{"id":35648,"date":"2025-12-19T17:33:48","date_gmt":"2025-12-19T09:33:48","guid":{"rendered":"http:\/\/192.168.10.115\/?p=35648"},"modified":"2025-12-19T17:33:48","modified_gmt":"2025-12-19T09:33:48","slug":"2025-12-19-%e6%b8%85%e5%8d%8eunimm-v2x%ef%bc%9a%e5%9f%ba%e4%ba%8emoe%e7%9a%84%e5%a4%9a%e5%b1%82%e6%ac%a1%e8%9e%8d%e5%90%88%e7%ab%af%e5%88%b0%e7%ab%afv2x%e6%a1%86%e6%9e%b6","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/12\/19\/35648\/","title":{"rendered":"2025-12-19 \u6e05\u534eUniMM-V2X\uff1a\u57fa\u4e8eMOE\u7684\u591a\u5c42\u6b21\u878d\u5408\u7aef\u5230\u7aefV2X\u6846\u67b6"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/NOYVhRCF2ZZYVZy-Yfr_DQ\">https:\/\/mp.weixin.qq.com\/s\/NOYVhRCF2ZZYVZy-Yfr_DQ<\/a><\/p>\n\n\n\n<p><strong>\u4e00\u3001\u5f15\u8a00<\/strong><\/p>\n\n\n\n<p>\u4f20\u7edf\u7684\u81ea\u52a8\u9a7e\u9a76\u6d41\u6c34\u7ebf\u5177\u6709\u6a21\u5757\u5316\u7ed3\u6784\uff0c\u9762\u4e34\u7740\u8bef\u5dee\u4f20\u9012\u548c\u6cdb\u5316\u80fd\u529b\u6709\u9650\u7684\u95ee\u9898\u3002\u5c3d\u7ba1\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u901a\u8fc7\u5c06\u539f\u59cb\u4f20\u611f\u5668\u6570\u636e\u76f4\u63a5\u6620\u5c04\u5230\u6700\u7ec8\u63a7\u5236\u6307\u4ee4\u63d0\u4f9b\u4e86\u4e00\u79cd\u89e3\u51b3\u65b9\u6848\uff0c\u4f46\u8fd9\u79cd<strong>\u5355\u4f53\u667a\u80fd\u7cfb\u7edf\u53d7\u9650\u4e8e\u4f20\u611f\u5668\u8303\u56f4\uff0c\u5e76\u4e14\u5728\u5e94\u5bf9\u7f55\u89c1\u6781\u7aef\u4e8b\u4ef6\u548c\u9884\u6d4b\u5176\u4ed6\u53c2\u4e0e\u8005\u610f\u56fe\u65b9\u9762\u663e\u5f97\u529b\u4e0d\u4ece\u5fc3<\/strong>\u3002\u56e0\u6b64\uff0c\u8f66\u8054\u7f51\uff08V2X\uff09\u901a\u4fe1\u4f5c\u4e3a\u4e00\u79cd\u5173\u952e\u7684\u8d4b\u80fd\u6280\u672f\uff0c\u901a\u8fc7\u4fc3\u8fdb\u5b9e\u65f6\u4fe1\u606f\u4ea4\u6362\uff0c\u6709\u52a9\u4e8e\u514b\u670d\u8fd9\u4e9b\u5c40\u9650\u6027\u3002<\/p>\n\n\n\n<p>\u672c\u6587\u4ecb\u7ecd\u7684&nbsp;<strong>UniMM-V2X<\/strong>&nbsp;\u6846\u67b6\uff0c<strong>\u9996\u6b21\u5728\u591a\u667a\u80fd\u4f53\u7aef\u5230\u7aef\u7cfb\u7edf\u4e2d\u5b9e\u73b0\u4e86\u611f\u77e5\u4e0e\u9884\u6d4b\u7684\u591a\u7ea7\u534f\u540c<\/strong>\u3002\u5b83\u4e0d\u4ec5\u6253\u7834\u4e86\u611f\u77e5\u878d\u5408\u7684\u5c40\u9650\uff0c\u66f4\u5f15\u5165\u4e86&nbsp;<strong>MoE\uff08\u6df7\u5408\u4e13\u5bb6\u6a21\u578b\uff09 \u67b6\u6784\uff0c\u4e3a\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u52a8\u6001\u5b9a\u5236\u4e13\u5c5e\u7279\u5f81\u8868\u5f81<\/strong>\u3002\u901a\u8fc7\u591a\u7ea7\u878d\u5408\u4e0e MoE \u7684\u6df1\u5ea6\u534f\u540c\uff0cUniMM-V2X&nbsp;<strong>\u5728\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u4efb\u52a1\u4e0a\u5747\u8fbe\u5230 SOTA \u6027\u80fd<\/strong>\uff0c\u4e3a\u5b9e\u73b0\u66f4\u5b89\u5168\u3001\u66f4\u5177\u53ef\u89e3\u91ca\u6027\u7684\u534f\u540c\u81ea\u52a8\u9a7e\u9a76\u63d0\u4f9b\u4e86\u5168\u65b0\u65b9\u6848\u3002<\/p>\n\n\n\n<p><strong>\u6838\u5fc3\u7279\u70b9\u4e0e\u4e3b\u8981\u8d21\u732e\uff1a<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u9996\u6b21\u5728\u591a\u667a\u80fd\u4f53\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u4e2d\u63a2\u7d22\u591a\u7ea7\u534f\u540c\uff0c\u5b9e\u73b0\u4e86<strong>\u8de8\u8d8a\u611f\u77e5\u4e0e\u9884\u6d4b\u5c42\u9762\u7684\u534f\u4f5c<\/strong>\uff0c\u4ece\u800c\u663e\u8457\u63d0\u5347\u4e86\u590d\u6742\u573a\u666f\u4e0b\u51b3\u7b56\u7684\u53ef\u9760\u6027\u3002<\/li>\n\n\n\n<li>\u5728<strong>\u7f16\u7801\u5668\u548c\u89e3\u7801\u5668\u4e2d\u5747\u5f15\u5165\u4e86\u6df7\u5408\u4e13\u5bb6\u6a21\u578b\uff08MoE\uff09<\/strong>\uff0c\u589e\u5f3a\u4e86\u6a21\u578b\u7684\u7075\u6d3b\u6027\u548c\u4e13\u4e1a\u5316\u7a0b\u5ea6\uff0c\u4f7f\u5176\u80fd\u591f\u9002\u5e94\u81ea\u52a8\u9a7e\u9a76\u4e2d\u591a\u6837\u5316\u7684\u4efb\u52a1\u548c\u9884\u6d4b\u9700\u6c42\u3002<\/li>\n\n\n\n<li>\u901a\u8fc7\u5927\u91cf\u5b9e\u9a8c\uff0c\u9a8c\u8bc1\u4e86\u591a\u7ea7\u878d\u5408\u4e0e MoE \u67b6\u6784\u7684\u7ed3\u5408\u4ea7\u751f\u4e86\u5f3a\u5927\u7684\u4e92\u8865\u6548\u5e94\uff0c<strong>\u611f\u77e5\u51c6\u786e\u5ea6\u63d0\u5347\u4e8639.7%\uff0c\u9884\u6d4b\u8bef\u5dee\u964d\u4f4e\u4e867.2%\uff0c\u89c4\u5212\u6027\u80fd\u63d0\u5347\u4e8633.2%\uff0c<\/strong>\u5145\u5206\u5c55\u793a\u4e86MoE \u589e\u5f3a\u7684\u591a\u7ea7\u534f\u540c\u8303\u5f0f\u7684\u5b9e\u529b\uff0c\u4fc3\u8fdb\u4e86\u66f4\u53ef\u9760\u7684\u534f\u4f5c\uff0c\u5927\u5e45\u63d0\u5347\u4e86\u51b3\u7b56\u8d28\u91cf\u3002<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8bba\u6587\u6807\u9898<\/strong>\uff1aUniMM-V2X: MoE-Enhanced Multi-Level Fusion for End-to-End Cooperative Autonomous Driving<\/li>\n\n\n\n<li><strong>\u8bba\u6587\u94fe\u63a5<\/strong>\uff1ahttps:\/\/www.arxiv.org\/abs\/2511.09013<\/li>\n<\/ul>\n\n\n\n<p><strong>\u4e8c\u3001UniMM-V2X\uff1aMoE\u589e\u5f3a\u7684\u611f\u77e5\u9884\u6d4b\u591a\u5c42\u7ea7\u878d\u5408\u534f\u540c\u9a7e\u9a76\u6846\u67b6<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"378\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-136-1024x378.png\" alt=\"\" class=\"wp-image-35650\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-136-1024x378.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-136-300x111.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-136-768x284.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-136.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe1 UniMM-V2X \u6846\u67b6\u6982\u89c8\u3002<\/p>\n\n\n\n<p>\u8be5\u7cfb\u7edf\u901a\u8fc7\u6574\u5408\u6765\u81ea\u591a\u4e2a\u667a\u80fd\u4f53\u7684\u611f\u77e5\u5c42\u9762\u548c\u9884\u6d4b\u5c42\u9762\u4fe1\u606f\u589e\u5f3a\u4e0b\u6e38\u89c4\u5212\u3002BEV \u7f16\u7801\u5668\u548cmotion\u89e3\u7801\u5668\u5747\u914d\u5907\u4e86 MoE \u67b6\u6784\uff0c\u5176\u4e2d\u7f16\u7801\u5668\u751f\u6210\u4e3a\u5404\u79cd\u4e0b\u6e38\u4efb\u52a1\u91cf\u8eab\u5b9a\u5236\u7684\u4efb\u52a1\u81ea\u9002\u5e94 BEV \u7279\u5f81\uff0c\u89e3\u7801\u5668\u91c7\u7528\u4e0d\u540c\u4e13\u5bb6\u6765\u5efa\u6a21\u591a\u6837\u7684\u8fd0\u52a8\u6a21\u5f0f\uff0c\u4ece\u800c\u589e\u5f3a\u4e86\u591a\u7ea7\u878d\u5408\u7684\u6709\u6548\u6027\u548c\u9002\u5e94\u6027\uff0c\u4ee5\u5b9e\u73b0\u66f4\u7a33\u5065\u7684\u89c4\u5212\u6027\u80fd\u3002<\/p>\n\n\n\n<p>UniMM-V2X\u7531\u4e09\u4e2a\u4e3b\u8981\u90e8\u5206\u7ec4\u6210\uff1a\u56fe\u50cf\u7f16\u7801\u5668\u3001\u534f\u540c\u611f\u77e5\u6a21\u5757\uff0c\u4ee5\u53ca\u534f\u540c\u9884\u6d4b\u4e0e\u89c4\u5212\u6a21\u5757\u3002\u56fe\u50cf\u7f16\u7801\u5668\u7ed3\u5408\u4e86 MoE \u67b6\u6784\u4ee5\u63d0\u53d6\u4efb\u52a1\u81ea\u9002\u5e94\u7684 BEV \u7279\u5f81\u3002\u611f\u77e5\u6a21\u5757\u8d1f\u8d23\u6267\u884c\u534f\u540c\u68c0\u6d4b\u3001\u8ddf\u8e2a\u3001\u5efa\u56fe\u4ee5\u53ca\u5360\u7528\u56fe\u7684\u751f\u6210\u3002\u9884\u6d4b\u4e0e\u89c4\u5212\u6a21\u5757\u901a\u8fc7\u57fa\u4e8e MoE \u7684\u89e3\u7801\u5668\u751f\u6210\u8fd0\u52a8\u9884\u6d4b\uff0c\u5e76\u878d\u5408\u591a\u667a\u80fd\u4f53\u9884\u6d4b\u4fe1\u606f\u4ee5\u505a\u51fa\u89c4\u5212\u51b3\u7b56\u3002\u611f\u77e5\u5c42\u9762\u4e0e\u9884\u6d4b\u5c42\u9762\u7684\u878d\u5408\u5171\u540c\u6784\u6210\u4e86\u4e00\u4e2a\u7edf\u4e00\u7684\u591a\u7ea7\u878d\u5408\u6846\u67b6\uff0c\u4f7f\u667a\u80fd\u4f53\u80fd\u591f\u5728\u6574\u4e2a\u51b3\u7b56\u8fc7\u7a0b\u4e2d\u5b9e\u73b0\u6709\u6548\u7684\u534f\u4f5c\uff0c\u663e\u8457\u63d0\u5347\u4e86\u7aef\u5230\u7aef\u7cfb\u7edf\u5728\u590d\u6742\u591a\u8f66\u73af\u5883\u4e0b\u7684\u53ef\u9760\u6027\u3002<\/p>\n\n\n\n<p><strong>\u7528\u4e8e\u81ea\u9002\u5e94\u7279\u5f81\u4e0e\u8fd0\u52a8\u5efa\u6a21\u7684MoE<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"688\" height=\"119\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/121901.png\" alt=\"\" class=\"wp-image-35651\" style=\"width:888px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/121901.png 688w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/121901-300x52.png 300w\" sizes=\"(max-width: 688px) 100vw, 688px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"247\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-137-1024x247.png\" alt=\"\" class=\"wp-image-35652\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-137-1024x247.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-137-300x73.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-137-768x186.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-137.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe2 MoE \u589e\u5f3a\u578b\u7f16\u7801\u5668\u4e0e\u89e3\u7801\u5668\u3002<\/p>\n\n\n\n<p>\u7f16\u7801\u5668\u4e3a\u591a\u6837\u7684\u4e0b\u6e38\u4efb\u52a1\uff08\u68c0\u6d4b\u3001\u8ddf\u8e2a\u3001\u5efa\u56fe\u3001\u8fd0\u52a8\u9884\u6d4b\uff09\u4e30\u5bcc\u4e86 BEV \u7279\u5f81\u63d0\u53d6\u8fc7\u7a0b\uff1b\u800c\u89e3\u7801\u5668\u5219\u901a\u8fc7\u9488\u5bf9\u7279\u5b9a\u8fd0\u52a8\u7684\u4e13\u5bb6\u5206\u652f\uff08\u5982\u76f4\u884c\u3001\u5de6\u8f6c\u3001\u53f3\u8f6c\uff09\u751f\u6210\u8fd0\u52a8\u67e5\u8be2\u5411\u91cf\uff0c\u4ece\u800c\u63d0\u5347\u89c4\u5212\u8d28\u91cf\u3002<\/p>\n\n\n\n<p><strong>\u611f\u77e5\u4e0e\u9884\u6d4b\u591a\u5c42\u7ea7\u878d\u5408<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"687\" height=\"448\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/121902.png\" alt=\"\" class=\"wp-image-35653\" style=\"width:888px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/121902.png 687w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/121902-300x196.png 300w\" sizes=\"(max-width: 687px) 100vw, 687px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"236\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-138-1024x236.png\" alt=\"\" class=\"wp-image-35654\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-138-1024x236.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-138-300x69.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-138-768x177.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-138.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe3 \u611f\u77e5\u9884\u6d4b\u591a\u7ea7\u878d\u5408\u3002<\/p>\n\n\n\n<p>(a) \u611f\u77e5\u7ea7\u878d\u5408\u901a\u8fc7\u53c2\u8003\u70b9\u5d4c\u5165\u5f15\u5165\u7a7a\u95f4\u4f4d\u7f6e\u5148\u9a8c\uff0c\u5e76\u5229\u7528\u57fa\u4e8e\u6ce8\u610f\u529b\u673a\u5236\u7684\u591a\u667a\u80fd\u4f53\u52a8\u6001\u878d\u5408\u3002(b) \u9884\u6d4b\u7ea7\u878d\u5408\u91c7\u7528\u57fa\u4e8e\u951a\u70b9\u7684\u5d4c\u5165\u548c\u52a8\u6001\u878d\u5408\uff0c\u4ee5\u652f\u6301\u590d\u6742\u591a\u667a\u80fd\u4f53\u73af\u5883\u4e0b\u7684\u8fd0\u52a8\u63a8\u7406\u3002<\/p>\n\n\n\n<p><strong>\u4e09\u3001\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u4f5c\u8005\u56e2\u961f\u5728DAIR-V2X\u6570\u636e\u96c6\u4e0a\u5bf9\u6a21\u578b\u6027\u80fd\u8fdb\u884c\u6d4b\u8bd5\uff0c\u5e76\u4e0eUniAD, VAD, SparseDrive\u7b49\u5355\u667a\u80fd\u4f53\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u3001Where2comm, CoBEVT\u7b49\u534f\u540c\u611f\u77e5\u6a21\u578b\u3001\u4ee5\u53caV2VNet, CooperNaut, UniV2X\u7b49\u7aef\u5230\u7aef\u534f\u540c\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u8fdb\u884c\u6bd4\u8f83\u3002<\/p>\n\n\n\n<p><strong>\u89c4\u5212<\/strong>\uff1aUniMM-V2X \u5b9e\u73b0\u4e86<strong>\u6700\u4f4e\u7684\u5e73\u5747\u00a0<\/strong>L2\u8bef\u5dee\uff081.49m\uff09\uff0c\u4f18\u4e8e\u5305\u62ec\u5355\u667a\u80fd\u4f53\u548c\u73b0\u6709\u534f\u540c\u65b9\u6cd5\u5728\u5185\u7684\u6240\u6709\u57fa\u51c6\u6a21\u578b\u3002\u66f4\u91cd\u8981\u7684\u662f\uff0cUniMM-V2X \u5c55\u73b0\u4e86\u5353\u8d8a\u7684\u5b89\u5168\u6027\uff0c3s\u5e73\u5747\u78b0\u649e\u7387\u4ec5\u4e3a 0.12%\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"323\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-139-1024x323.png\" alt=\"\" class=\"wp-image-35655\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-139-1024x323.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-139-300x95.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-139-768x242.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-139.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u88681 \u89c4\u5212\u7ed3\u679c\u5bf9\u6bd4\u3002<\/p>\n\n\n\n<p><strong>\u611f\u77e5<\/strong>\uff1a\u4e0e\u6700\u5148\u8fdb\u7684\u5355\u8f66\u9a7e\u9a76\u65b9\u6848SparseDrive\u76f8\u6bd4\uff0c\u4f5c\u8005\u56e2\u961f\u5728 mAP \u4e0a\u63d0\u5347\u4e86 0.098\uff0c\u5728 AMOTA \u4e0a\u63d0\u5347\u4e86 0.297\uff0c\u8bc1\u660e\u4e86\u534f\u4f5c\u7684\u6709\u6548\u6027\u3002\u4e0e\u6700\u5148\u8fdb\u7684\u7aef\u5230\u7aef\u534f\u540c\u9a7e\u9a76\u6846\u67b6\u76f8\u6bd4\uff0c\u4f5c\u8005\u56e2\u961f<strong>\u5728\u4e0d\u589e\u52a0\u611f\u77e5\u5c42\u989d\u5916\u901a\u4fe1\u6210\u672c\u7684\u524d\u63d0\u4e0b\uff0cmAP \u63d0\u5347\u4e86 39.7%\uff0cAMOTA \u63d0\u5347\u4e86 77.2%\u3002<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"429\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-140-1024x429.png\" alt=\"\" class=\"wp-image-35656\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-140-1024x429.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-140-300x126.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-140-768x321.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-140.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u88682 \u611f\u77e5\u7ed3\u679c\u5bf9\u6bd4\u3002<\/p>\n\n\n\n<p><strong>\u9884\u6d4b<\/strong>\uff1aUniMM-V2X \u53d6\u5f97\u4e86\u6700\u4f73\u6027\u80fd\uff0cminADE \u4e3a 0.64m\uff0cminFDE \u4e3a 0.69m\uff0c\u8fd9\u4e9b\u6539\u8fdb\u4e3a\u4e0a\u8ff0\u6700\u7ec8\u89c4\u5212\u6027\u80fd\u7684\u63d0\u5347\u505a\u51fa\u4e86\u91cd\u5927\u8d21\u732e\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"787\" height=\"215\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-141.png\" alt=\"\" class=\"wp-image-35657\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-141.png 787w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-141-300x82.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-141-768x210.png 768w\" sizes=\"(max-width: 787px) 100vw, 787px\" \/><\/figure>\n\n\n\n<p>\u88683 \u8fd0\u52a8\u9884\u6d4b\u7ed3\u679c\u5bf9\u6bd4\u3002<\/p>\n\n\n\n<p><strong>\u591a\u5c42\u7ea7\u878d\u5408\u4e0eMoE\u7684\u4f5c\u7528<\/strong>\uff1a<strong>\u611f\u77e5\u7ea7\u878d\u5408\u63d0\u5347\u4e86\u68c0\u6d4b\u548c\u8ddf\u8e2a\u6027\u80fd\uff0c\u4f46\u5bf9\u8fd0\u52a8\u9884\u6d4b\u548c\u89c4\u5212\u7684\u5f71\u54cd\u6709\u9650<\/strong>\uff0c\u8fd9\u53ef\u80fd\u662f\u7531\u4e8e\u611f\u77e5\u51c6\u786e\u5ea6\u4e0e\u89c4\u5212\u9700\u6c42\u4e4b\u95f4\u5b58\u5728\u5931\u914d\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c<strong>\u9884\u6d4b\u7ea7\u878d\u5408\u901a\u8fc7\u4e3a\u906e\u6321\u5bf9\u8c61\u63d0\u4f9b\u8865\u5145\u8fd0\u52a8\u7ebf\u7d22\u5e76\u4fee\u6b63\u4e0d\u786e\u5b9a\u7684\u8f68\u8ff9\uff0c\u589e\u5f3a\u4e86\u89c4\u5212\u5b89\u5168\u6027<\/strong>\uff0c\u4f46\u7531\u4e8e\u7f3a\u4e4f\u65e9\u671f\u9636\u6bb5\u7684\u534f\u4f5c\uff0c\u5176\u611f\u77e5\u6027\u80fd\u4ecd\u4e0e\u5355\u667a\u80fd\u4f53\u57fa\u51c6\u6a21\u578b\u76f8\u4f3c\u3002\u8fd9\u4e9b\u7ed3\u679c\u8868\u660e\uff0c<strong>\u5355\u5c42\u878d\u5408\u4e0d\u8db3\u4ee5\u4f18\u5316\u6240\u6709\u7684\u9a7e\u9a76\u4efb\u52a1<\/strong>\uff0c\u591a\u7ea7\u878d\u5408\u786e\u4fdd\u4e86\u9ad8\u8d28\u91cf\u7684\u4e2d\u95f4\u7279\u5f81\u5728\u6574\u4e2a\u6846\u67b6\u4e2d\u4f20\u64ad\uff0c\u4ece\u800c\u5b9e\u73b0\u4e86\u6240\u6709\u6a21\u5757\u7684\u6027\u80fd\u63d0\u5347\u3002\u5728 BEV \u7f16\u7801\u5668\u4e2d\u96c6\u6210 MoE \u589e\u5f3a\u4e86\u73af\u5883\u7406\u89e3\u80fd\u529b\uff0c\u63d0\u5347\u4e86\u5355\u8f66\u7684\u611f\u77e5\u548c\u89c4\u5212\u6027\u80fd\u3002<strong>\u4ec5\u5728\u8fd0\u52a8\u89e3\u7801\u5668\u4e2d\u4f7f\u7528 MoE \u5e26\u6765\u7684\u6536\u76ca\u6709\u9650<\/strong>\uff0c\u8fd9\u53ef\u80fd\u662f\u7531\u4e8e\u7f3a\u4e4f\u8db3\u591f\u4efb\u52a1\u7279\u5316\u7684 BEV \u7279\u5f81\u6765\u652f\u6491\u51c6\u786e\u7684\u8fd0\u52a8\u9884\u6d4b\u3002<strong>\u5f53 MoE \u540c\u65f6\u5e94\u7528\u4e8e\u7f16\u7801\u5668\u548c\u89e3\u7801\u5668\u65f6\uff0c\u53ef\u4ee5\u53d6\u5f97\u6700\u4f73\u7ed3\u679c<\/strong>\uff0c\u6b64\u65f6\u7f16\u7801\u5668\u4ea7\u751f\u4efb\u52a1\u611f\u77e5\u7684 BEV \u7279\u5f81\uff0c\u800c\u89e3\u7801\u5668\u5219\u5229\u7528\u4e13\u5bb6\u7684\u4e13\u4e1a\u5316\u80fd\u529b\u6765\u6355\u6349\u590d\u6742\u7684\u8fd0\u52a8\u884c\u4e3a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"340\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-142-1024x340.png\" alt=\"\" class=\"wp-image-35658\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-142-1024x340.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-142-300x100.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-142-768x255.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-142.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u88684 \u6d88\u878d\u5b9e\u9a8c\u8bc1\u660e\u4e86\u591a\u5c42\u7ea7\u878d\u5408\u4ee5\u53caMoE\u8bbe\u8ba1\u5bf9\u9a7e\u9a76\u6027\u80fd\u63d0\u5347\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<ol start=\"5\" class=\"wp-block-list\">\n<li><strong>\u7cfb\u7edf\u5b9e\u7528\u6027\u4e0e\u53ef\u9760\u6027<\/strong>\uff1a\u4f5c\u8005\u56e2\u961f\u901a\u8fc7\u5bf9\u6bd4\u901a\u4fe1\u6210\u672c (BPS) \u548c\u63a8\u7406\u5ef6\u8fdf\uff08FPS\uff09\u6765\u8bc4\u4f30\u65b9\u6cd5\u7684\u5b9e\u7528\u6027\u4e0e\u6548\u7387\u3002\u4e0e\u6d88\u8017\u5927\u91cf\u5e26\u5bbd\u7684 BEV \u7279\u5f81\u4f20\u8f93\u65b9\u6cd5\u4e0d\u540c\uff0c\u4f5c\u8005\u56e2\u961f\u5728\u4e0d\u727a\u7272\u89c4\u5212\u8d28\u91cf\u7684\u524d\u63d0\u4e0b\uff0c\u5c06<strong>\u901a\u4fe1\u6210\u672c\u5927\u5e45\u964d\u4f4e\u4e86 87.9 \u500d<\/strong>\u3002\u5728\u8fd0\u884c\u6548\u7387\u65b9\u9762\uff0cUniMM-V2X \u8fbe\u5230\u4e86 5.4 FPS \u7684\u5e27\u7387\u3002\u7531\u4e8e\u96c6\u6210\u4e86 MoE 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