{"id":36247,"date":"2026-01-06T17:31:21","date_gmt":"2026-01-06T09:31:21","guid":{"rendered":"http:\/\/192.168.10.115\/?p=36247"},"modified":"2026-01-06T17:31:21","modified_gmt":"2026-01-06T09:31:21","slug":"2025-01-06-%e6%b5%aa%e6%bd%ae%e4%bf%a1%e6%81%af%e7%a0%94%e7%a9%b6%e5%9b%a2%e9%98%9f%ef%bc%9a%e5%bc%80%e6%ba%90vla%e5%a4%a7%e6%a8%a1%e5%9e%8b%e8%ae%a1%e7%ae%97%e6%a1%86%e6%9e%b6-%e5%a4%a7%e5%b9%85","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2026\/01\/06\/36247\/","title":{"rendered":"2025-01-06 \u6d6a\u6f6e\u4fe1\u606f\u7814\u7a76\u56e2\u961f\uff1a\u5f00\u6e90VLA\u5927\u6a21\u578b\u8ba1\u7b97\u6846\u67b6 \u5927\u5e45\u964d\u4f4e\u667a\u9a7e\u63a8\u7406\u65f6\u5ef6"},"content":{"rendered":"\n

\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/baijiahao.baidu.com\/s?id=1852722406416713856&wfr=spider&for=pc<\/a><\/p>\n\n\n\n

\u968f\u7740\u9ad8\u9636\u81ea\u52a8\u9a7e\u9a76\u8fc8\u5411\u201c\u7aef\u5230\u7aef\u201d\u9636\u6bb5\uff0cVLA\uff08Vision-Language-Action\uff0c\u7b80\u79f0VLA\uff09\u6b63\u5728\u6210\u4e3a\u81ea\u52a8\u9a7e\u9a76\u7684\u6700\u4f73\u6a21\u578b\u65b9\u6848\u3002VLA\u5927\u6a21\u578b\u901a\u8fc7\u7edf\u4e00\u5efa\u6a21\u89c6\u89c9\u611f\u77e5\u3001\u8bed\u4e49\u7406\u89e3\u4e0e\u903b\u8f91\u51b3\u7b56\uff0c\u4f7f\u81ea\u52a8\u9a7e\u9a76\u80fd\u591f\u50cf\u4eba\u4e00\u6837\u5177\u5907\u8bed\u4e49\u7406\u89e3\u4e0e\u63a8\u7406\u80fd\u529b\uff0c\u5df2\u6210\u4e3a\u76ee\u524d\u4e1a\u754c\u7a81\u7834\u81ea\u52a8\u9a7e\u9a76\u201c\u957f\u5c3e\u573a\u666f\u201d\u6311\u6218\u7684\u5173\u952e\u3002\u7136\u800c\uff0cVLA\u5927\u6a21\u578b\u53c2\u6570\u89c4\u6a21\u589e\u957f\u81f3\u6570\u5341\u4ebf\uff0c\u591a\u6a21\u6001\u6570\u636e\u5728\u5f02\u6784\u7b97\u529b\u95f4\u6d41\u8f6c\u5904\u7406\uff0c\u6a21\u578b\u5ef6\u65f6\u666e\u904d\u8d85100ms\uff0c\u96be\u8fbe\u5b9e\u65f6\u9700\u6c42\uff0c\u4e9f\u9700\u8f6f\u786c\u4ef6\u7cfb\u7edf\u4f18\u5316\u89e3\u51b3\u8f66\u8f7d\u7aef\u5f02\u6784\u8ba1\u7b97\u534f\u540c\u95ee\u9898\u3002<\/p>\n\n\n\n

\u6d6a\u6f6e\u4fe1\u606f\u7814\u7a76\u56e2\u961f\u5f00\u6e90\u9762\u5411VLA\u5927\u6a21\u578b\u7684\u81ea\u52a8\u9a7e\u9a76\u8ba1\u7b97\u52a0\u901f\u6846\u67b6AutoDRRT 3.0\u3002<\/strong>\u8be5\u6846\u67b6\u57fa\u4e8e\u6d6a\u6f6e\u4fe1\u606f\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f7d\u8ba1\u7b97\u5e73\u53f0EIS400\uff0c\u9488\u5bf9\u590d\u6742\u8bed\u4e49\u63a8\u7406\u53ca\u6781\u7aef\u957f\u5c3e\u573a\u666f\uff0c\u901a\u8fc7\u5728\u8ba1\u7b97\u6548\u7387\u3001\u901a\u4fe1\u5ef6\u65f6\u3001\u4efb\u52a1\u8c03\u5ea6\u4e09\u5927\u7ef4\u5ea6\u7684\u521b\u65b0\u91cd\u6784\uff0c\u5c0610\u4ebf\u7ea7\u53c2\u6570VLA\u6a21\u578b\u7684\u6574\u4f53\u7aef\u5230\u7aef\u5ef6\u65f6\u964d\u4f4e\u81f378ms\uff0c\u5f7b\u5e95\u6253\u7834\u4e86VLA\u6a21\u578b\u5728\u8f66\u7aef\u7684\u5de5\u7a0b\u5316\u74f6\u9888\u3002\u76ee\u524d\uff0cAutoDRRT \u7cfb\u5217\u6846\u67b6\u7ed3\u5408\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f7d\u8ba1\u7b97\u5e73\u53f0EIS400\uff0c\u9762\u54112D+CNN\u5c0f\u6a21\u578b\u3001BEV+Transfomer\u5927\u6a21\u578b\u3001VLA\u5927\u6a21\u578b\u4e0d\u540c\u7b97\u6cd5\u8fdb\u884c\u4e86\u9488\u5bf9\u6027\u7684\u7b97\u6cd5\u5185\u6838\u4e0e\u67b6\u6784\u5347\u7ea7\uff0c\u5927\u5e45\u964d\u4f4e\u81ea\u52a8\u9a7e\u9a76\u7aef\u5230\u7aef\u94fe\u8def\u5ef6\u65f6\uff0c\u6c7d\u8f66\u5382\u5546\u3001\u8f6f\u4ef6\u5e73\u53f0\u5546\u548c\u4e2d\u95f4\u4ef6\u8f6f\u4ef6\u5f00\u53d1\u5546\u53ef\u514d\u8d39\u4e0b\u8f7d\u4f7f\u7528\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

AutoDRRT 3.0\u5f00\u6e90<\/p>\n\n\n\n

VLA\u5927\u6a21\u578b\u4e0a\u8f66\uff0c\u6a21\u578b\u53c2\u6570\u5448\u6307\u6570\u578b\u589e\u957f<\/strong><\/p>\n\n\n\n

VLA\u5927\u6a21\u578b\u662f\u4e00\u79cd\u5c06\u89c6\u89c9\u611f\u77e5\u3001\u81ea\u7136\u8bed\u8a00\u7406\u89e3\u4e0e\u52a8\u4f5c\u63a7\u5236\u7edf\u4e00\u5230\u540c\u4e00\u6846\u67b6\u7684\u4eba\u5de5\u667a\u80fd\u6a21\u578b\uff0c\u80fd\u591f\u76f4\u63a5\u4ece\u611f\u77e5\u8f93\u5165\u751f\u6210\u9a7e\u9a76\u63a7\u5236\u6307\u4ee4\uff0c\u5b9e\u73b0\u4ece\u201c\u770b\u201d\u5230\u201c\u61c2\u201d\u518d\u5230\u201c\u884c\u201d\u7684\u5b8c\u6574\u95ed\u73af\u3002\u4f46\u5728VLA\u5927\u6a21\u578b\u8fc8\u5411\u5b9e\u8f66\u90e8\u7f72\u7684\u5173\u952e\u9636\u6bb5\uff0c\u6a21\u578b\u89c4\u6a21\u7684\u6307\u6570\u7ea7\u589e\u957f\u4e0e\u8f66\u8f7d\u8ba1\u7b97\u5e73\u53f0\u6709\u9650\u7b97\u529b\u548c\u80fd\u8017\u9884\u7b97\u4e4b\u95f4\u7684\u77db\u76fe\u65e5\u76ca\u51f8\u663e\u3002\u968f\u7740\u53c2\u6570\u91cf\u4ece\u5343\u4e07\u7ea7\u8dc3\u8fc1\u81f3\u6570\u5341\u4ebf\u751a\u81f3\u767e\u4ebf\u7ea7\uff0c\u6a21\u578b\u5bf9\u8ba1\u7b97\u80fd\u529b\u3001\u5b58\u50a8\u5e26\u5bbd\u4e0e\u7cfb\u7edf\u534f\u540c\u6548\u7387\u63d0\u51fa\u4e86\u524d\u6240\u672a\u6709\u7684\u6311\u6218\u3002<\/p>\n\n\n\n

\u25a0 \u5ef6\u65f6\u6311\u6218\uff0c\u7b97\u529b\u9700\u6c42\u9aa4\u589e\u4e0e\u4e32\u884c\u63a8\u7406\u903b\u8f91\u7684\u535a\u5f08\uff1aVLA \u5c06\u89c6\u89c9\u611f\u77e5\u3001\u8bed\u4e49\u7406\u89e3\u4e0e\u52a8\u4f5c\u751f\u6210\u7edf\u4e00\u5230\u540c\u4e00\u6a21\u578b\u4e2d\uff0c\u63a8\u7406\u8fc7\u7a0b\u5448\u73b0\u591a\u9636\u6bb5\u5f3a\u4f9d\u8d56\u7279\u5f81\uff0c\u8ba1\u7b97\u94fe\u8def\u663e\u8457\u62c9\u957f\uff0c\u65f6\u5ef6\u5929\u7136\u5448\u4e32\u884c\u7d2f\u79ef\u3002\u540c\u65f6VLA\u5927\u6a21\u578b\u91c7\u7528Transformer\u67b6\u6784\uff0c\u81ea\u6ce8\u610f\u529b\u8ba1\u7b97\u590d\u6742\u5ea6\u968f\u5e8f\u5217\u957f\u5ea6\u6307\u6570\u589e\u957f\uff0c\u4e14\u81ea\u56de\u5f52\u751f\u6210\u5bfc\u81f4\u52a8\u4f5c\u6307\u4ee4\u5fc5\u987b\u4e32\u884c\u4ea7\u51fa\uff0c\u8fd9\u79cd\u903b\u8f91\u4f9d\u8d56\u9650\u5236\u4e86\u786c\u4ef6\u5e76\u884c\u5ea6\u3002\u53e6\u5916\uff0c\u6570\u5341\u4ebf\u7ea7\u53c2\u6570\u91cf\u8feb\u4f7f\u82af\u7247\u9891\u7e41\u8bbf\u5b58\uff0c\u53d7\u9650\u4e8e\u7aef\u4fa7\u5185\u5b58\u5e26\u5bbd\uff0c\u5bfc\u81f4\u8ba1\u7b97\u5355\u5143\u5e38\u56e0\u201c\u7b49\u6570\u636e\u201d\u800c\u7a7a\u8f6c\uff0c\u6210\u4e3a\u65f6\u5ef6\u74f6\u9888\u7684\u91cd\u8981\u6765\u6e90\u3002<\/p>\n\n\n\n

\u25a0 \u901a\u4fe1\u6311\u6218\uff0c\u591a\u6a21\u6001\u6570\u636e\u6d41\u8f6c\u4e0e\u4f20\u7edf\u4e2d\u95f4\u4ef6\u5f00\u9500\u7684\u51b2\u7a81\uff1a\u4e0e\u4f20\u7edf\u6a21\u5757\u5316\u7cfb\u7edf\u76f8\u6bd4\uff0cVLA\u5927\u6a21\u578b\u5bf9\u6570\u636e\u901a\u4fe1\u7684\u538b\u529b\u5448\u6307\u6570\u7ea7\u589e\u957f\u3002\u4e00\u65b9\u9762\uff0c\u6a21\u578b\u8f93\u5165\u8f93\u51fa\u6570\u636e\u89c4\u6a21\u5de8\u5927\uff0c\u591a\u6a21\u6001\u7279\u5f81\u3001\u9ad8\u6e05\u56fe\u50cf\u53ca\u4e2d\u95f4\u5f20\u91cf\u9891\u7e41\u5728\u4e0d\u540c\u8ba1\u7b97\u5355\u5143\u95f4\u6d41\u8f6c\uff1b\u53e6\u4e00\u65b9\u9762\uff0c\u7aef\u5230\u7aef\u95ed\u73af\u5bf9\u65f6\u5ef6\u6781\u4e3a\u654f\u611f\uff0c\u4efb\u4f55\u4e00\u6b21\u4e0d\u5fc5\u8981\u7684\u62f7\u8d1d\u6216\u5e8f\u5217\u5316\u90fd\u4f1a\u88ab\u76f4\u63a5\u653e\u5927\u4e3a\u7cfb\u7edf\u7ea7\u54cd\u5e94\u6296\u52a8\u3002\u4f20\u7edf\u57fa\u4e8e\u4e2d\u95f4\u4ef6\u7684\u901a\u4fe1\u673a\u5236\u5728\u8bbe\u8ba1\u4e4b\u521d\u66f4\u4fa7\u91cd\u901a\u7528\u6027\u4e0e\u89e3\u8026\u6027\uff0c\u5176\u591a\u6b21\u62f7\u8d1d\u3001\u5e8f\u5217\u5316\u4e0e\u534f\u8bae\u6808\u5f00\u9500\u5728VLA\u5927\u6a21\u578b\u573a\u666f\u4e0b\u9010\u6e10\u6210\u4e3a\u5236\u7ea6\u5b9e\u65f6\u6027\u7684\u6838\u5fc3\u74f6\u9888\u3002<\/p>\n\n\n\n

\u25a0 \u8c03\u5ea6\u6311\u6218\uff0c\u5f02\u6784\u7b97\u529b\u788e\u7247\u5316\u4e0e\u590d\u6742\u4efb\u52a1\u8d1f\u8f7d\u7684\u4e0d\u5339\u914d\uff1a\u81ea\u52a8\u9a7e\u9a76VLA\u5927\u6a21\u578b\u7684\u6267\u884c\u8fc7\u7a0b\u5177\u6709\u660e\u663e\u7684\u5f02\u6784\u6027\u4e0e\u9636\u6bb5\u6027\u7279\u5f81\uff0c\u6570\u636e\u9884\u5904\u7406\u3001\u903b\u8f91\u63a7\u5236\u4e3b\u8981\u8fd0\u884c\u5728CPU\u4fa7\uff0c\u800c\u5927\u89c4\u6a21\u89c6\u89c9\u63a8\u7406\u3001\u591a\u6a21\u6001\u878d\u5408\u7b49\u5de5\u4f5c\u5219\u9ad8\u5ea6\u4f9d\u8d56AI\u7b97\u529b\u3002\u540c\u65f6\uff0c\u4e0d\u540c\u5b50\u4efb\u52a1\u5728\u5b9e\u65f6\u6027\u3001\u8ba1\u7b97\u91cf\u4e0e\u4f18\u5148\u7ea7\u4e0a\u5dee\u5f02\u663e\u8457\uff0c\u65e2\u5305\u542b\u6beb\u79d2\u7ea7\u5f3a\u5b9e\u65f6\u4efb\u52a1\uff0c\u4e5f\u5305\u542b\u541e\u5410\u5bfc\u5411\u7684\u91cd\u8ba1\u7b97\u4efb\u52a1\u3002\u4f20\u7edf\u4ee5\u7ebf\u7a0b\u6216\u8fdb\u7a0b\u4e3a\u7c92\u5ea6\u7684\u7c97\u653e\u5f0f\u8c03\u5ea6\u65b9\u5f0f\uff0c\u96be\u4ee5\u5e94\u5bf9VLA\u5927\u6a21\u578b\u591a\u4efb\u52a1\u5e76\u53d1\u3001\u5f3a\u4f18\u5148\u7ea7\u7ea6\u675f\u4e0e\u5f02\u6784\u7b97\u529b\u534f\u540c\u7684\u6267\u884c\u9700\u6c42\uff0c\u5bb9\u6613\u5bfc\u81f4\u5173\u952e\u4efb\u52a1\u88ab\u963b\u585e\u3001\u7b97\u529b\u8d44\u6e90\u7a7a\u8f6c\u6216\u7aef\u5230\u7aef\u65f6\u5ef6\u4e0d\u53ef\u9884\u6d4b\u3002<\/p>\n\n\n\n

\u5168\u65b0\u5f00\u6e90AutoDRRT 3.0\uff0c\u52a0\u901f\u81ea\u52a8\u9a7e\u9a76VLA\u5927\u6a21\u578b\u843d\u5730<\/strong><\/p>\n\n\n\n

\u9488\u5bf9VLA\u5927\u6a21\u578b\u4e0a\u8f66\u6311\u6218\uff0c\u6d6a\u6f6e\u4fe1\u606f\u7814\u7a76\u56e2\u961f\u5bf9AutoDRRT\u8fdb\u884c\u4e86\u4e00\u6b21\u5f7b\u5e95\u7684\u7cfb\u7edf\u91cd\u6784\uff0c\u901a\u8fc7\u8ba1\u7b97\u3001\u901a\u4fe1\u3001\u8c03\u5ea6\u5168\u9762\u9769\u65b0\uff0c\u7cfb\u7edf\u89e3\u51b3VLA\u5927\u6a21\u578b\u5b9e\u65f6\u63a8\u7406\u95ee\u9898\u3002<\/p>\n\n\n\n

\/\/ \u8ba1\u7b97\u9769\u65b0\uff0c \u201c\u611f\u77e5-\u63a8\u7406-\u63a7\u5236\u201d\u5168\u95ed\u73af\u52a0\u901f\u5f15\u64ce<\/p>\n\n\n\n

\u9488\u5bf9VLA\u5927\u6a21\u578b\u5728\u8f66\u7aef\u63a8\u7406\u8fc7\u7a0b\u4e2d\u666e\u904d\u5b58\u5728\u7684\u8ba1\u7b97\u94fe\u8def\u5197\u957f\u3001\u5185\u5b58\u8bbf\u95ee\u9891\u7e41\u4ee5\u53ca\u81ea\u56de\u5f52\u751f\u6210\u673a\u5236\u5f15\u53d1\u7684\u6307\u4ee4\u8f93\u51fa\u963b\u585e\u7b49\u95ee\u9898\uff0cAutoDRRT 3.0\u4ece\u8ba1\u7b97\u5185\u6838\u5c42\u9762\u5bf9VLA\u63a8\u7406\u94fe\u8def\u8fdb\u884c\u91cd\u6784\uff0c\u901a\u8fc7\u5e76\u884c\u5316\u4f18\u5316\u3001\u89c6\u89c9\u526a\u679d\u3001\u7b97\u5b50\u878d\u5408\u7b49\u6280\u672f\uff0c\u5b9e\u73b0\u4e86\u4ece\u201c\u89c6\u89c9\u8f93\u5165\u201d\u5230\u201c\u52a8\u4f5c\u8f93\u51fa\u201d\u7684\u5168\u95ed\u73af\u52a0\u901f\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

AutoDRRT 3.0\u5178\u578b\u573a\u666f\u8fd0\u884c\u6548\u679c\u56fe<\/p>\n\n\n\n

\u5e76\u884c\u89e3\u7801\uff1a<\/strong>\u9488\u5bf9VLA\u6a21\u578b\u81ea\u56de\u5f52\u751f\u6210\u5bfc\u81f4\u7684\u4e32\u884c\u5ef6\u65f6\u95ee\u9898\uff0cAutoDRRT 3.0\u9002\u914d\u4e86\u5148\u8fdb\u7684\u5e76\u884c\u89e3\u7801\u6280\u672f\u3002\u901a\u8fc7\u5c06\u5355\u6b65\u9884\u6d4b\u6f14\u8fdb\u4e3a\u201c\u65f6\u57df\u5e8f\u5217\u9884\u6d4b\u201d\uff0c\u7cfb\u7edf\u80fd\u591f\u5728\u4e00\u4e2a\u63a8\u7406\u5468\u671f\u5185\u5e76\u884c\u4ea7\u51fa\u672a\u6765\u591a\u6b65\u7684\u52a8\u4f5c\u6307\u4ee4\u3002\u8fd9\u4e0d\u4ec5\u6d88\u9664\u4e86\u9010\u4e2aToken\u4ea7\u51fa\u7684\u903b\u8f91\u4f9d\u8d56\uff0c\u91ca\u653e\u4e86\u5f02\u6784\u786c\u4ef6\u7684\u5e76\u884c\u8ba1\u7b97\u6f5c\u80fd\uff0c\u66f4\u786e\u4fdd\u4e86\u6a21\u578b\u5728\u8f83\u4f4e\u7684\u63a8\u7406\u9891\u7387\u4e0b\uff0c\u4f9d\u7136\u80fd\u8f93\u51fa\u9ad8\u9891\u3001\u5e73\u6ed1\u3001\u8fde\u7eed\u7684\u63a7\u5236\u5e8f\u5217\u3002<\/p>\n\n\n\n

\u89c6\u89c9\u526a\u679d\uff1a<\/strong>\u5f15\u5165\u9762\u5411\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u7684\u89c6\u89c9\u526a\u679d\u6280\u672f\u65b9\u6848\uff0c\u8be5\u65b9\u6848\u901a\u8fc7\u8861\u91cf\u7279\u5f81\u5411\u91cf\u95f4\u7684\u4f59\u5f26\u8ddd\u79bb\uff0c\u5728\u65e0\u987b\u6a21\u578b\u5fae\u8c03\u7684\u524d\u63d0\u4e0b\uff0c\u5b9e\u73b0\u4e86\u5bf9\u5197\u4f59\u89c6\u89c9\u4fe1\u606f\u7684\u6781\u9ad8\u6bd4\u4f8b\u538b\u7f29\u3002\u4e0e\u4f20\u7edf\u4f9d\u8d56\u6ce8\u610f\u529b\u6743\u91cd\u7684\u526a\u679d\u7b56\u7565\u76f8\u6bd4\uff0c\u8be5\u65b9\u6848\u6709\u6548\u89e3\u51b3\u4e86\u6ce8\u610f\u529b\u5206\u5e03\u201c\u5e73\u6ed1\u5316\u201d\u5bfc\u81f4\u7684\u5173\u952e\u611f\u77e5\u76ee\u6807\uff08\u5982\u8fdc\u7aef\u5c0f\u969c\u788d\u7269\u3001\u8fb9\u7f18\u7a81\u53d1\u8def\u51b5\uff09\u88ab\u8bef\u5254\u9664\u7684\u98ce\u9669\u3002<\/p>\n\n\n\n

\u7b97\u5b50\u878d\u5408\u4e0e\u6df7\u5408\u91cf\u5316\uff1a<\/strong>\u5b9e\u65bd\u5f02\u6784\u7cbe\u5ea6\u7b56\u7565\uff0c\u9488\u5bf9\u89c6\u89c9Transformer\u5b9e\u65bd INT8 PTQ\u91cf\u5316\uff0c\u5728\u4fdd\u6301\u9ad8\u5206\u8fa8\u7387\u611f\u77e5\u7cbe\u5ea6\u7684\u540c\u65f6\u663e\u8457\u63d0\u5347\u541e\u5410\uff1b\u5bf9\u8bed\u8a00\u5185\u6838\u91c7\u7528W4A16\u91cf\u5316\uff0c\u7a81\u7834\u8bbf\u5b58\u5e26\u5bbd\u74f6\u9888\u3002\u540c\u65f6\uff0c\u9488\u5bf9Transformer\u7f51\u7edc\u8fdb\u884c\u6df1\u5ea6\u7b97\u5b50\u878d\u5408\u4e0e\u52a0\u901f\uff0c\u5e76\u5c06\u90e8\u5206\u7f51\u7edc\u9ad8\u9891\u64cd\u4f5c\u524d\u79fb\u81f3\u9884\u5904\u7406\u9636\u6bb5\uff0c\u5f7b\u5e95\u6d88\u9664\u63a8\u7406\u8fc7\u7a0b\u4e2d\u7684\u5197\u4f59\u8ba1\u7b97\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

AutoDRRT3.0\u8ba1\u7b97\u4f18\u5316\u6280\u672f\u5bf9VLA\u5927\u6a21\u578b\u63a8\u7406\u5ef6\u65f6\u964d\u4f4e\u6548\u679c\u5bf9\u6bd4<\/p>\n\n\n\n

\u901a\u8fc7\u5bf9\u8ba1\u7b97\u5185\u6838\u4e0e\u8c03\u5ea6\u903b\u8f91\u7684\u6df1\u5ea6\u91cd\u6784\uff0c\u6210\u529f\u5c0610\u4ebf\u7ea7\u53c2\u6570VLA\u5927\u6a21\u578b\u7684\u7aef\u5230\u7aef\u63a8\u7406\u65f6\u5ef6\u4ece8000ms\u964d\u4f4e\u523078ms\uff0c\u5176\u4e2d\u5e76\u884c\u89e3\u7801\u6a21\u5757\u5c06\u65f6\u5ef6\u4ece2000ms\u964d\u4f4e\u81f3300ms\uff0c\u89c6\u89c9\u526a\u679d\u6a21\u5757\u5c06\u65f6\u5ef6\u4ece170ms\u964d\u4f4e\u81f3130ms\uff0c\u6574\u4f53\u6027\u80fd\u63d0\u5347102\u500d\uff0c\u5b9e\u73b0\u4e86\u5927\u6a21\u578b\u5728\u8f66\u8f7d\u7aef\u4fa7\u7684\u5b9e\u65f6\u95ed\u73af\u3002\u8fd9\u662f\u4e1a\u5185\u9996\u4e2a\u5f00\u6e90\u3001\u4e14\u5728\u667a\u9a7e\u57df\u63a7\u5e73\u53f0\u4e0a\u5c06VLA\u5927\u6a21\u578b\u7aef\u5230\u7aef\u63a8\u7406\u65f6\u5ef6\u7a33\u5b9a\u538b\u7f29\u81f3 100ms \u4ee5\u5185\u7684\u8ba1\u7b97\u52a0\u901f\u6846\u67b6\uff0c\u4e3a VLA \u5927\u6a21\u578b\u5728\u8f66\u7aef\u89c4\u6a21\u5316\u90e8\u7f72\u63d0\u4f9b\u4e86\u53ef\u9a8c\u8bc1\u7684\u5de5\u7a0b\u7ea7\u652f\u6491\u3002<\/p>\n\n\n\n

\/\/ \u901a\u4fe1\u9769\u65b0\uff1a\u5f02\u6784\u5355\u5143\u9ad8\u6027\u80fd\u901a\u4fe1\u673a\u5236<\/p>\n\n\n\n

\u4e3a\u5168\u9762\u91ca\u653eVLA\u5927\u6a21\u578b\u5728\u667a\u9a7e\u7cfb\u7edf\u4e2d\u7684\u5b9e\u65f6\u54cd\u5e94\u6f5c\u80fd\uff0cAutoDRRT 3.0\u9488\u5bf9\u4f20\u7edf\u4e2d\u95f4\u4ef6\u5728\u5927\u6570\u636e\u4f20\u8f93\u4e2d\u7684\u6548\u7387\u74f6\u9888\uff0c\u4ece\u5e95\u5c42\u91cd\u6784\u4e86\u9762\u5411\u5f02\u6784\u8ba1\u7b97\u5355\u5143\u7684\u7edf\u4e00\u9ad8\u6027\u80fd\u901a\u4fe1\u673a\u5236\u3002\u8be5\u673a\u5236\u6df1\u5ea6\u8986\u76d6CPU-CPU\u3001CPU-GPU\u53caGPU-GPU\u7b49\u5168\u573a\u666f\u6570\u636e\u901a\u8def\uff0c\u5f7b\u5e95\u6253\u901a\u4e86\u8de8\u5355\u5143\u534f\u4f5c\u7684\u201c\u4fe1\u606f\u9ad8\u901f\u516c\u8def\u201d\u3002<\/p>\n\n\n\n

AutoDRRT 3.0\u4e3a\u901a\u4fe1\u673a\u5236\u6784\u5efa\u201c\u8f7b\u91cf\u8c03\u5ea6+\u6781\u901f\u6d41\u8f6c\u201d\u7684\u6df7\u5408\u6a21\u5f0f\u3002\u8f7b\u91cf\u8c03\u5ea6\u6a21\u5f0f\u5c06\u901a\u4fe1\u901a\u9053\u89e3\u6784\u4e3a\u5fae\u79d2\u7ea7\u7684\u201c\u903b\u8f91\u4fe1\u4ee4\u201d\u901a\u8def\uff0c\u4e13\u6ce8\u4e8e\u8282\u70b9\u95f4\u7684\u7cbe\u7ec6\u8c03\u5ea6\u4e0e\u540c\u6b65\u5524\u9192\uff1b\u6781\u901f\u6a21\u5f0f\u4e3a\u91cd\u8d1f\u8f7d\u7684\u5927\u6570\u636e\u63d0\u4f9b\u5171\u4eab\u5185\u5b58\uff0c\u76f8\u5f53\u4e8e\u8d70\u201c\u72ec\u7acb\u9ad8\u901f\u8def\u201d\uff0c\u4ece\u6839\u672c\u4e0a\u9769\u9664\u4e86\u4f20\u7edfDDS\u534f\u8bae\u5728\u5927\u6570\u636e\u901a\u4fe1\u4e2d\u7684\u5e8f\u5217\u5316\u635f\u8017\u4e0e\u5197\u4f59\u62f7\u8d1d\u4ee3\u4ef7\u3002\u8be5\u65b9\u6848\u9488\u5bf9\u5f02\u6784\u8ba1\u7b97\u5f62\u6001\u63d0\u4f9b\u4e86\u4e09\u4f4d\u4e00\u4f53\u7684\u4f18\u5316\u8def\u5f84\uff1a\u5728CPU\u5185\u90e8\u5b9e\u73b0\u8de8\u8fdb\u7a0b\u96f6\u62f7\u8d1d\uff1b\u5728CPU\u4e0eGPU\u4e4b\u95f4\u901a\u8fc7\u5730\u5740\u6620\u5c04\u5b9e\u73b0\u6570\u636e\u76f4\u8fbe\uff1b\u5728GPU\u4e4b\u95f4\u6784\u5efa\u4e86\u4ee5\u5171\u4eab\u5185\u5b58\u4e3a\u4e2d\u67a2\u7684\u9ad8\u901f\u6d41\u8f6c\u673a\u5236\uff0c\u6570\u636e\u65e0\u9700\u5728\u5e94\u7528\u5c42\u8fdb\u884c\u590d\u6742\u7684\u683c\u5f0f\u8f6c\u6362\u4e0e\u56de\u4f20\uff0c\u800c\u662f\u901a\u8fc7\u6620\u5c04\u540e\u7684\u5171\u4eab\u5185\u5b58\u76f4\u63a5\u5efa\u7acb\u8de8\u8bbe\u5907\u6570\u636e\u6865\u6881\u3002\u8fd9\u79cd\u4ee5\u201c\u5730\u5740\u5171\u4eab\u66ff\u4ee3\u6570\u636e\u642c\u8fd0\u201d\u7684\u901a\u4fe1\u8303\u5f0f\uff0c\u4f7f\u4f20\u7edf\u7684\u201c\u591a\u6b21\u62f7\u8d1d\u3001\u9010\u7ea7\u4f20\u9012\u201d\u901a\u4fe1\u8303\u5f0f\u6f14\u8fdb\u4e3a\u201c\u4e00\u6b21\u751f\u6210\u3001\u5168\u94fe\u8def\u76f4\u8fbe\u201d\uff0c\u5b9e\u73b0\u4e86\u5168\u573a\u666f\u7684\u201c\u96f6\u62f7\u8d1d\u201d\u95ed\u73af\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u9ad8\u6027\u80fd\u901a\u4fe1\u6846\u67b6\u4e0b\u65f6\u5ef6\u5bf9\u6bd4\u60c5\u51b5<\/p>\n\n\n\n

\u57281MB\u81f316MB\u7684\u8d1f\u8f7d\u6d4b\u8bd5\u4e2d\uff0cAutoDRRT 3.0\u5c55\u73b0\u51fa\u5bf9\u4f20\u7edf\u4e2d\u95f4\u4ef6\u7684\u4ee3\u5dee\u4f18\u52bf\uff1a\u572816MB\u5927\u6570\u636e\u6d41\u8f6c\u65f6\uff0c\u5176\u65f6\u5ef6\u8868\u73b0\u8f83FastDDS\u63d0\u5347\u4e864\u81f35.6\u500d\uff0c\u8f83CycloneDDS\u6700\u9ad8\u63d0\u5347\u8fd135\u500d\u3002\u8fd9\u79cd\u538b\u5012\u6027\u7684\u6027\u80fd\u589e\u76ca\u5f7b\u5e95\u6d88\u89e3\u4e86\u6570\u636e\u4f20\u8f93\u5c42\u9762\u7684\u201c\u8f6f\u6027\u5ef6\u65f6\u201d\uff0c\u5b9e\u73b0\u4e86\u5927\u6570\u636e\u8d1f\u8f7d\u4e0b\u7684\u5fae\u79d2\u7ea7\u786e\u5b9a\u6027\u54cd\u5e94\u3002<\/p>\n\n\n\n

\/\/ \u8c03\u5ea6\u9769\u65b0\uff0c\u7edf\u4e00\u5f02\u6784\u7b97\u529b\u8c03\u5ea6\u6846\u67b6<\/p>\n\n\n\n

AutoDRRT 3.0\u6784\u5efa\u4e86\u4e00\u5957\u9762\u5411\u591a\u8ba1\u7b97\u5355\u5143\u7684\u5f02\u6784\u7b97\u529b\u8c03\u5ea6\u673a\u5236\uff0c\u5bf9CPU\u3001GPU\u3001AI\u7b49\u5f02\u6784\u7b97\u529b\u8d44\u6e90\u8fdb\u884c\u7edf\u4e00\u7f16\u6392\u4e0e\u7cbe\u7ec6\u5316\u7ba1\u7406\uff0c\u907f\u514d\u56e0\u8c03\u5ea6\u7c97\u653e\u6216\u8d44\u6e90\u4e89\u7528\u5bfc\u81f4\u7684\u7b97\u529b\u7a7a\u8f6c\u4e0e\u94fe\u8def\u963b\u585e\uff0c\u7cfb\u7edf\u5728\u4fdd\u969c\u5173\u952e\u4efb\u52a1\u5b9e\u65f6\u6027\u7684\u540c\u65f6\uff0c\u663e\u8457\u63d0\u5347\u6574\u4f53\u7b97\u529b\u5229\u7528\u7387\u3002<\/p>\n\n\n\n

AutoDRRT 3.0\u5728CPU\u4fa7\uff0c\u6df1\u5ea6\u878d\u5408\u4f18\u5148\u7ea7\u4e0e\u65f6\u95f4\u7247\u8f6e\u8f6c\uff08RR\uff09\u7b49\u8c03\u5ea6\u7b56\u7565\uff0c\u5e76\u7ed3\u5408\u7cbe\u7ec6\u5316\u7ed1\u6838\u63a7\u5236\uff0c\u4ece\u7cfb\u7edf\u5c42\u9762\u907f\u514d\u8d44\u6e90\u4e89\u62a2\uff0c\u786e\u4fdd\u903b\u8f91\u63a7\u5236\u4e0e\u5173\u952e\u4efb\u52a1\u7684\u5b9e\u65f6\u6027\uff1b\u5728GPU\u4fa7\uff0c\u9488\u5bf9\u9ad8\u8d1f\u8f7d\u63a8\u7406\u573a\u666f\uff0c\u7cfb\u7edf\u5f15\u5165\u201c\u4f18\u5148\u7ea7+\u6d41\u6c34\u7ebf+\u5168\u5e76\u884c\u201d\u7684\u4e00\u4f53\u5316\u8c03\u5ea6\u67b6\u6784\uff1a\u901a\u8fc7\u6a21\u578b\u7ea7\u4f18\u5148\u7ea7\u7ba1\u7406\u4fdd\u969c\u5173\u952e\u611f\u77e5\u4efb\u52a1\u7684\u7b97\u529b\u4f9b\u7ed9\uff1b\u501f\u52a9\u5f02\u6b65\u6d41\u6c34\u7ebf\u8c03\u5ea6\u5b9e\u73b0\u6570\u636e\u5904\u7406\u4e0e\u6a21\u578b\u63a8\u7406\u7684\u91cd\u53e0\u6267\u884c\uff0c\u6d88\u9664\u8ba1\u7b97\u7a7a\u95f2\uff1b\u540c\u65f6\u534f\u540cGPU\u4e0e \u4e13\u7528\u52a0\u901f\u5355\u5143\u8fdb\u884c\u5e76\u884c\u6267\u884c\uff0c\u6839\u636e\u7b97\u5b50\u7279\u5f81\u8fdb\u884c\u4efb\u52a1\u5206\u914d\u4e0e\u5e76\u884c\u6267\u884c\uff0c\u6700\u5927\u5316\u6574\u4f53\u541e\u5410\u80fd\u529b\u3002\u8be5\u8c03\u5ea6\u8303\u5f0f\u4ee5\u4fdd\u969c\u5b9e\u65f6\u6027\u3001\u8ffd\u6c42\u541e\u5410\u7387\u4e3a\u6838\u5fc3\u539f\u5219\uff0c\u5b9e\u73b0\u4e86\u591a\u8ba1\u7b97\u5355\u5143\u7684\u9ad8\u6548\u534f\u540c\uff0c\u663e\u8457\u63d0\u5347\u4e86\u7aef\u5230\u7aef\u611f\u77e5\u94fe\u8def\u7684\u6267\u884c\u6548\u7387\u4e0e\u7cfb\u7edf\u7a33\u5b9a\u6027\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u5f02\u6784\u7b97\u529b\u8c03\u5ea6\u6846\u67b6\u4e0b\u65f6\u5ef6\u5bf9\u6bd4\u60c5\u51b5<\/p>\n\n\n\n

\u5b9e\u6d4b\u6570\u636e\u663e\u793a\uff0c\u5f02\u6784\u7b97\u529b\u8c03\u5ea6\u6846\u67b6\u89e3\u51b3\u4e86VLA\u5927\u6a21\u578b\u5728\u8f66\u7aef\u7684\u8d44\u6e90\u4e89\u7528\u4e0e\u54cd\u5e94\u963b\u585e\uff0c\u5b9e\u73b0\u4e86\u6267\u884c\u6548\u7387\u4e0e\u786e\u5b9a\u6027\u7684\u53cc\u91cd\u8de8\u8d8a\uff0c\u903b\u8f91\u54cd\u5e94\u65f6\u5ef6\u964d\u4f4e 31%\uff0c\u6838\u5fc3\u611f\u77e5\u6a21\u578b\u63a8\u7406\u65f6\u5ef6\u964d\u4f4e 30%\uff0cVLA \u63a8\u7406\u94fe\u8def\u8fdb\u4e00\u6b65\u538b\u7f29 28%\uff0c\u7aef\u5230\u7aef\u65f6\u5ef6\u7a33\u5b9a\u6027\u663e\u8457\u63d0\u5347\uff0c\u63a8\u7406\u65f6\u5ef6\u7531108ms\u7f29\u51cf\u81f378ms\uff0c\u5f7b\u5e95\u6d88\u9664\u7b97\u529b\u7a7a\u8f6c\u3002<\/p>\n\n\n\n

\u6b64\u5916\uff0cAutoDRRT\u5df2\u7387\u5148\u5b9e\u73b0\u4e86\u5bf9\u672c\u571f\u5730\u5e73\u7ebf\u5f81\u7a0b6\uff08J6\uff09\u5e73\u53f0\u7684\u6df1\u5ea6\u539f\u751f\u652f\u6301\uff0c\u9488\u5bf9\u65e0\u4eba\u8f66\u573a\u666f\u6253\u901a\u4e86\u5e95\u5c42\u82af\u7247\u5f02\u6784\u7b97\u529b\u5230\u4e0a\u5c42\u901a\u7528\u8f6f\u4ef6\u6808\u7684\u5168\u94fe\u8def\uff0c\u5b8c\u6210\u4e86ROS + Autoware.ai \u4ee5\u53ca ROS2 + Autoware.universe \u7684\u5168\u6808\u539f\u751f\u9002\u914d\uff0c\u6210\u4e3a\u884c\u4e1a\u9996\u4e2a\u9002\u914d\u8be5\u5e73\u53f0\u7684\u5f00\u6e90\u81ea\u52a8\u9a7e\u9a76\u6846\u67b6\u3002\u57fa\u4e8eJ6\u57df\u63a7+AutoDRRT\uff0c\u5ba2\u6237\u53ef\u76f4\u63a5\u5728J6\u57df\u63a7\u4e0a\u5b9e\u73b0\u65b9\u6848\u7684\u201c\u5f00\u7bb1\u5373\u7528\u201d\u4e0e\u5feb\u901f\u9a8c\u8bc1\u3002\u8986\u76d6\u65e0\u4eba\u914d\u9001\u4e0e\u73af\u536b\u5c0f\u8f66\u7b49\u591a\u5143\u573a\u666f\u5b9e\u73b0\u80fd\u529b\u7684\u5feb\u901f\u5e73\u79fb\u4e0e\u90e8\u7f72\uff0c\u52a9\u529b\u65e0\u4eba\u8f66\u4ea7\u54c1\u5728\u5168\u573a\u666f\u4e0b\u7f29\u77ed\u7814\u53d1\u5468\u671f\uff0c\u62a2\u5360\u5546\u4e1a\u5316\u843d\u5730\u5148\u673a\u3002<\/p>\n\n\n\n

\"\"\/<\/figure>\n\n\n\n

\u57fa\u4e8e\u5730\u5e73\u7ebfJ6\u57df\u63a7AutoDRRT 3.0\u5178\u578b\u573a\u666f\u8fd0\u884c\u6548\u679c\u56fe<\/p>\n\n\n\n

\u6d6a\u6f6e\u4fe1\u606fAutoDRRT 3.0\uff0c\u4e3a\u4e1a\u754c\u63d0\u4f9b\u9996\u4e2a\u9762\u5411 VLA \u5927\u6a21\u578b\u3001\u53ef\u5728\u667a\u9a7e\u57df\u63a7\u5e73\u53f0\u8fd0\u884c\u7684\u5f00\u6e90\u52a0\u901f\u6846\u67b6\u3002\u5b83\u4e0d\u4ec5\u9a8c\u8bc1\u4e86 VLA \u5927\u6a21\u578b\u5728\u8f66\u7aef\u5b9e\u65f6\u95ed\u73af\u8fd0\u884c\u7684\u5de5\u7a0b\u53ef\u884c\u6027\uff0c\u4e5f\u4e3a\u81ea\u52a8\u9a7e\u9a76\u4ece\u201c\u7aef\u5230\u7aef\u611f\u77e5\u201d\u8fc8\u5411\u201c\u5168\u573a\u666f\u901a\u7528\u667a\u80fd\u201d\u63d0\u4f9b\u4e86\u575a\u5b9e\u7684\u7cfb\u7edf\u57fa\u7840\u3002<\/p>\n\n\n\n

\u672a\u6765\uff0c\u6d6a\u6f6e\u4fe1\u606f\u5c06\u6301\u7eed\u8fed\u4ee3 AutoDRRT \u5f00\u6e90\u751f\u6001\uff0c\u63a8\u52a8 VLA \u6280\u672f\u5728\u4e58\u7528\u8f66\u4e0e\u5546\u7528\u8f66\u8f86\u7b49\u591a\u5143\u573a\u666f\u4e2d\u7684\u89c4\u6a21\u5316\u843d\u5730\uff0c\u52a0\u901f\u81ea\u52a8\u9a7e\u9a76\u771f\u6b63\u8d70\u5411\u53ef\u590d\u5236\u3001\u53ef\u91cf\u4ea7\u3001\u53ef\u6f14\u8fdb\u7684\u65b0\u9636\u6bb5\u3002<\/p>\n\n\n\n

\u300c\u5f00\u6e90\u5730\u5740 \u300d<\/strong><\/p>\n\n\n\n

\u6d6a\u6f6e\u4fe1\u606f\u5f00\u6e90\u81ea\u52a8\u9a7e\u9a76\u8ba1\u7b97\u6846\u67b6AutoDRRT 3.0<\/p>\n\n\n\n

https:\/\/github.com\/IEIAuto\/AutoDRRT.git<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"

\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/baijiahao. […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[27,1],"tags":[],"class_list":["post-36247","post","type-post","status-publish","format-standard","hentry","category-industry-trends","category-home"],"views":1,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/36247"}],"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=36247"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/36247\/revisions"}],"predecessor-version":[{"id":36263,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/36247\/revisions\/36263"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=36247"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=36247"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=36247"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}