ed3\u6784\u5316 World tokens\u3002\u6bcf\u4e2a token \u663e\u5f0f\u643a\u5e26\u8bed\u4e49\u7279\u5f81\u3001\u7a7a\u95f4\u4f4d\u7f6e\u4ee5\u53ca\u7f6e\u4fe1\u5ea6\uff0c\u7528\u4f5c 2D\/3D \u611f\u77e5\u3001\u8f68\u8ff9\u9884\u6d4b\u7b49\u4e0b\u6e38\u4efb\u52a1\u7684\u5171\u4eab\u4e16\u754c\u8868\u5f81\u3002<\/p>\n\n\n\n<p>\u5728\u56fe\u50cf\u5e73\u9762\uff0c<strong>World-PV tokens<\/strong> \u5c06\u6bcf\u5e27\u56fe\u50cf\u5212\u5206\u4e3a\u89c4\u5219\u6805\u683c\uff0c\u6bcf\u4e2a\u6805\u683c\u5bf9\u5e94\u8f93\u51fa\u4e00\u7ec4 token\uff0c\u8054\u5408\u7f16\u7801\u5c40\u90e8\u5916\u89c2\u4e0e 2D\/3D \u51e0\u4f55\u4fe1\u606f\uff08\u5982\u50cf\u7d20\u5750\u6807\u3001\u5f52\u4e00\u5316\u5c3a\u5bf8\u3001\u89c6\u7ebf\u65b9\u5411\u7b49\uff09\u3002\u57fa\u4e8e\u540c\u4e00\u7ec4 PV tokens\uff0c\u6a21\u578b\u53ef\u4ee5\u7edf\u4e00\u5efa\u6a21 2D \u68c0\u6d4b\u3001\u5b9e\u4f8b \/ \u8bed\u4e49\u5206\u5272\u3001\u5355\u76ee 3D \u68c0\u6d4b\u7b49\u4efb\u52a1\uff0c\u540e\u7eed\u518d\u53e0\u52a0\u6805\u683c\u6761\u4ef6\u9884\u6d4b\u4e0e IoU-aware \u8bc4\u5206\u673a\u5236\uff0c\u63d0\u5347\u5bc6\u96c6 2D \u611f\u77e5\u7684\u7a33\u5b9a\u6027\u548c\u6392\u5e8f\u8d28\u91cf\u3002<\/p>\n\n\n\n<p>\u5728\u9e1f\u77b0 (BEV) \u89c6\u89d2\uff0c<strong>World-BEV tokens<\/strong> (\u6839\u636e\u662f\u5426\u5b58\u5728 Lidar \u70b9\u4e91\u7279\u5f81\uff0c\u53ef\u9009\u7684\u4ece LiDAR \u7279\u5f81\u521d\u59cb\u5316\u6216\u968f\u673a\u521d\u59cb\u5316) \u5bf9\u5e94\u8986\u76d6\u524d\u65b9\u573a\u666f\u7684\u56fa\u5b9a\u5206\u8fa8\u7387 BEV \u7f51\u683c\u5355\u5143\u3002\u6bcf\u4e2a BEV token \u901a\u8fc7\u4e0e\u591a\u89c6\u89d2 PV \u7279\u5f81\u7684\u4ea4\u4e92\uff0c\u9690\u5f0f\u5efa\u6a21 PV \u5230 BEV \u4e0a\u7684\u6620\u5c04\uff0c\u805a\u5408\u8be5\u7f51\u683c\u533a\u57df\u7684\u5360\u636e\u72b6\u6001\u3001\u8bed\u4e49\u7c7b\u522b\u548c\u8fd0\u52a8\u5c5e\u6027\uff08\u5982\u901f\u5ea6\u3001\u671d\u5411\u7b49\uff09\uff0c\u5728\u4e16\u754c token \u7a7a\u95f4\u4e2d\u663e\u5f0f\u523b\u753b\u9053\u8def\u7ed3\u6784\u4e0e\u4ea4\u901a\u53c2\u4e0e\u8005\u7684\u7a7a\u95f4\u5173\u7cfb\u3002<\/p>\n\n\n\n<p><strong>\u6805\u683c\u6761\u4ef6\u9884\u6d4b + IoU-aware\uff1a<\/strong><\/p>\n\n\n\n<p><strong>\u7a33\u5b9a\u5bc6\u96c6\u573a\u666f\u611f\u77e5<\/strong><\/p>\n\n\n\n<p>\u4e3a\u652f\u6491\u57ce\u5e02\u573a\u666f\u4e2d\u7684\u9ad8\u5bc6\u5ea6\u76ee\u6807\u9884\u6d4b\u53ca\u5bf9\u5e94\u7269\u4f53\u9884\u6d4b\u7f6e\u4fe1\u5ea6\u7684\u77eb\u6b63\uff0cPercept-WAM \u5728\u89e3\u7801\u7aef\u5f15\u5165 <strong>\u6805\u683c\u6761\u4ef6\u9884\u6d4b\uff08Grid-Conditioned Prediction\uff09 \u548c IoU-aware \u7f6e\u4fe1\u5ea6\u56de\u5f52 <\/strong>\u4e24\u9879\u5173\u952e\u8bbe\u8ba1\u3002<\/p>\n\n\n\n<p><strong>\u6805\u683c\u6761\u4ef6\u9884\u6d4b<\/strong>\u501f\u9274\u4e86 UFO [1] \u7684\u601d\u60f3\uff0c\u5c06\u6574\u4e2a\u7279\u5f81\u7a7a\u95f4\u6309 PV\/BEV \u6805\u683c\u5212\u5206\u4e3a\u591a\u4e2a\u5b50\u533a\u57df\uff0c\u5e76\u56f4\u7ed5\u6bcf\u4e2a\u6805\u683c\u6784\u9020\u5c40\u90e8\u81ea\u56de\u5f52\u5e8f\u5217\uff0c\u5176\u4e2d (i) \u6bcf\u4e2a\u6805\u683c\u5bf9\u5e94\u4e00\u6761\u5c40\u90e8\u81ea\u56de\u5f52\u5b50\u5e8f\u5217\uff0c\u53ea\u56de\u5f52\u8be5\u533a\u57df\u5185\u5bf9\u5e94\u7684\u5019\u9009\u76ee\u6807\uff1b(ii) \u4e0d\u540c\u6805\u683c\u4e4b\u95f4\u901a\u8fc7\u6ce8\u610f\u529b mask \u505a\u9694\u79bb\uff0c\u9650\u5236\u8de8\u533a\u57df\u7684\u65e0\u5173\u4ea4\u4e92\uff0c\u8fdb\u884c\u5e76\u884c\u8bad\u7ec3\u53ca\u9884\u6d4b\uff0c\u663e\u8457\u7f29\u77ed\u4e86\u5355\u5e8f\u5217\u957f\u5ea6\uff0c\u51cf\u8f7b\u4e86\u8d85\u957f\u5e8f\u5217\u5bfc\u81f4\u7684\u8bad\u7ec3\u4e0d\u7a33\u5b9a\u548c\u76ee\u6807\u95f4\u5e72\u6270\uff0c\u63d0\u5347\u4e86\u9ad8\u5bc6\u5ea6\u573a\u666f\u4e0b\u7684\u6536\u655b\u6027\u4e0e\u8bad\u63a8\u6548\u7387\u3002<\/p>\n\n\n\n<p><strong>IoU-aware \u7f6e\u4fe1\u5ea6\u9884\u6d4b<\/strong>\u5219\u663e\u5f0f\u5efa\u6a21\u5019\u9009\u6846\u7684\u5b9a\u4f4d\u8d28\u91cf\u3002\u5728\u8bad\u7ec3\u9636\u6bb5\u76d1\u7763\u7f6e\u4fe1\u5ea6\u5fae\u8c03\u6570\u636e\u96c6\uff08Confidence-tuning Dataset\uff09\u7684\u5206\u503c token\uff0c\u5728\u63a8\u7406\u9636\u6bb5\u8f93\u51fa\u9884\u6d4b\u6846\u4e0e\u771f\u5b9e\u6846\u7684 IoU \u9884\u6d4b\u7ed3\u679c\uff0c\u5e76\u5c06\u8be5 IoU \u7f6e\u4fe1\u5ea6\u5206\u6570\u4e0e\u5206\u7c7b\u5206\u6570\u8054\u5408\u7528\u4e8e\u6574\u4f53\u7f6e\u4fe1\u5ea6\u6392\u5e8f\u3002\u76f8\u6bd4\u4ec5\u4f9d\u8d56\u5206\u7c7b\u5f97\u5206\u7684\u4f20\u7edf\u65b9\u6848\uff0c\u8fd9\u4e00\u8bbe\u8ba1\u5728\u5c0f\u76ee\u6807\u3001\u8fdc\u8ddd\u79bb\u76ee\u6807\u4ee5\u53ca\u957f\u5c3e\u7c7b\u522b\u4e0a\u80fd\u591f\u63d0\u4f9b\u66f4\u4e00\u81f4\u7684\u5019\u9009\u6392\u5e8f\uff0c\u51cf\u5c11 NMS \u9636\u6bb5\u7684\u8bef\u5220\u4e0e\u8bef\u4fdd\u7559\uff0c\u4ece\u800c\u6574\u4f53\u63d0\u5347\u5bc6\u96c6\u68c0\u6d4b\u7684\u53ef\u9760\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-53cb93ddef832aab8ff54f1d13f10478_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><em>\u56fe 2\uff1a\u5229\u7528 IoU-aware \u7f6e\u4fe1\u5ea6\u6765\u663e\u5f0f\u5efa\u6a21\u5019\u9009\u6846\u7684\u5b9a\u4f4d\u8d28\u91cf\uff0c(a) \u4e0d\u540c\u4ea7\u751f IoU score \u8bad\u7ec3\u6570\u636e\u96c6\u7684\u65b9\u5f0f\u5bf9\u6bd4\uff1b(b) \u539f\u6709\u8bad\u7ec3\u6570\u636e\u4ee5\u53ca\u5e26 IoU Score \u8bad\u7ec3\u6570\u636e\u7684\u4e0d\u540c loss mask \u65b9\u5f0f\u5bf9\u6bd4<\/em><\/p>\n\n\n\n<p><strong>\u4ece\u611f\u77e5\u5230\u8f68\u8ff9\uff1a<\/strong><\/p>\n\n\n\n<p><strong><a href=\"https:\/\/zhida.zhihu.com\/search?content_id=267443623&amp;content_type=Article&amp;match_order=1&amp;q=World%E2%80%93Action&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">World\u2013Action<\/a><\/strong><\/p>\n\n\n\n<p><strong>\u6253\u901a\u51b3\u7b56\u94fe\u8def<\/strong><\/p>\n\n\n\n<p>Percept-WAM \u6a21\u578b\u5728\u611f\u77e5\u7c7b world tokens \u4e4b\u4e0a\u8fdb\u4e00\u6b65\u5f15\u5165 World\u2013Action tokens\uff0c\u7528\u4e8e\u52a8\u4f5c\u4e0e\u8f68\u8ff9\u9884\u6d4b\u7684\u67e5\u8be2\uff08queries\uff09\u3002\u8fd9\u4e9b tokens \u4ece World-PV \/ World-BEV \u7b49\u611f\u77e5 tokens \u4e2d\u805a\u5408\u591a\u89c6\u89d2\u56fe\u50cf\u4e0e BEV \u8868\u5f81\uff08\u4ee5\u53ca\u53ef\u9009 LiDAR\uff09\u7684\u4fe1\u606f\uff0c\u5e76\u4e0e\u5386\u53f2\u8f68\u8ff9\u3001\u8f66\u901f\u3001\u8f6c\u5411\u7b49\u8f66\u8f86\u72b6\u6001\u878d\u5408\uff0c\u5728\u7edf\u4e00\u5750\u6807\u7cfb\u4e0b\u76f4\u63a5\u751f\u6210\u672a\u6765\u89c4\u5212\u8f68\u8ff9\u6216\u63a7\u5236\u4fe1\u53f7\uff1b\u76f8\u6bd4 \u201c\u5148\u4ea7\u51fa BEV \u7279\u5f81\u3001\u518d\u4ea4\u7531\u72ec\u7acb\u89c4\u5212\u7f51\u7edc (Diffusion)\u201d \u7684\u4e24\u9636\u6bb5\u65b9\u6848\uff0cWorld\u2013Action \u5728<strong>\u540c\u4e00 token \u7a7a\u95f4\u5185\u5b8c\u6210\u4ece\u4e16\u754c\u5efa\u6a21\u5230\u51b3\u7b56\u8f93\u51fa\uff0c\u4f7f\u611f\u77e5\u4e0e\u89c4\u5212\u5728\u8868\u793a\u7a7a\u95f4\u548c\u65f6\u7a7a\u5bf9\u9f50\u4e0a\u5929\u7136\u4e00\u81f4<\/strong>\u3002<\/p>\n\n\n\n<p>\u5728\u89e3\u7801\u65b9\u5f0f\u4e0a\uff0cPercept-WAM \u5c06\u672a\u6765\u8f68\u8ff9\u79bb\u6563\u4e3a\u4e00\u7cfb\u5217\u5173\u952e\u70b9\u6216\u7247\u6bb5\uff0c\u7ed3\u5408\u5e76\u884c\u5316\u7b56\u7565\u8fdb\u884c\u52a0\u901f\uff0c\u907f\u514d\u4f20\u7edf\u81ea\u56de\u5f52 \u201c\u4e00\u70b9\u4e00\u70b9\u63a8\u201d \u7684 AR \u63a8\u7406\u7684\u6548\u7387\u74f6\u9888\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u5728\u8f68\u8ff9\u89e3\u7801\u65b9\u5f0f\u4e0a\uff0cPercept-WAM \u91c7\u7528\u8f7b\u91cf\u7ea7 MLP \u89e3\u7801\u5934\u9a71\u52a8\u7684 <strong>query-based \u8f68\u8ff9\u9884\u6d4b<\/strong>\uff1aWorld\u2013Action \u7531\u4e00\u7ec4\u529f\u80fd\u4e0d\u540c\u7684\u67e5\u8be2\u7ec4\u6210\uff0c\u5176\u4e2d\u4e00\u90e8\u5206\u67e5\u8be2<strong>\u4ec5\u5173\u6ce8\u81ea\u8f66\u72b6\u6001\u7279\u5f81<\/strong>\uff08\u53ea\u4e0e Ego-state \u4ea4\u4e92\uff09\uff0c\u4e00\u90e8\u5206\u67e5\u8be2<strong>\u4ec5\u5173\u6ce8 PV \u4fa7\u7279\u5f81<\/strong>\uff08\u53ea\u4e0e World-PV \u4ea4\u4e92\uff09\uff0c\u4e00\u90e8\u5206\u67e5\u8be2<strong>\u4ec5\u5173\u6ce8 BEV \u4fa7\u7279\u5f81<\/strong>\uff08\u53ea\u4e0e World-BEV \u4ea4\u4e92\uff09\uff0c\u8fd8\u6709\u4e00\u90e8\u5206<strong>\u540c\u65f6\u6c47\u805a\u6240\u6709\u8f93\u5165\u7279\u5f81\u7684\u4fe1\u606f<\/strong>\uff0c\u5728\u878d\u5408\u89c6\u89d2\u4e0b\u8f93\u51fa\u6700\u7ec8\u8f68\u8ff9\u3002\u8fd9\u79cd\u591a\u7ec4\u67e5\u8be2\u5e76\u884c\u5de5\u4f5c\u7684\u65b9\u5f0f\uff0c\u4e00\u65b9\u9762\u4fdd\u7559\u4e86 PV \/ BEV \u5404\u81ea\u5bf9\u5c40\u90e8\u51e0\u4f55\u4e0e\u5168\u5c40\u7ed3\u6784\u7684\u4f18\u52bf\uff0c\u53e6\u4e00\u65b9\u9762\u901a\u8fc7\u5171\u4eab\u7684 World tokens \u5efa\u7acb\u7edf\u4e00\u7684\u4e16\u754c\u72b6\u6001\uff0c\u907f\u514d\u8f68\u8ff9\u9884\u6d4b\u4efb\u52a1\u8fc7\u5ea6\u4f9d\u8d56\u90e8\u5206\u8f93\u51fa\u7279\u5f81\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-827fd723319246bfed7ccba520f83af4_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><em>\u56fe 3\uff1a\u8f68\u8ff9\u89e3\u7801 head \u7ed3\u6784\u53ef\u89c6\u5316\uff0c\u4e0d\u540c\u7ec4 query \u5173\u6ce8\u4e0d\u540c\u7684\u7279\u5f81 (\u5982\u81ea\u8f66\uff0cPV,BEV \u7279\u5f81)\uff0cQfull \u5173\u6ce8\u6240\u6709\u7684\u7279\u5f81\u5e76\u8f93\u51fa\u6700\u7ec8\u8f68\u8ff9<\/em><\/p>\n\n\n\n<p>\u9762\u5411\u8fde\u7eed\u9a7e\u9a76\u573a\u666f\uff0cPercept-WAM \u5f15\u5165 <strong>streaming inference<\/strong>\uff1a\u5728\u65f6\u95f4\u7ef4\u5ea6\u4e0a\u91c7\u7528 streaming KV cache strategy \u590d\u7528\u5386\u53f2\u5e27\u7684\u6ce8\u610f\u529b\u7f13\u5b58\uff0c\u4ec5\u5bf9\u65b0\u5230\u8fbe\u7684\u5e27\u505a\u589e\u91cf\u8ba1\u7b97\uff1b\u540c\u65f6\u901a\u8fc7<strong> longer-clip training scheme<\/strong> \u548c <strong>dual-recomputation KV cache mechanism<\/strong> \u7f13\u89e3\u8bad\u7ec3\u2013\u63a8\u7406\u8303\u5f0f\u4e0d\u4e00\u81f4\u5e26\u6765\u7684 distribution drift \u4e0e\u8bef\u5dee\u7d2f\u79ef\uff0c\u4ece\u800c\u5728\u51e0\u4e4e\u4e0d\u727a\u7272\u89c4\u5212\u7cbe\u5ea6\u7684\u524d\u63d0\u4e0b\uff0c\u663e\u8457\u964d\u4f4e\u591a\u5e27\u591a\u89c6\u89d2\u7aef\u5230\u7aef\u63a8\u7406\u7684\u65f6\u5ef6\u4e0e\u8ba1\u7b97\u5f00\u9500\u3002<\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c\uff1a<\/strong><\/p>\n\n\n\n<p><strong>\u9ad8\u6c34\u5e73\u611f\u77e5 + \u5f3a\u529b\u8f68\u8ff9\u89c4\u5212\u4e00\u4f53\u5316\u6a21\u578b<\/strong><\/p>\n\n\n\n<p>\u5728\u516c\u5f00\u57fa\u51c6\u4e0a\uff0cPercept-WAM \u5728 <strong>PV \u89c6\u89d2\u611f\u77e5\u3001BEV \u89c6\u89d2\u611f\u77e5\u4ee5\u53ca\u7aef\u5230\u7aef\u8f68\u8ff9\u89c4\u5212 <\/strong>\u4e09\u4e2a\u5c42\u9762\u76f8\u8f83\u4e8e\u73b0\u6709\u6a21\u578b\u5747\u5c55\u73b0\u51fa\u5f3a\u7ade\u4e89\u529b\u3002<\/p>\n\n\n\n<p><strong>1\uff09PV \u89c6\u89d2\uff1a\u7edf\u4e00 PV \u573a\u666f\u4e0b\u611f\u77e5\u7684 World-PV<\/strong><\/p>\n\n\n\n<p>\u5728\u56fe\u50cf\u5e73\u9762\u4e0a\uff0cPercept-WAM \u57fa\u4e8e World-PV tokens \u7edf\u4e00\u5efa\u6a21 2D \u68c0\u6d4b\u3001\u5b9e\u4f8b \/ \u8bed\u4e49\u5206\u5272\u4e0e\u5355\u76ee 3D \u611f\u77e5\u4efb\u52a1\uff0c\u5177\u4f53\u8868\u73b0\u4e3a\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u4e0e\u4e13\u7528\u611f\u77e5\u6a21\u578b\u7684\u5bf9\u6bd4<\/strong><\/li>\n<\/ul>\n\n\n\n<p>\u5982\u8868 1 \u6240\u793a\uff0c\u5728 nuImages \/<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=267443623&amp;content_type=Article&amp;match_order=1&amp;q=nuScenes&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">nuScenes<\/a><\/p>\n\n\n\n<p>\u7684 PV \u4efb\u52a1\u4e0a\uff0cPercept-WAM \u5728 2D \u4e0e Mono 3D \u4e0a\u6574\u4f53\u5339\u914d\u6216\u8d85\u8fc7\u4e13\u7528\u6a21\u578b \u2014\u2014 \u5728 2D detection \u4e0a\u8fbe\u5230 49.9 mAP\uff0c\u76f8\u6bd4 Mask R-CNN \u7684 47.8 mAP \u6709\u660e\u663e\u63d0\u5347\uff1b\u5728 2D instance segmentation \u4e0a\u53d6\u5f97 41.7 mAP\uff0c\u9ad8\u4e8e Mask R-CNN \u7684 38.6 mAP\uff1b\u5728 mono 3D detection \u4e0a\u8fbe\u5230 33.0 mAP\uff0c\u540c\u6837\u4f18\u4e8e FCOS3D \u7684 32.1 mAP\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>2D\u20133D \u534f\u540c\u4e0e\u591a\u4efb\u52a1\u8054\u5408\u8bad\u7ec3\u589e\u76ca<\/strong><\/li>\n<\/ul>\n\n\n\n<p>\u5b9e\u9a8c\u89c2\u5bdf\u5230\u660e\u663e\u7684 2D\u20133D \u534f\u540c\u6548\u5e94\uff1a\u5728\u7edf\u4e00 World-PV \u8868\u5f81\u4e0b\u8054\u5408\u5efa\u6a21 2D \u4e0e 3D \u68c0\u6d4b\uff0c\u53ef\u5e26\u6765\u7ea6 <strong>+3.2 mAP <\/strong>\u7684 2D \u68c0\u6d4b\u589e\u76ca\u3002\u8fdb\u4e00\u6b65\u5728\u81ea\u52a8\u9a7e\u9a76 PV \u6570\u636e\u96c6\u4e0a\u5bf9\u6240\u6709 PV \u4efb\u52a1\u8fdb\u884c\u8054\u5408\u8bad\u7ec3\uff0c\u5404\u57fa\u51c6\u4e0a\u57fa\u672c\u7ef4\u6301\u4e00\u81f4\u6216\u63d0\u5347\uff0c\u8bf4\u660e\u7edf\u4e00\u7684 World-PV token \u7a7a\u95f4\u6709\u5229\u4e8e\u5728\u591a\u4efb\u52a1\u4e4b\u95f4\u5171\u4eab\u6709\u7528\u7684\u51e0\u4f55\u4e0e\u8bed\u4e49\u4fe1\u606f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-96464e92e75c339c32b830d82447d68c_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><em>\u8868 1\uff1a PV \u573a\u666f\u4e0b Percept-WAM \u7684\u6548\u679c\u4e0e\u5176\u4ed6\u4e3b\u6d41\u6a21\u578b\u7684\u5bf9\u6bd4<\/em><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u7f6e\u4fe1\u5ea6\u5206\u6570\u77eb\u6b63\u7684\u5f71\u54cd<\/strong><\/li>\n<\/ul>\n\n\n\n<p>\u8be5\u6587\u7ae0\u540c\u65f6\u53ef\u89c6\u5316\u4e86\u9884\u6d4b\u7684\u7f6e\u4fe1\u5ea6\u5206\u6570\uff08x \u8f74\uff09\u4e0e\u5bf9\u5e94\u6846\u771f\u5b9e IoU\uff08y \u8f74\uff09\u4e4b\u95f4\u7684\u5173\u7cfb\u3002\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u5f15\u5165 IoU-based confidence prediction \u540e\uff0c\u6563\u70b9\u5206\u5e03\u6574\u4f53\u5411 y = x \u9644\u8fd1\u6536\u655b\uff0c\u800c\u5728\u57fa\u4e8e model-prediction \u6570\u636e\u96c6\u8fdb\u884c\u8bad\u7ec3\u7684\u8bbe\u7f6e\u4e0b\uff0c\u66f2\u7ebf\u4e0e\u5bf9\u89d2\u7ebf\u7684\u8d34\u5408\u5ea6\u6700\u9ad8\uff0c\u8bf4\u660e\u9884\u6d4b\u5206\u6570\u4e0e\u771f\u5b9e\u5b9a\u4f4d\u8d28\u91cf\u66f4\u52a0\u4e00\u81f4\uff0c\u66f4\u9002\u5408\u4f5c\u4e3a\u540e\u7eed\u7b5b\u9009\u4e0e\u6392\u5e8f\u7684\u4f9d\u636e\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-2df722a9c1b4cf90749394f460401d68_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><em>\u56fe 4: PV \u4efb\u52a1\u4e0a\u7f6e\u4fe1\u5ea6\u5206\u6570\u77eb\u6b63\u524d\u540e\u5206\u6570\u5206\u5e03\u5bf9\u6bd4\uff0c\u4e0d\u540c\u56fe\u50cf\u4ee3\u8868\u4e0d\u540c\u7684\u7f6e\u4fe1\u5ea6\u5206\u6570\u6784\u5efa\u65b9\u5f0f\u6216\u8005\u4e0d\u540c\u7684\u5e26 IoU score \u7684\u8bad\u7ec3\u6570\u636e\u751f\u4ea7\u65b9\u5f0f<\/em><\/p>\n\n\n\n<p><strong>2\uff09BEV \u89c6\u89d2\uff1aWorld-BEV \u627f\u8f7d 3D \u573a\u666f\u7406\u89e3<\/strong><\/p>\n\n\n\n<p>\u5728 BEV \u7a7a\u95f4\u4e2d\uff0cPercept-WAM \u901a\u8fc7 World-BEV tokens \u7edf\u4e00\u5efa\u6a21\u8def\u9762\u5360\u636e\u3001\u52a8\u6001\u76ee\u6807\u4e0e\u5730\u56fe\u8bed\u4e49\u3002\u5982\u8868 2 \u6240\u793a\uff0c\u5373\u4fbf\u5728\u4e0d\u4f7f\u7528\u65f6\u5e8f\u4fe1\u606f\u3001\u4e14\u91c7\u7528\u76f8\u5bf9\u8f83\u4f4e\u56fe\u50cf\u5206\u8fa8\u7387\uff08448\u00d7796\uff09\u7684\u8bbe\u7f6e\u4e0b\uff0c\u4ecd\u5728 nuScenes \u4e0a\u5c55\u73b0\u51fa\u5f3a\u7ade\u4e89\u529b\u7684 BEV \u611f\u77e5\u80fd\u529b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>BEV 3D \u68c0\u6d4b\u6027\u80fd<\/strong><\/li>\n<\/ul>\n\n\n\n<p>\u5728 nuScenes BEV 3D detection \u4e0a\uff0cPercept-WAM \u5728\u65e0\u65f6\u5e8f\u3001\u4f4e\u5206\u8fa8\u7387\u8f93\u5165\u7684\u6761\u4ef6\u4e0b\u4f9d\u7136\u53d6\u5f97<strong> 58.9 mAP<\/strong>\uff0c\u6574\u4f53\u8868\u73b0\u4f18\u4e8e\u7ecf\u5178 BEV \u68c0\u6d4b\u65b9\u6cd5\uff0c\u5982 <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=267443623&amp;content_type=Article&amp;match_order=1&amp;q=PointPillars&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">PointPillars<\/a> \u4e0e <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=267443623&amp;content_type=Article&amp;match_order=1&amp;q=SECOND&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">SECOND<\/a><\/p>\n\n\n\n<p>\u7b49 specialist \u68c0\u6d4b\u5668\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>BEV map segmentation \u4e0e\u9759\u6001\u8bed\u4e49\u5efa\u6a21<\/strong><\/li>\n<\/ul>\n\n\n\n<p>\u5728 BEV map segmentation \u4efb\u52a1\u4e0a\uff0c\u57fa\u4e8e World-BEV tokens \u7684\u5206\u5272\u5934\u53ef\u4ee5\u540c\u65f6\u523b\u753b\u8f66\u9053\u7ebf\u3001\u53ef\u884c\u9a76\u533a\u57df\u3001\u884c\u4eba\u6a2a\u7a7f\u533a\u7b49\u9759\u6001\u8bed\u4e49\u8981\u7d20\uff1b\u5728\u90e8\u5206\u5173\u952e\u7c7b\u522b\uff08\u5982 drivable area\u3001pedestrian crossing\uff09\u4e0a\uff0cPercept-WAM \u7684\u5206\u5272\u7ed3\u679c\u53ef\u4ee5\u8d85\u8fc7 <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=267443623&amp;content_type=Article&amp;match_order=1&amp;q=BEVFusion&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">BEVFusion<\/a><\/p>\n\n\n\n<p>\u7b49\u4e13\u7528 BEV \u6a21\u578b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-360c5b5a283fb543430cd80ecd6f1313_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><em>\u8868 2\uff1a BEV \u573a\u666f\u4e0b Percept-WAM \u7684\u6548\u679c\u4e0e\u5176\u4ed6\u4e3b\u6d41\u6a21\u578b\u7684\u5bf9\u6bd4<\/em><\/p>\n\n\n\n<p><strong>3\uff09\u7aef\u5230\u7aef\u8f68\u8ff9\u89c4\u5212\uff1aWorld\u2013Action \u8fde\u63a5\u4e16\u754c\u4e0e\u63a7\u5236<\/strong><\/p>\n\n\n\n<p>\u5728\u7aef\u5230\u7aef\u8f68\u8ff9\u89c4\u5212\u4e0a\uff0c\u5982\u8868 3 \u6240\u793a\uff0c\u642d\u8f7d World\u2013Action \u8f68\u8ff9\u89e3\u7801\u5934\u7684 Percept-WAM \u5728 nuScenes \u4e0e NAVSIM \u4e0a\u90fd\u53d6\u5f97\u4e86\u6709\u7ade\u4e89\u529b\u7684\u8868\u73b0\uff0c\u5e76\u4f18\u4e8e\u591a\u79cd\u73b0\u6709 BEV-based \u4e0e VLM-based \u65b9\u6848\u3002\u5177\u4f53\u6765\u770b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>nuScenes \u5f00\u73af\u8f68\u8ff9\u8bc4\u4f30<\/strong><\/li>\n<\/ul>\n\n\n\n<p>\u5728 nuScenes \u7684 open-loop \u8f68\u8ff9\u6307\u6807\u4e0a\uff0cPercept-WAM \u7684\u5e73\u5747\u8f68\u8ff9 L2 \u8bef\u5dee\u7ea6\u4e3a 0.36 m\uff0c\u5728\u540c\u7b49\u8bbe\u7f6e\u4e0b\u4f18\u4e8e\u591a\u6570 BEV-based \u65b9\u6cd5\uff08\u5982 UniAD\uff09\u4ee5\u53ca VLM-based \u65b9\u6cd5\uff08\u5982 <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=267443623&amp;content_type=Article&amp;match_order=1&amp;q=DriveVLM&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">DriveVLM<\/a><\/p>\n\n\n\n<p>\uff09\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>NAVSIM \u95ed\u73af\u9a7e\u9a76\u6027\u80fd<\/strong><\/li>\n<\/ul>\n\n\n\n<p>\u76f4\u63a5\u8f68\u8ff9\u6a21\u4eff\u5b66\u4e60\u96be\u4ee5\u517c\u987e\u5f00\u73af\u4e0e\u95ed\u73af\u6307\u6807\uff0c\u56e0\u6b64\u5728 NAVSIM \u7684 closed-loop \u8bc4\u6d4b\u4e2d\uff0cPercept-WAM \u91c7\u7528\u5bf9\u805a\u7c7b\u8f68\u8ff9\u6253\u5206\u7684\u65b9\u5f0f\uff0c\u83b7\u5f97\u7ea6 90.2 \u7684\u7efc\u5408\u5f97\u5206\uff0c\u540c\u6837\u4f18\u4e8e\u5927\u90e8\u5206\u73b0\u6709\u7aef\u5230\u7aef\u65b9\u6cd5\u3002\u5b9e\u9a8c\u540c\u65f6\u8868\u660e\uff0c\u4e24\u9636\u6bb5\u8bad\u7ec3\u7b56\u7565\uff08\u5148\u5728\u611f\u77e5\u4e0e\u4e2d\u95f4\u4efb\u52a1\u4e0a\u9884\u8bad\u7ec3\uff0c\u518d\u5728\u89c4\u5212\u4efb\u52a1\u4e0a\u8fdb\u4e00\u6b65\u5fae\u8c03\uff09\u53ef\u4ee5\u8fdb\u4e00\u6b65\u63d0\u5347\u7aef\u5230\u7aef\u9a7e\u9a76\u6027\u80fd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-e9a3e063878a24f7460b8a0a50a44cea_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><em>\u8868 3\uff1a \u8f68\u8ff9\u9884\u6d4b\u573a\u666f\u4e0b Percept-WAM \u7684\u6548\u679c\u4e0e\u5176\u4ed6\u4e3b\u6d41\u6a21\u578b\u7684\u5bf9\u6bd4<\/em><\/p>\n\n\n\n<p>\u5728\u5b9a\u91cf\u7ed3\u679c\u4e4b\u5916\uff0c\u6211\u4eec\u8fd8\u7ed9\u51fa\u4e09\u7c7b\u4ee3\u8868\u6027\u53ef\u89c6\u5316\u793a\u4f8b\uff1a\uff08i\uff09PV \u89c6\u89d2\u4e0b\u7684 2D \u68c0\u6d4b \/ \u5b9e\u4f8b\u5206\u5272\u4e0e mono 3D \u68c0\u6d4b\u7ed3\u679c\uff0c\uff08ii\uff09BEV \u89c6\u89d2\u4e0b\u7684 3D \u68c0\u6d4b\u4e0e map \u5206\u5272\uff0c\uff08iii\uff09NAVSIM \/nuScenes \u573a\u666f\u4e2d\u7684\u7aef\u5230\u7aef\u89c4\u5212\u8f68\u8ff9\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-9668a40b67605f9b832203145f1a93d1_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><em>\u56fe 5: PV \u611f\u77e5\u4e0a Percept-WAM \u9884\u6d4b\u7ed3\u679c\u53ef\u89c6\u5316\uff0c\u56fe\u4e2d\u5c55\u73b0\u4e86\u4e0d\u540c\u4efb\u52a1\u7684\u53ef\u89c6\u5316\u7ed3\u679c\u4ee5\u53ca\u5bf9\u9053\u8def\u4e0a\u975e\u767d\u540d\u5355\u969c\u788d\u7269\u7684\u68c0\u6d4b\u60c5\u51b5<\/em><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-99dbe0dd3ed3b646fcda9c3c641f9266_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><em>\u56fe 6: BEV \u611f\u77e5\u4e0a Percept-WAM \u7684 3D \u68c0\u6d4b\u53ca Map Segmentation \u7ed3\u679c<\/em><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-8a693c78d50c61b95e7efc61546949eb_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><em>\u56fe 7: \u8f68\u8ff9\u9884\u6d4b\u4efb\u52a1\u4e0a\u9488\u5bf9\u4e8e\u8def\u9762\u96be\u4f8b case\uff0cPercept-WAM \u5177\u6709\u8f83\u5f3a\u7684\u9884\u6d4b\u9c81\u68d2\u6027<\/em><\/p>\n\n\n\n<p>\u603b\u7ed3\u6765\u770b\uff0cPercept-WAM \u6307\u51fa\u4e86\u4e00\u6761\u9762\u5411\u672a\u6765\u7684\u6f14\u8fdb\u8def\u5f84\uff1a\u5728\u7edf\u4e00\u5927\u6a21\u578b\u4e2d\u505a\u5f3a\u4e16\u754c\u611f\u77e5\uff0c\u7528 World tokens \u4e00\u4f53\u5316\u6253\u901a\u4e16\u754c\u8868\u5f81\u4e0e\u884c\u4e3a\u51b3\u7b56\uff0c\u9010\u6b65\u6c89\u6dc0\u53ef\u6301\u7eed\u6f14\u8fdb\u7684\u81ea\u52a8\u9a7e\u9a76\u4e16\u754c\u6a21\u578b\u3002\u5b83\u7684\u4ef7\u503c\u4e0d\u5728\u4e8e \u201c\u53c8\u591a\u4e86\u4e00\u4e2a\u66f4\u5927\u7684\u6a21\u578b\u201d\uff0c\u800c\u5728\u4e8e\u7ed9\u51fa\u4e86\u4e00\u4e2a\u66f4\u5b8c\u6574\u3001\u5de5\u7a0b\u4e0a\u53ef\u843d\u5730\u7684\u8303\u5f0f \u2014\u2014 \u81ea\u52a8\u9a7e\u9a76\u7684\u5927\u6a21\u578b\u4e0d\u5e94\u8be5\u53ea\u662f\u4f1a\u804a\u5929\u3001\u4f1a\u95ee\u7b54\u7684 \u201c\u8bed\u6587\u8001\u5e08\u201d\uff0c\u800c\u5e94\u8be5\u662f\u4e00\u4e2a\u771f\u6b63\u80fd\u6784\u5efa\u4e16\u754c\u3001\u7406\u89e3\u4e16\u754c\u5e76\u5728\u5176\u4e2d\u5b89\u5168\u884c\u52a8\u7684 \u201c\u4e16\u754c\u5927\u8111\u201d\u3002<\/p>\n\n\n\n<p><em>\u53c2\u8003\u6587\u732e\uff1a<\/em><\/p>\n\n\n\n<p><em>[1] UFO: A Unified Approach to Fine-grained Visual Perception via Open-ended Language Interface<\/em><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/baijiahao. 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