{"id":35764,"date":"2025-12-23T17:31:08","date_gmt":"2025-12-23T09:31:08","guid":{"rendered":"http:\/\/192.168.10.115\/?p=35764"},"modified":"2025-12-23T17:31:08","modified_gmt":"2025-12-23T09:31:08","slug":"2025-12-23-%e6%b8%af%e5%a4%a7%e9%a2%86%e8%a1%94drivepi%ef%bc%9a%e7%bb%9f%e4%b8%80%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e7%90%86%e8%a7%a3%e3%80%81%e6%84%9f%e7%9f%a5%e3%80%81%e9%a2%84%e6%b5%8b%e5%92%8c","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/12\/23\/35764\/","title":{"rendered":"2025-12-23 \u6e2f\u5927\u9886\u8854DrivePI\uff1a\u7edf\u4e00\u81ea\u52a8\u9a7e\u9a76\u7406\u89e3\u3001\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u7684\u7a7a\u95f4\u667a\u80fd4D MLLM"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/v-BrE7WLyWCGiIsJlmhPsg\">https:\/\/mp.weixin.qq.com\/s\/v-BrE7WLyWCGiIsJlmhPsg<\/a><\/p>\n\n\n\n<p>\u7a7a\u95f4\u667a\u80fd\uff0c\u662f\u8fd1\u671f\u4eba\u5de5\u667a\u80fd\u7684\u4e00\u5927\u70ed\u8bcd\u3002\u7a76\u5176\u672c\u8d28\uff0c\u6211\u4eec\u9700\u8981AI\u5bf9\u7269\u7406\u4e16\u754c\u66f4\u9ad8\u7ef4\u5ea6\u7684\u7406\u89e3\uff0c\u4e0d\u4ec5\u5c40\u9650\u4e8e\u56fe\u50cf\u3001\u6587\u672c\u548c\u97f3\u9891\u3002<strong>\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\uff0c\u7a7a\u95f4\u7406\u89e3\u662f\u5e95\u5c42\u7684\u9700\u6c42\u3002<\/strong>\u67f1\u54e5\u8fd9\u51e0\u5929\u770b\u5230\u4e86\u6e2f\u5927\u9886\u8854\u7684\u4e00\u7bc7\u5de5\u4f5c &#8211; 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10.3\u4e2a\u70b9\uff0c\u5728OpenOcc\u4e0a\u7684\u5360\u7528\u6d41mAVE\u4ece0.591\u964d\u81f30.509\uff0c\u5728nuScenes\u4e0a\u7684\u89c4\u5212L2\u8bef\u5dee\u6bd4VAD\u4f4e32%(\u4ece0.72m\u964d\u81f30.49m)\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8bba\u6587\u6807\u9898<\/strong>\uff1aDrivePI: Spatial-aware 4D MLLM for Unified Autonomous Driving Understanding, Perception, Prediction and Planning<\/li>\n\n\n\n<li><strong>\u8bba\u6587\u94fe\u63a5<\/strong>\uff1ahttps:\/\/arxiv.org\/pdf\/2512.12799<\/li>\n\n\n\n<li><strong>\u9879\u76ee\u94fe\u63a5<\/strong>\uff1ahttps:\/\/github.com\/happinesslz\/DrivePI<\/li>\n<\/ul>\n\n\n\n<p><strong>\u9879\u76ee\u7b80\u4ecb<\/strong><\/p>\n\n\n\n<p>DrivePI\u662f\u4e00\u79cd\u65b0\u578b\u7684\u7a7a\u95f4\u611f\u77e54D\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b(MLLM)\uff0c\u4f5c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u7edf\u4e00\u89c6\u89c9-\u8bed\u8a00-\u884c\u4e3a(VLA)\u6846\u67b6\u3002\u5b83\u80fd\u591f\u540c\u65f6\u6267\u884c\u7a7a\u95f4\u7406\u89e3\u30013D\u611f\u77e5(\u59823D\u5360\u7528\u4f53\u7d20)\u3001\u9884\u6d4b(\u5982\u5360\u7528\u6d41)\u548c\u89c4\u5212(\u5982\u52a8\u4f5c\u8f93\u51fa)\u4efb\u52a1\uff0c\u901a\u8fc7\u8054\u5408\u4f18\u5316\u5b9e\u73b0\u5e76\u884c\u5904\u7406\u3002\u6211\u4eec\u5c06\u5176\u79f0\u4e3a4D 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class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"862\" height=\"798\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-144.png\" alt=\"\" class=\"wp-image-35767\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-144.png 862w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-144-300x278.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-144-768x711.png 768w\" sizes=\"(max-width: 862px) 100vw, 862px\" \/><\/figure>\n\n\n\n<p><strong>DrivePI\u7684\u521b\u65b0\u70b9<\/strong><\/p>\n\n\n\n<p>DrivePI\u5c55\u73b0\u51fa\u56db\u4e2a\u663e\u8457\u7279\u70b9\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u591a\u6a21\u6001\u611f\u77e5<\/strong>\uff1a\u4e0d\u540c\u4e8e\u4e3b\u6d41\u4ec5\u4f9d\u8d56\u76f8\u673a\u56fe\u50cf\u7684VLA\u65b9\u6cd5\uff0cDrivePI\u5f15\u5165\u6fc0\u5149\u96f7\u8fbe\u4f5c\u4e3a\u8865\u5145\u4f20\u611f\u6a21\u6001\uff0c\u63d0\u4f9b\u7cbe\u786e\u76843D\u51e0\u4f55\u4fe1\u606f\uff0c\u66f4\u597d\u5730\u6fc0\u53d1MLLM\u7684\u7a7a\u95f4\u7406\u89e3\u80fd\u529b\u3002<\/li>\n\n\n\n<li><strong>\u7cbe\u7ec6\u5316\u7a7a\u95f4\u8868\u793a<\/strong>\uff1a\u751f\u6210\u4e2d\u95f4\u7684\u7cbe\u7ec63D\u611f\u77e5(\u59823D\u5360\u7528\u4f53\u7d20)\u548c\u9884\u6d4b(\u5982\u5360\u7528\u6d41)\u8868\u793a\uff0c\u786e\u4fddMLLM\u8f93\u51fa\u7279\u5f81\u4fdd\u6301\u53ef\u9760\u7684\u7a7a\u95f4\u611f\u77e5\u80fd\u529b\uff0c\u589e\u5f3a\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u53ef\u89e3\u91ca\u6027\u548c\u5b89\u5168\u4fdd\u969c\u3002<\/li>\n\n\n\n<li><strong>\u4e30\u5bcc\u7684\u6570\u636e\u5f15\u64ce<\/strong>\uff1a\u5f00\u53d1\u4e86\u5c063D\u5360\u7528\u548c\u5360\u7528\u6d41\u8868\u793a\u65e0\u7f1d\u96c6\u6210\u5230\u81ea\u7136\u8bed\u8a00\u573a\u666f\u63cf\u8ff0\u4e2d\u7684\u6570\u636e\u5f15\u64ce\uff0c\u4f7f\u6a21\u578b\u80fd\u591f\u901a\u8fc7\u6587\u672c\u7406\u89e3\u590d\u6742\u7684\u65f6\u7a7a\u52a8\u6001\u3002<\/li>\n\n\n\n<li><strong>\u7edf\u4e00\u6a21\u578b\u8bbe\u8ba1<\/strong>\uff1a\u4f5c\u4e3a\u7edf\u4e00\u6a21\u578b\uff0cDrivePI\u91c7\u7528\u7aef\u5230\u7aef\u8054\u5408\u4f18\u5316\uff0c\u8986\u76d63D\u611f\u77e5\u3001\u9884\u6d4b\u3001\u89c4\u5212\u548c\u573a\u666f\u7406\u89e3\u7b49\u6240\u6709\u4efb\u52a1\u3002\u5b9e\u73b0\u7528\u4e00\u4e2aMLLM\u7edf\u4e00\u4e86\u73b0\u6709\u7684VLA\u548cVA\u6846\u67b6\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>\u6280\u672f\u67b6\u6784<\/strong><\/p>\n\n\n\n<p>DrivePI\u7684\u67b6\u6784\u5305\u62ec\u4ee5\u4e0b\u5173\u952e\u7ec4\u4ef6\uff1a<\/p>\n\n\n\n<ol 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http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-145-300x111.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-145-768x285.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-145.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>DrivePI\u7684\u6570\u636e\u5f15\u64ce\u5206\u4e3a\u4e09\u4e2a\u4e3b\u8981\u9636\u6bb5\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u573a\u666f\u7406\u89e3\u6ce8\u91ca<\/strong>\uff1a\u4f7f\u7528InternVL3-78B\u5206\u522b\u4e3a\u524d\u89c6\u56fe\u548c\u540e\u89c6\u56fe\u751f\u6210\u573a\u666f\u63cf\u8ff0\uff0c\u907f\u514dMLLM\u5728\u533a\u5206\u4e0d\u540c\u89c6\u89d2\u65f6\u53ef\u80fd\u4ea7\u751f\u7684\u6df7\u6dc6\u3002<\/li>\n\n\n\n<li><strong>4D\u7a7a\u95f4\u7406\u89e3\u6ce8\u91ca<\/strong>\uff1a\u5229\u7528\u5730\u9762\u771f\u5b9e\u5360\u7528\u548c\u6d41\u6570\u636e\u751f\u6210\u591a\u6837\u5316\u7684\u95ee\u7b54\u5bf9\uff0c\u4e13\u6ce8\u4e8e\u786e\u5b9a\u7ed9\u5b9a\u4f4d\u7f6e\u662f\u5426\u88ab\u5360\u7528\u3001\u8bc6\u522b\u76f8\u5e94\u5bf9\u8c61\u7c7b\u522b\u548c\u9884\u6d4b\u901f\u5ea6\u4fe1\u606f\u7b49\u5173\u952e\u4efb\u52a1\u3002<\/li>\n\n\n\n<li><strong>\u89c4\u5212\u63a8\u7406\u6ce8\u91ca<\/strong>\uff1a\u57fa\u4e8e\u81ea\u8f66\u672a\u6765\u8f68\u8ff9\u6ce8\u91ca\u751f\u6210\u89c4\u5212\u95ee\u7b54\u5bf9\uff0c\u8981\u6c42MLLM\u5206\u6790\u5468\u56f4\u73af\u5883\u5e76\u63d0\u4f9b\u9ad8\u7ea7\u9a7e\u9a76\u6307\u4ee4\u548c\u5efa\u8bae\u8f68\u8ff9\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c\u4e0e\u5206\u6790<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u5168\u9762\u7684\u5b9e\u9a8c\u8bc4\u4f30\uff0c\u8be5\u6570\u636e\u96c6\u5305\u542b750\u4e2a\u8bad\u7ec3\u573a\u666f\u3001150\u4e2a\u9a8c\u8bc1\u573a\u666f\u548c150\u4e2a\u6d4b\u8bd5\u573a\u666f\uff0c\u63d0\u4f9b\u4e86\u540c\u6b65\u7684\u591a\u6a21\u6001\u4f20\u611f\u5668\u6570\u636e\uff0c\u5305\u62ec\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u548c6\u4e2a\u6444\u50cf\u5934\u7684\u591a\u89c6\u89d2\u56fe\u50cf\u3002\u6211\u4eec\u7684\u8bc4\u4f30\u6db5\u76d6\u4e86\u56db\u4e2a\u5173\u952e\u4efb\u52a1\uff1a\u6587\u672c\u7406\u89e3\u30013D\u5360\u7528\u4f53\u7d20\u611f\u77e5\u3001\u5360\u7528\u6d41\u9884\u6d4b\u548c\u8f68\u8ff9\u89c4\u5212\u3002<\/p>\n\n\n\n<p><strong>3D\u5360\u7528\u548c\u5360\u7528\u6d41\u9884\u6d4b\u6027\u80fd<\/strong><\/p>\n\n\n\n<p>\u5982\u4e0b\u8868\u6240\u793a\uff0cDrivePI\u5728OpenOcc\u57fa\u51c6\u6d4b\u8bd5\u4e0a\u5c55\u73b0\u51fa\u4e86\u5353\u8d8a\u76843D\u5360\u7528\u548c\u5360\u7528\u6d41\u9884\u6d4b\u80fd\u529b\u3002DrivePI\u5b9e\u73b0\u4e8649.3%\u7684OccScore\u548c49.3%\u7684RayIoU\uff0c\u540c\u65f6\u5c06\u5360\u7528\u6d41mAVE\u964d\u81f30.509\u3002\u7279\u522b\u662f\uff0cDrivePI\u8d85\u8d8a\u4e86\u4ee3\u8868\u6027\u65b9\u6cd5FB-OCC\u76843D\u5360\u7528RayIoU\u8fbe10.3\u4e2a\u767e\u5206\u70b9\uff0c\u5e76\u5c06\u6d41mAVE\u4ece0.591\u964d\u81f30.509\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cDrivePI\u6bd4\u4e4b\u524d\u6700\u5148\u8fdb\u7684\u65b9\u6cd5ALOcc-Flow-3D\u5728OccScore\u4e0a\u9ad8\u51fa6.3%\uff0c\u5728RayIoU\u4e0a\u9ad8\u51fa7.4%\uff0c\u5e76\u5c06mAVE\u964d\u4f4e\u4e860.047\uff0c\u4ec5\u4f7f\u75280.5B 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\/><\/figure>\n\n\n\n<p><strong>\u8f68\u8ff9\u89c4\u5212\u6027\u80fd<\/strong><\/p>\n\n\n\n<p>\u5728nuScenes\u57fa\u51c6\u6d4b\u8bd5\u4e0a\uff0cDrivePI\u5728\u8f68\u8ff9\u89c4\u5212\u4efb\u52a1\u4e2d\u8868\u73b0\u51fa\u8272\u3002\u5982\u4e0b\u8868\u6240\u793a\uff0c\u5f53\u4f7f\u7528\u81ea\u8f66\u72b6\u6001\u4fe1\u606f\u65f6\uff0cDrivePI\u5b9e\u73b0\u4e860.40\u7684L2\u8bef\u5dee\u548c0.11%\u7684\u78b0\u649e\u7387\uff0c\u5206\u522b\u4f18\u4e8e\u7aef\u5230\u7aef\u89c6\u89c9\u65b9\u6cd5VAD(0.14%)\u548cVLA\u65b9\u6cd5OpenDriveVLA-7B(0.25%)\u3002\u7279\u522b\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cDrivePI\u5c06\u78b0\u649e\u7387\u6bd4\u6700\u8fd1\u7684ORION\u964d\u4f4e\u4e8670%(\u4ece0.37%\u964d\u81f30.11%)\u3002\u5728\u4e0d\u4f7f\u7528\u81ea\u8f66\u72b6\u6001\u4fe1\u606f\u7684\u60c5\u51b5\u4e0b\uff0cDrivePI\u7684L2\u8bef\u5dee\u6bd4VAD\u4f4e32%(\u4ece0.72m\u964d\u81f30.49m)\u3002\u8fd9\u4e9b\u7ed3\u679c\u8bc1\u660e\u4e86DrivePI\u4f5c\u4e3aVLA\u6a21\u578b\u5728\u89c4\u5212\u4efb\u52a1\u4e2d\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"377\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-147-1024x377.png\" alt=\"\" class=\"wp-image-35770\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-147-1024x377.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-147-300x111.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-147-768x283.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-147.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-148.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"896\" height=\"508\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-150.png\" alt=\"\" class=\"wp-image-35773\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-150.png 896w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-150-300x170.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-150-768x435.png 768w\" sizes=\"(max-width: 896px) 100vw, 896px\" 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L2\u8bef\u5dee\uff0c0.39\u78b0\u649e\u7387)\u65b9\u9762\u4ecd\u7136\u8868\u73b0\u51fa\u8272\u3002\u5f53\u6587\u672c\u5934\u548c\u89c6\u89c9\u5934\u7ed3\u5408\u65f6(III)\uff0cDrivePI\u5728\u5927\u591a\u6570\u4efb\u52a1\u4e0a\u53d6\u5f97\u4e86\u66f4\u597d\u7684\u6027\u80fd\uff1a\u4e0e\u4ec5\u89c6\u89c9\u8bbe\u7f6e\u76f8\u6bd4\uff0c\u7edf\u4e00\u6a21\u578b\u7684RayIoU\u63d0\u9ad8\u4e861.8%\uff0cmAVE\u964d\u4f4e\u4e860.18\uff0cL2\u8bef\u5dee\u964d\u4f4e\u4e860.52\u3002\u8fd9\u4e3b\u8981\u662f\u56e0\u4e3a\u6587\u672c\u7406\u89e3\u6709\u52a9\u4e8e\u66f4\u597d\u5730\u4e0e\u89c6\u89c9\u4efb\u52a1\u7684\u9002\u5f53\u7279\u5f81\u7a7a\u95f4\u5bf9\u9f50\u3002\u540c\u65f6\uff0c\u5b83\u4fdd\u6301\u4e8660.7%\u7684\u6587\u672c\u7406\u89e3\u51c6\u786e\u7387\uff0c\u63a5\u8fd1\u4ec5\u6587\u672c\u8bbe\u7f6e\u3002\u8fd9\u4e9b\u7ed3\u679c\u8bc1\u660e\u4e86\u5728VLA\u6846\u67b6\u4e2d\u7edf\u4e00\u6587\u672c\u7406\u89e3\u4e0e3D\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"902\" height=\"288\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-151.png\" alt=\"\" class=\"wp-image-35774\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-151.png 902w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-151-300x96.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-151-768x245.png 768w\" sizes=\"(max-width: 902px) 100vw, 902px\" \/><\/figure>\n\n\n\n<p><strong>\u6587\u672c\u6570\u636e\u89c4\u6a21\u7684\u5f71\u54cd<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u8fd8\u63a2\u7d22\u4e86\u4e0d\u540c\u89c4\u6a21\u6587\u672c\u6570\u636e\u7684\u5f71\u54cd\u3002\u5f53\u4f7f\u7528Qwen-2.5 3B\u6a21\u578b\u5e76\u4ec5\u542f\u7528\u6587\u672c\u5934\u65f6\uff0c\u8bad\u7ec3\u6570\u636e\u4ece\u8f83\u5c0f\u89c4\u6a21(84K\u6807\u9898+28K\u5360\u7528QA\u5bf9)\u6269\u5c55\u5230\u66f4\u5927\u89c4\u6a21(84K\u6807\u9898+560K\u5360\u7528QA\u5bf9)\uff0c\u6a21\u578b\u5728\u5360\u7528\u72b6\u6001\u9884\u6d4b\u7684\u51c6\u786e\u7387\u4ece73%\u63d0\u5347\u523087%\uff0c\u5360\u7528\u7c7b\u522b\u9884\u6d4b\u7684\u51c6\u786e\u7387\u4ece14.3%\u663e\u8457\u63d0\u5347\u523059.2%\u3002\u8fdb\u4e00\u6b65\u6dfb\u52a0\u5360\u7528\u6d41\u3001\u52a8\u4f5c\u548c\u5b98\u65b9nuScenes-QA\u7684QA\u5bf9\u540e\uff0c\u9884\u6d4b\u5360\u7528\u72b6\u6001\u548c\u7c7b\u522b\u7684\u51c6\u786e\u7387\u5206\u522b\u63d0\u9ad8\u4e861.6%(\u8fbe\u523088.6%)\u548c0.6%(\u8fbe\u523059.8%)\u3002\u6b64\u5916\uff0c\u5bf9\u5e94\u7684\u5360\u7528\u6d41\u3001\u52a8\u4f5c\u72b6\u6001\u548c\u89c4\u5212\u6027\u80fd\u5206\u522b\u4e3a0.69 mAVE\u300183.3%\u51c6\u786e\u7387\u548c0.62\u78b0\u649e\u7387\u3002\u6211\u4eec\u8fd8\u8bc4\u4f30\u4e86\u6587\u672c\u548c\u89c6\u89c9\u5934\u8054\u5408\u8bad\u7ec3\u76840.5B\u6a21\u578b\uff0c\u53d1\u73b0\u5c3d\u7ba1QA\u51c6\u786e\u7387\u8f83\u4f4e\uff0c\u4f46\u5728\u52a8\u4f5c\u72b6\u6001\u9884\u6d4b\u548cL2\u8bef\u5dee\u65b9\u9762\u8868\u73b0\u66f4\u597d\uff0c\u8bc1\u660e\u4e86DrivePI\u5728\u7edf\u4e00\u6587\u672c\u7406\u89e3\u30013D\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u65b9\u9762\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"293\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-152-1024x293.png\" alt=\"\" class=\"wp-image-35775\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-152-1024x293.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-152-300x86.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-152-768x220.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-152.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u591a\u4efb\u52a1\u5b66\u4e60\u5e73\u8861\u6743\u91cd\u7814\u7a76<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u63a2\u7a76\u591a\u4efb\u52a1\u5b66\u4e60\u4e2d\u4e0d\u540c\u635f\u5931\u5e73\u8861\u6743\u91cd\u7684\u5f71\u54cd\uff0c\u6211\u4eec\u8fdb\u884c\u4e86\u7cfb\u7edf\u6027\u5b9e\u9a8c\u3002\u901a\u8fc7\u521d\u6b65\u5206\u6790\uff0c\u6211\u4eec\u89c2\u5bdf\u52303D\u5360\u7528\u548c\u5360\u7528\u6d41\u635f\u5931\u5728\u603b\u635f\u5931\u51fd\u6570\u4e2d\u5360\u4e3b\u5bfc\u5730\u4f4d\uff0c\u7ea6\u5360\u5408\u5e76\u635f\u5931\u5e45\u5ea6\u768460%\u4ee5\u4e0a\u3002\u4e3a\u4e86\u7f13\u89e3\u6f5c\u5728\u7684\u4f18\u5316\u4e0d\u5e73\u8861\uff0c\u6211\u4eec\u7cfb\u7edf\u5730\u5c063D\u5360\u7528\u548c\u5360\u7528\u6d41\u4efb\u52a1\u7684\u6743\u91cd\u4ece\u9ed8\u8ba4\u503c1.0\u964d\u81f30.5\u548c0.2\u3002<\/p>\n\n\n\n<p>\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u8f83\u9ad8\u7684\u5360\u7528\u548c\u6d41\u6743\u91cd\u57283D\u5360\u7528\u548c\u5360\u7528\u6d41\u4efb\u52a1\u4e0a\u4ea7\u751f\u66f4\u597d\u7684\u6027\u80fd\uff0c\u4f46\u5728\u89c4\u5212\u51c6\u786e\u6027(L2\u8bef\u5dee)\u548c\u6587\u672c\u7406\u89e3QA\u4efb\u52a1\u4e0a\u7565\u6709\u964d\u4f4e\u3002\u8fd9\u8868\u660e\u5728\u591a\u4efb\u52a1\u5b66\u4e60\u4e2d\u8bbe\u7f6e\u9002\u5f53\u7684\u5e73\u8861\u6743\u91cd\u4ecd\u7136\u5177\u6709\u6311\u6218\u6027\u3002\u4e3a\u7b80\u5355\u8d77\u89c1\uff0c\u6211\u4eec\u5728\u6700\u7ec8\u5b9e\u73b0\u4e2d\u91c7\u7528\u4e863D\u5360\u7528\u548c\u6d41\u635f\u5931\u7684\u9ed8\u8ba4\u6743\u91cd1.0\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"902\" height=\"304\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-153.png\" alt=\"\" class=\"wp-image-35776\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-153.png 902w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-153-300x101.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-153-768x259.png 768w\" sizes=\"(max-width: 902px) 100vw, 902px\" \/><\/figure>\n\n\n\n<p><strong>MLLM\u9690\u85cf\u72b6\u6001\u91cd\u8981\u6027\u6743\u91cd\u5206\u6790<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u8fd8\u7814\u7a76\u4e86MLLM\u4e2d\u5404\u9690\u85cf\u72b6\u6001\u7684\u91cd\u8981\u6027\u6743\u91cd\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u5c06\u9ed8\u8ba4\u4ec5\u4f7f\u7528\u6700\u540e\u9690\u85cf\u72b6\u6001\u7684\u8bbe\u7f6e\u66ff\u6362\u4e3a\u52a0\u6743\u7ec4\u5408\uff1ah = \u2211(i=0 to l) F_i^h \u00b7 w_i\uff0c\u5176\u4e2dF_i^h\u8868\u793a\u7b2ci\u4e2a\u9690\u85cf\u72b6\u6001\u7684\u7279\u5f81\uff0cw_i\u662f\u76f8\u5e94\u7684\u53ef\u5b66\u4e60\u91cd\u8981\u6027\u6743\u91cd\uff0cl\u8868\u793aMLLM\u4e2d\u9690\u85cf\u72b6\u6001\u7684\u603b\u6570\u3002<\/p>\n\n\n\n<p>\u5206\u6790\u7ed3\u679c\u663e\u793a\uff0c\u66f4\u6df1\u5c42\u7684\u7f51\u7edc\u5c42\u503e\u5411\u4e8e\u83b7\u5f97\u66f4\u5927\u7684\u6743\u91cd\uff0c\u8fd9\u8868\u660e\u7531\u66f4\u6df1\u7684Transformer\u5c42\u63d0\u53d6\u7684\u9ad8\u7ea7\u7279\u5f81\u5bf9DrivePI\u7684\u6709\u6548\u6027\u66f4\u4e3a\u5173\u952e\u3002\u8fd9\u4e00\u53d1\u73b0\u4e3a\u7406\u89e3MLLM\u5728\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u4e2d\u7684\u5de5\u4f5c\u673a\u5236\u63d0\u4f9b\u4e86\u6709\u4ef7\u503c\u7684\u89c1\u89e3\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"906\" height=\"676\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-154.png\" alt=\"\" class=\"wp-image-35777\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-154.png 906w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-154-300x224.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-154-768x573.png 768w\" sizes=\"(max-width: 906px) 100vw, 906px\" 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