{"id":36640,"date":"2026-01-20T17:33:38","date_gmt":"2026-01-20T09:33:38","guid":{"rendered":"http:\/\/192.168.10.115\/?p=36640"},"modified":"2026-01-20T17:33:38","modified_gmt":"2026-01-20T09:33:38","slug":"2026-01-20-%e5%8d%8e%e7%a7%91%e5%b0%8f%e7%b1%b3sparseoccvla%ef%bc%9a%e7%bb%9f%e4%b8%80%e7%9a%844d%e5%9c%ba%e6%99%af%e7%90%86%e8%a7%a3%e9%a2%84%e6%b5%8b%e5%92%8c%e8%a7%84%e5%88%92%ef%bc%8cnuscenes","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2026\/01\/20\/36640\/","title":{"rendered":"2026-01-20 \u534e\u79d1&amp;\u5c0f\u7c73SparseOccVLA\uff1a\u7edf\u4e00\u76844D\u573a\u666f\u7406\u89e3\u9884\u6d4b\u548c\u89c4\u5212\uff0cnuScenes\u65b0SOTA&#8230;&#8230;"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1996906884289032497\">https:\/\/zhuanlan.zhihu.com\/p\/1996906884289032497<\/a><\/p>\n\n\n\n<p>\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\uff0c<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=269303768&amp;content_type=Article&amp;match_order=1&amp;q=%E8%A7%86%E8%A7%89-%E8%AF%AD%E8%A8%80%E6%A8%A1%E5%9E%8B&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b<\/a>\uff08Vision Language Models, VLMs\uff09 \u64c5\u957f\u9ad8\u5c42\u8bed\u4e49\u7406\u89e3\u4e0e\u63a8\u7406\uff0c\u800c<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=269303768&amp;content_type=Article&amp;match_order=1&amp;q=%E8%AF%AD%E4%B9%89%E5%8D%A0%E6%8D%AE&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u8bed\u4e49\u5360\u636e<\/a>\uff08Semantic Occupancy\uff09 \u5219\u80fd\u591f\u63d0\u4f9b\u7cbe\u7ec6\u3001\u7ed3\u6784\u5316\u7684\u7a7a\u95f4\u7ec6\u8282\u3002\u5c3d\u7ba1\u8fd9\u4e24\u4e2a\u65b9\u5411\u5404\u81ea\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u5c55\uff0c\u4f46\u76ee\u524d\u4ecd\u7f3a\u4e4f\u4e00\u79cd\u80fd\u591f\u6709\u6548\u878d\u5408\u4e8c\u8005\u7684\u7edf\u4e00\u65b9\u6cd5\u3002<\/p>\n\n\n\n<p>\u4e00\u65b9\u9762\uff0c\u4f20\u7edf VLM \u5728\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\u9762\u4e34 token \u6570\u91cf\u7206\u70b8 \u4ee5\u53ca \u65f6\u7a7a\u63a8\u7406\u80fd\u529b\u53d7\u9650 \u7b49\u95ee\u9898\uff1b\u53e6\u4e00\u65b9\u9762\uff0c\u8bed\u4e49\u5360\u636e\u901a\u8fc7\u7edf\u4e00\u4e14\u663e\u5f0f\u7684\u7a7a\u95f4\u8868\u793a\u5efa\u6a21\u73af\u5883\uff0c\u4f46\u5176\u8868\u793a\u8fc7\u4e8e\u7a20\u5bc6\uff0c\u96be\u4ee5\u9ad8\u6548\u5730\u4e0e VLM \u8fdb\u884c\u96c6\u6210\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u89e3\u51b3\u4e0a\u8ff0\u6311\u6218\u5e76\u5f25\u5408 VLM \u4e0e\u5360\u636e\u8868\u793a\u4e4b\u95f4\u7684\u9e3f\u6c9f\uff0c<strong>\u534e\u79d1\u3001\u5c0f\u7c73\u548c\u6e05\u534eAIR\u7684\u56e2\u961f\u63d0\u51fa\u4e86 SparseOccVLA<\/strong>\uff0c\u4e00\u79cd\u65b0\u7684 \u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\uff08Vision-Language-Action, VLA\uff09\u6a21\u578b\uff0c\u901a\u8fc7 \u7a00\u758f\u5360\u636e\u67e5\u8be2\uff08Sparse Occupancy Queries\uff09 \u5b9e\u73b0\u4e86\u573a\u666f\u7406\u89e3\u3001\u5360\u636e\u9884\u6d4b\u4e0e\u8f68\u8ff9\u89c4\u5212\u7684\u7edf\u4e00\u5efa\u6a21\u3002<\/p>\n\n\n\n<p>\u5177\u4f53\u800c\u8a00\uff0cSparseOccVLA \u9996\u5148\u91c7\u7528\u4e00\u4e2a\u8f7b\u91cf\u7ea7\u7684 \u7a00\u758f\u5360\u636e\u7f16\u7801\u5668\uff08Sparse Occupancy Encoder\uff09\uff0c\u751f\u6210 \u7d27\u51d1\u4f46\u4fe1\u606f\u91cf\u6781\u9ad8\u7684\u7a00\u758f\u5360\u636e\u67e5\u8be2\uff0c\u5e76\u5c06\u5176\u4f5c\u4e3a\u8fde\u63a5\u89c6\u89c9\u4e0e\u8bed\u8a00\u7684\u552f\u4e00\u6865\u6881\u3002\u8fd9\u4e9b\u67e5\u8be2\u88ab\u5bf9\u9f50\u81f3\u8bed\u8a00\u7a7a\u95f4\uff0c\u5e76\u7531\u5927\u8bed\u8a00\u6a21\u578b\uff08LLM\uff09\u8fdb\u884c\u63a8\u7406\uff0c\u4ece\u800c\u5b9e\u73b0\u7edf\u4e00\u7684\u573a\u666f\u7406\u89e3\u4e0e\u672a\u6765\u5360\u636e\u9884\u6d4b\u3002<\/p>\n\n\n\n<p>\u6b64\u5916\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd LLM \u5f15\u5bfc\u7684 Anchor-Diffusion \u89c4\u5212\u5668\uff0c\u5176\u7279\u70b9\u5305\u62ec \u89e3\u8026\u7684\u951a\u70b9\u6253\u5206\u4e0e\u53bb\u566a\u8fc7\u7a0b\uff0c\u4ee5\u53ca \u8de8\u6a21\u578b\u7684\u8f68\u8ff9\u6761\u4ef6\u878d\u5408\u673a\u5236\uff0c\u4ece\u800c\u663e\u8457\u63d0\u5347\u89c4\u5212\u6027\u80fd\u4e0e\u7a33\u5b9a\u6027\u3002<\/p>\n\n\n\n<p>\u5728\u591a\u4e2a\u57fa\u51c6\u6d4b\u8bd5\u4e2d\uff0cSparseOccVLA \u5c55\u73b0\u51fa\u5f3a\u5927\u7684\u7efc\u5408\u80fd\u529b\uff1a \u5728 <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=269303768&amp;content_type=Article&amp;match_order=1&amp;q=OmniDrive-nuScenes&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">OmniDrive-nuScenes<\/a> \u4e0a\uff0c\u76f8\u8f83\u4e8e\u5f53\u524d\u6700\u4f18\u65b9\u6cd5\uff0c\u5176 CIDEr \u6307\u6807\u63d0\u5347 7%\uff08\u76f8\u5bf9\u63d0\u5347\uff09\uff1b\u5728 <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=269303768&amp;content_type=Article&amp;match_order=1&amp;q=Occ3D-nuScenes&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Occ3D-nuScenes<\/a> \u4e0a\uff0cmIoU \u63d0\u5347 0.5\uff1b\u5e76\u4e14\u5728nuScenes\u57fa\u51c6\u4e0a\u53d6\u5f97\u4e86\u5f53\u524d\u6700\u4f18\u7684\u5f00\u73af\u89c4\u5212\u6027\u80fd\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8bba\u6587\u94fe\u63a5<\/strong>\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2601.06474\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2601.06474<\/a><\/li>\n\n\n\n<li><strong>\u4ee3\u7801\u4ed3\u5e93<\/strong>\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/github.com\/MSunDYY\/SparseOccVLA\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/github.com\/MSunDYY\/SparseOccVLA<\/a><\/li>\n\n\n\n<li><strong>\u9879\u76ee\u4e3b\u9875<\/strong>\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/msundyy.github.io\/SparseOccVLA\/\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/msundyy.github.io\/SparseOccVLA\/<\/a><\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1996906884289032497_0\">\ud83d\udd25 \u80cc\u666f\u56de\u987e<\/h2>\n\n\n\n<p>\u5728\u8fc7\u53bb\u7684\u51e0\u5e74\uff0c\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u548c\u8bed\u4e49\u5360\u7528\u7f51\u7edc\uff08Occupancy\uff09\u4f5c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u4e24\u5927\u5206\u652f\uff0c\u5404\u81ea\u84ec\u52c3\u53d1\u5c55\uff0c\u5747\u53d6\u5f97\u4e86\u6781\u5927\u7684\u6210\u529f\u3002\u5176\u4e2d\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u64c5\u957f\u5b8f\u89c2\u5c42\u9762\u7684\u7406\u89e3\u548c\u63a8\u7406\uff0c\u4f46\u662f\u5e38\u89c4\u7684\u89c6\u89c9-\u8bed\u8a00\u5bf9\u9f50\u7b56\u7565\uff08\u5982MLP\uff0cQ-Former\uff09\u5929\u7136\u96be\u4ee5\u5904\u7406\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u591a\u89c6\u89d2\u89c6\u9891\u6d41\uff0c\u5176\u5b58\u5728\u663e\u8457\u7684\u8de8\u89c6\u89d2\u504f\u5dee\u3002\u4e00\u4e9b\u65b9\u6cd5\u5c1d\u8bd5\u5c06\u591a\u89c6\u89d2\u56fe\u7247\u6295\u5f71\u5230\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7a7a\u95f4\uff0c\u4f46\u662f\u7a20\u5bc6\u7684\u8868\u5f81\u4f9d\u7136\u5b58\u5728token\u6570\u91cf\u7206\u70b8\uff0c\u4e14token\u6709\u6548\u5229\u7528\u7387\u8f83\u4f4e\uff0c\u7ec6\u7c92\u5ea6\u611f\u77e5\u80fd\u529b\u8f83\u5f31\u3002\u76f8\u8f83\u4e8eBEV\uff0c\u8bed\u4e49\u5360\u7528\uff08Occupancy\uff09\u63d0\u4f9b\u66f4\u5168\u9762\u548c\u7cbe\u7ec6\u7684\u7a7a\u95f4\u8868\u5f81\uff0c\u8fd1\u5e74\u6765\u5df2\u7ecf\u53d1\u5c55\u8f83\u4e3a\u6210\u719f\u3002\u7136\u800c\uff0cVLMs\u548cOccupancy\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\u957f\u671f\u72ec\u7acb\u53d1\u5c55\uff0c\u8fd8\u6ca1\u6709\u65b9\u6cd5\u80fd\u6709\u6548\u7ed3\u5408\u548c\u5229\u7528\u4e24\u8005\u7684\u4f18\u52bf\u3002<\/p>\n\n\n\n<p>\u5c3d\u7ba1\u65e9\u671f\u7684\u4e00\u4e9b\u5de5\u4f5c\u5c1d\u8bd5\u5c06Occ\u771f\u503c\u91cd\u7f16\u7801\u540e\u88abLLM\u7406\u89e3\uff0c\u4f46\u56e0\u5b58\u5728\u975e\u51e0\u4f55\u89c6\u89c9\u4fe1\u53f7\u4e22\u5931\u7684\u5929\u7136\u7f3a\u9677\uff0c\u5e76\u672a\u88ab\u5e7f\u6cdb\u91c7\u7528\u3002<\/p>\n\n\n\n<p>\u5f52\u6839\u7ed3\u5e95\uff0c\u9650\u5236VLM\u548cOccupancy\u7ed3\u5408\u7684\u74f6\u9888\u5728\u4e8e\u4ee5\u4e0b\u51e0\u4e2a\u65b9\u9762\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u274c \u6a21\u6001\u5dee\u5f02\uff1aOccupancy\u5929\u7136\u4f4e\u6c34\u5e73\u7684\u8868\u5f81\u96be\u4ee5\u5bf9\u9f50\u5230\u9ad8\u6c34\u5e73\u7684\u8bed\u8a00\u7a7a\u95f4\u3002<\/li>\n\n\n\n<li>\u274c \u8ba1\u7b97\u8d1f\u62c5\uff1aOccupancy\u5929\u7136\u5bc6\u96c6\u7684\u6027\u8d28\u4f1a\u4ea7\u751f\u6d77\u91cf\u7684token\uff0c\u8fdc\u8d85\u8fc7LLM\u7684\u5904\u7406\u80fd\u529b\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u4e3a\u4e86\u89e3\u51b3\u4e0a\u8ff0\u95ee\u9898\uff0c\u672c\u6587\u63d0\u51fa\u7684<strong>SparseOccVLA<\/strong>\uff0c\u5176\u6838\u5fc3\u601d\u60f3\u5728\u4e8e\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u2705 \u5229\u7528\u7a00\u758f\u7684\u5360\u7528\u67e5\u8be2\u91cf\uff08sparse occupancy query\uff09\u8868\u5f81\u65f6\u7a7a\u573a\u666f\uff0c\u5728\u4e0d\u4e22\u5931\u89c6\u89c9\u5143\u7d20\u7684\u524d\u63d0\u4e0b\u5b9e\u73b0\u9ad8\u6548\u7684token\u538b\u7f29\u3002<\/li>\n\n\n\n<li>\u2705 \u5c06occupancy query\u4f5c\u4e3a\u8fde\u63a5\u89c6\u89c9\u8f93\u5165\u548c\u8bed\u8a00\u552f\u4e00\u7684\u6865\u6881\u9001\u5165LLM\u4e2d\uff0c\u5b9e\u73b0\u7edf\u4e00\u7684\u7406\u89e3\u548c\u9884\u6d4b\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1996906884289032497_1\">\ud83d\udcda \u76f8\u5173\u5de5\u4f5c\u56de\u987e<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1996906884289032497_2\">\u81ea\u52a8\u9a7e\u9a76\u7684\u89c6\u89c9\u8bed\u8a00\u6a21\u578b<\/h3>\n\n\n\n<p>\u65e9\u671f\u7684\u7aef\u5230\u7aef\u65b9\u6cd5\u5982UniAD,VAD\u7b49\u901a\u5e38\u88ab\u8ba4\u4e3a\u662f\u9ed1\u76d2\uff0c\u8fd1\u5e74\u6765\uff0c\u89c6\u89c9\u8bed\u8a00\u5927\u6a21\u578b\u88ab\u5e7f\u6cdb\u5e94\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u4e2d\u505a\u7406\u89e3\uff0cCOT\u63a8\u7406\u548c\u89c4\u5212\u3002\u5728\u89c6\u89c9\u8f93\u5165\u548c\u8bed\u8a00\u7a7a\u95f4\u7684\u5bf9\u9f50\u7b56\u7565\u4e0a\uff0c\u4e3b\u6d41\u65b9\u6cd5\u91c7\u7528\u76f4\u63a5MLP\u6295\u5f71\uff0c\u4f46\u8fd9\u4f1a\u4ea7\u751f\u7206\u70b8\u6570\u91cf\u7684token\uff0c\u5929\u7136\u4e0d\u9002\u5408\u4e8e\u9700\u8981\u5904\u7406\u591a\u89c6\u89d2\u89c6\u9891\u6d41\u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u3002<\/p>\n\n\n\n<p>\u4e00\u4e9b\u65b9\u6cd5\u91c7\u7528Q-Former\u6765\u538b\u7f29token\uff0c\u4f46\u5176\u65e0\u5dee\u522b\u7684\u5168\u5c40\u4ea4\u53c9\u6ce8\u610f\u529b\u4f1a\u4e22\u5931\u5927\u91cf\u5c40\u90e8\u7ec6\u8282\uff0c\u5bfc\u81f4\u5176\u666e\u904d\u6027\u80fd\u4e0d\u4f73\u3002\u6700\u8fd1\u7684\u5de5\u4f5c\u9996\u5148\u5c06\u591a\u89c6\u89d2\u56fe\u7247\u6295\u5f71\u5230\u7edf\u4e00BEV\u7a7a\u95f4\uff0c\u7136\u540e\u9001\u5165LLM\u4e2d\u7406\u89e3\u3002\u4f46BEV\u5bc6\u96c6\u7684\u6027\u8d28\u4f7f\u5176token\u5229\u7528\u7387\u6781\u4f4e\uff0c\u4e14\u96be\u4ee5\u5904\u7406\u4e0d\u5747\u5300\u7a7a\u95f4\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1996906884289032497_3\">\u81ea\u52a8\u9a7e\u9a76\u7684\u8bed\u4e49\u6a21\u578b<\/h3>\n\n\n\n<p>\u8bed\u4e49\u5360\u7528\u6a21\u578b\u80fd\u63d0\u4f9b\u66f4\u8be6\u7ec6\u548c\u7ec6\u7c92\u5ea6\u7684\u7a7a\u95f4\u8868\u5f81\uff0c\u7279\u522b\u64c5\u957f\u5efa\u6a21\u4e0d\u89c4\u5219\u5143\u7d20\u3002\u4f9d\u636e\u5efa\u6a21\u601d\u60f3\uff0c\u5f53\u524d\u4e3b\u6d41\u7684\u5360\u7528\u6a21\u578b\u53ef\u5206\u4e3a\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5bc6\u96c6\u5efa\u6a21\uff1a\u8f93\u51fa\u6bcf\u4e00\u4e2a\u4f53\u7d20\u6807\u7b7e\u3002\u4ee3\u8868\u5de5\u4f5c\uff1aFlashOcc\uff0cCOTR<\/li>\n\n\n\n<li>\u7a00\u758f\u5efa\u6a21\uff1a\u4ec5\u5173\u6ce8\u5360\u7528\u4f53\u7d20\u3002\u4ee3\u8868\u5de5\u4f5c\uff1aSparseOcc\uff0cOPUS<\/li>\n<\/ul>\n\n\n\n<p>\u8fd1\u5e74\u6765\uff0c\u7814\u7a76\u8005\u4eec\u63a2\u7d22\u4e86\u57fa\u4e8eOccupancy\u7684\u4e16\u754c\u6a21\u578b\uff0c\u4ee5OccWorld\u4e3a\u4ee3\u8868\u7684\u5927\u91cf\u4f18\u79c0\u5de5\u4f5c\u88ab\u63d0\u51fa\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1996906884289032497_4\">\u8bed\u4e49\u5360\u7528\u4e0e\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u7684\u7ed3\u5408<\/h3>\n\n\n\n<p>\u65e9\u671f\u7684\u5de5\u4f5c\u5c06occupancy\u771f\u503c\u79bb\u6563\u5316\uff0c\u901a\u8fc7VAE\u7f16\u7801\uff0c\u8ba9\u8bed\u8a00\u6a21\u578b\u7406\u89e3\u3002\u4f46\u8fd9\u5c06LLM\u548c\u611f\u77e5\u6a21\u578b\u9694\u79bb\uff0c\u5b8c\u5168\u4e22\u5931\u4e86\u975e\u51e0\u4f55\u7684\u89c6\u89c9\u4fe1\u53f7\uff08\u5982\u7ea2\u7eff\u706f\uff0c\u8f66\u9053\u7ebf\u548c\u6307\u793a\u724c\u7b49\uff09\u3002\u6700\u8fd1\u7684OccVLA\u5f15\u5165occupancy\u76d1\u7763\u6765\u63d0\u5347VLM\u7684\u6027\u80fd\uff0c\u4f46\u5b83\u4f9d\u7136\u4f9d\u8d56\u89c6\u89c9token\u7684\u8f93\u5165\uff0c\u7ee7\u627f\u4e86\u4f20\u7edfVLM\u6240\u6709\u7684\u7f3a\u9677\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1996906884289032497_5\">\ud83e\udde9 \u65b9\u6cd5\u6982\u89c8\uff08Overview\uff09<\/h2>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-a0cb334644ddeca2efd44253ee16a471_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe 1\uff1a\u6574\u4f53\u6846\u67b6\u793a\u610f\u56fe<\/figcaption><\/figure>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u4e86SparseOccVLA\uff0c\u9996\u5148\u901a\u8fc7\u7a00\u758f\u5360\u7528\u7f16\u7801\u5668\u5c06\u591a\u5e27\u591a\u89c6\u89d2\u89c6\u89c9\u8f93\u5165\u7f16\u7801\u8fdb\u9ad8\u5ea6\u8f7b\u91cf\u5316\u7684occupancy query\uff0c\u901a\u8fc7\u8fde\u63a5\u5668\u5c06\u5176\u5bf9\u9f50\u5230\u8bed\u8a00\u7a7a\u95f4\uff0c\u7ecf\u8fc7\u7edf\u4e00\u7684\u5927\u8bed\u8a00\u6a21\u578b\u63a8\u7406\u540e\u6267\u884c\u7406\u89e3\u3001\u9884\u6d4b\u548c\u89c4\u5212\u7b49\u4e0b\u6e38\u4efb\u52a1\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1996906884289032497_6\">\u7a00\u758f\u5360\u7528\u7f16\u7801\u5668<\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-8c6cb7aee0e5fd898684dcfa638a108b_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe 2\uff1a\u7a00\u758f\u5360\u7528\u7f16\u7801\u5668<\/figcaption><\/figure>\n\n\n\n<p>\u6b64\u6a21\u5757\u4ee5\u591a\u89c6\u89d2\u89c6\u9891\u6d41\u4e3a\u8f93\u5165\uff0c\u7528\u8f7b\u91cf\u7684\u56fe\u7247\u7f16\u7801\u5668\u63d0\u53d6\u591a\u5c3a\u5ea6\u7279\u5f81\u3002\u968f\u673a\u521d\u59cb\u5316\u4e00\u7ec4\u5e26\u6709\u663e\u5f0f3D\u5750\u6807\u7684\u7a00\u758f\u5360\u7528\u67e5\u8be2\u5d4c\u5165\uff08query embedding\uff09\uff0c\u901a\u8fc7\u591a\u5c42\u53e0\u52a0\u7684\u7f16\u7801\u5c42\u4e0e\u56fe\u7247\u7279\u5f81\u4f5c\u4ea4\u4e92\uff0c\u5e76\u5728\u6bcf\u4e00\u5c42\u4e4b\u540e\u63a5\u4e00\u4e2a\u8bed\u4e49\u5360\u7528\u5934\uff0c\u5bf9\u6bcf\u4e2aquery\u9884\u6d4b\u5176\u5468\u56f4\u7684\u8bed\u4e49\u5360\u7528\u70b9\uff0c\u76f8\u5e94\u5730\u8c03\u6574query\u5750\u6807\u3002\u901a\u8fc7\u9010\u5c42\u589e\u52a0\u8f93\u51fa\u5360\u7528\u70b9\u6570\uff0c\u6b64\u6a21\u5757\u5b9e\u73b0\u7531\u7c97\u5230\u7ec6\u7684\u5360\u7528\u9884\u6d4b\u548c\u7f16\u7801\uff0c\u540c\u65f6\u4fdd\u6301\u4fe1\u606f\u6d41\u7684\u9ad8\u6548\u6027\u3002\u6bcf\u4e00\u5c42\u7684\u8f93\u51fa\u7528Chamfer Distance\uff08CD\uff09\u6765\u76d1\u7763\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-a2bb0eecebd8d4030b70b5e3abc47e1e_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6700\u540e\u4e00\u5c42\u7f16\u7801\u5668\u5f97\u5230\u7684query embedding\u88ab\u7528\u4e00\u4e2a\u8fde\u63a5\u5668\uff08MLP\uff09\u5bf9\u9f50\u5230\u8bed\u8a00\u7a7a\u95f4\uff0c\u5145\u5f53\u89c6\u89c9\u8f93\u5165\u548cLLM\u7684\u552f\u4e00\u6865\u6881\uff0c\u7528\u4e8e\u4e0b\u6e38\u4efb\u52a1\uff0c\u56e0\u6b64\u6446\u8131\u4e86\u5bf9\u89c6\u89c9token\u7684\u4f9d\u8d56\u3002\u57fa\u4e8e\u7a00\u758f\u5360\u7528\u67e5\u8be2\u91cf\u7684\u5efa\u6a21\u7b56\u7565\u76f8\u6bd4\u8f83\u5e38\u89c4\u7684\u89c6\u89c9-\u8bed\u8a00\u5bf9\u9f50\u7b56\u7565\u5177\u6709\u5982\u4e0b\u6838\u5fc3\u4f18\u52bf\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8f7b\u91cf\u9ad8\u6548\uff1a\u4ec5\u5173\u6ce8\u771f\u5b9e\u7a7a\u95f4\u4e2d\u7684\u5b9e\u4f53\uff0c\u4fe1\u606f\u5bc6\u5ea6\u548ctoken\u5229\u7528\u7387\u6781\u9ad8\uff0c\u4ec5\u9700\u8981\u6570\u767etoken\u5373\u53ef\u6709\u6548\u5730\u8868\u5f81\u5b8c\u6574\u573a\u666f\uff0c\u8fd9\u5728\u8bad\u7ec3\u548c\u63a8\u7406\u662f\u975e\u5e38\u9ad8\u6548\u3002<\/li>\n\n\n\n<li>\u65f6\u7a7a\u5efa\u6a21\u53cb\u597d\uff1a\u901a\u8fc7\u663e\u5f0f\u76843D\u4f4d\u7f6e\u7f16\u7801\u5efa\u6a21\u7a7a\u95f4\u4fe1\u606f\uff0c\u901a\u8fc7\u9002\u5e94\u6027\u91c7\u6837\u53ca\u878d\u5408\u673a\u5236\u6355\u6349\u65f6\u5e8f\u4fe1\u606f\uff0coccupancy query\u5929\u7136\u5177\u5907\u5f3a\u5927\u7684\u65f6\u7a7a\u8868\u8fbe\u80fd\u529b\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u6b64\u6a21\u5757\u540c\u65f6\u5f15\u5165\u4e86\u53ef\u9009\u7684\u57fa\u4e8eClip\u7684\u7279\u5f81\u7ea7\u84b8\u998f\u635f\u5931\u6765\u8f85\u52a9\u5bf9\u9f50\uff0c\u52a0\u901f\u6a21\u578b\u6536\u655b\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1996906884289032497_7\">\u7edf\u4e00\u7684\u5927\u8bed\u8a00\u6a21\u578b<\/h3>\n\n\n\n<p>\u5927\u8bed\u8a00\u6a21\u578b\uff08LLM\uff09\u662fSparseOccVLA\u7684\u652f\u67f1\uff0c\u7edf\u4e00\u6267\u884c\u573a\u666f\u7406\u89e3\u3001\u672a\u6765\u5e27\u5360\u7528\u9884\u6d4b\u548c\u89c4\u5212\u7b49\u4efb\u52a1\u3002\u8003\u8651\u5230occupancy query\u7528\u5c40\u90e8loss\u6765\u76d1\u7763\uff0c\u7f3a\u4e4f\u5168\u5c40\u4fe1\u606f\uff0c\u4e3a\u4e86\u52a0\u5f3aLLM\u5bf9\u573a\u666f\u7684\u6574\u4f53\u7406\u89e3\uff0c\u672c\u6587\u7528\u5c11\u91cf\u5168\u5c40\u67e5\u8be2\u91cf\u4e0eoccupancy query\u4ea4\u4e92\uff0c\u7136\u540e\u548coccupancy query\u5408\u5e76\u4e3a\u611f\u77e5token\u3002\u6765\u81ea\u7528\u6237\u7684\u95ee\u9898\u63d0\u793a\u88ab\u6587\u672c\u5206\u8bcd\u5668\u7f16\u7801\u6210\u6587\u672ctoken\uff0c\u4e0e\u611f\u77e5\u7ea7token\u4e00\u8d77\u9001\u5165\u5927\u8bed\u8a00\u6a21\u578b\u6267\u884c\u81ea\u56de\u5f52\u5730\u6587\u672c\u63a8\u7406\uff0c\u6ca1\u6709\u5176\u4ed6\u64cd\u4f5c\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u5145\u5206\u5229\u7528occupancy token\u7684\u8bed\u4e49\u4fe1\u606f\u548coccupancy query\u7684\u5c40\u90e8\u7ec6\u8282\uff0c\u672c\u6587\u5728LLM\u63a8\u7406\u4e4b\u540e\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u6b8b\u5dee\u878d\u5408\u5c42\uff0c\u540e\u63a5\u5171\u4eab\u7684\u5360\u7528\u9884\u6d4b\u5668\u9010\u5e27\u9884\u6d4b\u672a\u6765\u5e27\u7684\u5360\u7528\u72b6\u6001\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1996906884289032497_8\">\u8bed\u8a00\u6a21\u578b\u5f15\u5bfc\u7684\u951a\u70b9-\u6269\u6563\u89c4\u5212\u5668<\/h3>\n\n\n\n<p>\u4e3a\u4e86\u8fdb\u4e00\u6b65\u9a8c\u8bc1\u7a00\u758f\u5360\u7528\u67e5\u8be2\u5bf9\u6a21\u578b\u89c4\u5212\u80fd\u529b\u7684\u5f71\u54cd\uff0c\u6316\u6398\u5176\u6cdb\u5316\u6f5c\u529b\uff0c\u672c\u6587\u63d0\u51fa\u7528\u8bed\u8a00\u6a21\u578b\u6765\u5f15\u5bfc\u951a\u70b9\u9009\u62e9\uff0c\u7528sparse occupancy query\u4ee3\u66ff\u5e38\u89c1\u7684BEV\u3001object\u3001map\u7b49\uff0c\u4f5c\u4e3a\u552f\u4e00\u7684\u611f\u77e5\u8868\u5f81\uff0c\u7528\u57fa\u4e8e\u591a\u6a21\u6001\u6761\u4ef6\u8f93\u5165\u7684\u6269\u6563\u89e3\u7801\u5668\u8f93\u51fa\u9884\u6d4b\u8f68\u8ff9\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-fca1bc200ce90eee41ff98a626743c84_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6b64\u6a21\u5757\u5c06\u52a0\u566a\u7684\u951a\u70b9\u8f68\u8ff9\u5206\u522b\u4e0eoccupancy query\uff0c\u81ea\u8f66\u72b6\u6001\u4ee5\u53caLLM\u8f93\u51fa\u7684\u6587\u672ctoken\u4ea4\u4e92\uff0c\u5b9e\u73b0\u4e86\u6709\u6548\u7684\u8de8\u6a21\u6001\u878d\u5408\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1996906884289032497_9\">\ud83d\udce6 \u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1996906884289032497_10\">\u7406\u89e3\u4e0e\u9884\u6d4b\u7ed3\u679c<\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-bd0e0e65e7a8963109266ffe9005d42f_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u88681\u5de6\u7ed9\u51fa\u4e86\u5728OmniDrive-nuScenes\u4e0a\u573a\u666f\u7406\u89e3\u4efb\u52a1\u7684\u8bed\u8a00\u6307\u6807\u8bc4\u6d4b\u7ed3\u679c\uff0c\u53ef\u4ee5\u770b\u5230\uff0cSparseOccVLA\u7684CIDEr\u6307\u6807\u76f8\u6bd4\u8f83sota\u7684HERMES\u5b9e\u73b0\u4e867%\u7684\u76f8\u5bf9\u63d0\u5347\u3002\u4e14\u76f8\u8f83\u4e8e\u57fa\u4e8eBEV\u7684HERMES\u9700\u89812500\u4e2atoken\uff0cSparseOccVLA\u6700\u4f4e\u4ec5\u9700\u8981300\u4e2atoken\uff0c\u5373\u53ef\u5b9e\u73b0\u76f8\u5f53\u6709\u7ade\u4e89\u529b\u7684\u6027\u80fd\uff0c\u4fdd\u8bc1\u4e86\u63a8\u7406\u6548\u7387\u3002<\/p>\n\n\n\n<p>\u88681\u53f3\u7ed9\u51fa\u4e86\u5728Occ3d-nuScenes\u4e0a\u7684\u672a\u67653s\u5185\u8bed\u4e49\u5360\u7528\u9884\u6d4b\u7ed3\u679c\u3002SparseOccVLA\u4e5f\u5b9e\u73b0\u4e86\u8d85\u8d8asota\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1996906884289032497_11\">\u5f00\u73af\u89c4\u5212\u7ed3\u679c<\/h3>\n\n\n\n<p>\u88682\u7ed9\u51fa\u4e86SparseOccVLA\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u7684\u5f00\u73af\u89c4\u5212\u6307\u6807\uff0c\u5e76\u4e0e\u4e0d\u540c\u7c7b\u578b\u7684\u89c4\u5212\u5668\u505a\u4e86\u6bd4\u8f83\u3002\u663e\u7136\uff0c\u4ec5\u5c06sparse occupancy query\u4f5c\u4e3a\u611f\u77e5\u8f93\u5165\uff0c\u89c4\u5212\u5668\u5df2\u7ecf\u80fd\u6709\u6548\u5730\u611f\u77e5\u5468\u56f4\u73af\u5883\uff0c\u5e76\u505a\u51fa\u5408\u7406\u7684\u9a7e\u9a76\u51b3\u7b56\uff0c\u8bc1\u660e\u4e86occupancy query\u5177\u5907\u5145\u8db3\u7684\u5e94\u7528\u548c\u6cdb\u5316\u6f5c\u529b\uff0c\u6709\u88ab\u8fdb\u4e00\u6b65\u7814\u7a76\u7684\u4ef7\u503c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-156f536a1605f12ad19a44704c7299d7_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1996906884289032497_12\">\ud83c\udfd7\ufe0f \u6d88\u878d\u5b9e\u9a8c\u4e0e\u53ef\u89c6\u5316<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1996906884289032497_13\">\u5173\u952e\u6d88\u878d\u6a21\u5757\u7814\u7a76<\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-c755558899f0a5eb83449737c7a33eb9_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u88683\u4f9d\u6b21\u7ed9\u51fa\u4e86Occupancy\u7f16\u7801\u5668\uff0c\u663e\u5f0f3D\u4f4d\u7f6e\u7f16\u7801\uff0c\u5168\u5c40\u67e5\u8be2\u91cf\uff0c\u4ee5\u53ca\u6b8b\u5dee\u878d\u5408\u5bf9SparseOccVLA\u6027\u80fd\u7684\u5f71\u54cd\u5206\u6790\uff0c\u5f97\u51fa\u5982\u4e0b\u7ed3\u8bba\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5f53\u79fb\u9664occupancy\u76d1\u7763\u65f6\uff0coccupancy encoder\u5c06\u9000\u5316\u6210\u4e00\u4e2a\u5c40\u90e8\u91c7\u6837\u7684Q-Former\u6a21\u5757\uff0c\u6b64\u65f6\u7f3a\u5c11\u6709\u6548\u4fe1\u606f\u6b63\u5219\u5316\uff0c\u8bed\u8a00\u6307\u6807\u51fa\u73b0\u663e\u8457\u7684\u4e0b\u964d\uff0c\u8bc1\u660e\u4e86\u663e\u5f0f\u7684\u51e0\u4f55\u548c\u8bed\u4e49\u5f15\u5bfc\u5bf9\u4e86LLM\u7406\u89e3\u573a\u666f\u975e\u5e38\u91cd\u8981<br><\/li>\n\n\n\n<li>\u5f53\u79fb\u96643D\u7f16\u7801\uff0c\u6b64\u65f6occupancy query\u5c06\u5b8c\u5168\u65e0\u5e8f\uff0cLLM\u96be\u4ee5\u4ece\u4e2d\u5b66\u5230\u7a7a\u95f4\u62d3\u6251\u7ed3\u6784\uff0c\u6b64\u65f6\u6a21\u578b\u65e0\u6cd5\u6536\u655b<br><\/li>\n\n\n\n<li>\u5168\u5c40\u67e5\u8be2\u548c\u6b8b\u5dee\u878d\u5408\u5206\u522b\u5bf9\u573a\u666f\u7406\u89e3\u548coccupancy\u9884\u6d4b\u8d77\u5230\u663e\u8457\u4f5c\u7528\uff0c\u540c\u65f6\u89c2\u5bdf\u5230\u4e86\u4e24\u8005\u76f8\u4e92\u4fc3\u8fdb\u7684\u7279\u70b9\u3002<br><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-ffe8a98a31468dfe75822eb031118f74_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u4ece\u53ef\u89c6\u5316\u7ed3\u679c\u53ef\u4ee5\u770b\u51fa\uff0cSparseOccVLA\u4e0d\u4ec5\u80fd\u8bc6\u522b\u8fdc\u5904\u7684\u884c\u4eba\u3001\u8f66\u8f86\u7b49\u6709\u5f62\u72b6\u7684\u7269\u4f53\uff0c\u8fd8\u80fd\u51c6\u786e\u5730\u8bc6\u522b\u51fa\u7ea2\u706f\u72b6\u6001\uff0c\u5730\u9762\u4e0a\u7684\u8f66\u9053\u7ebf\u7b49\u975e\u51e0\u4f55\u5143\u7d20\uff0c\u8fd9\u5f97\u76ca\u4e8e\u5176\u5b8c\u5168\u7aef\u5230\u7aef\u7684\u8bbe\u8ba1\uff0c\u4fdd\u7559\u4e86\u6765\u81ea\u539f\u59cb\u56fe\u50cf\u4e2d\u7684\u89c6\u89c9\u4fe1\u53f7\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1996906884289032497_14\">\ud83e\udde0 \u7ed3\u8bba<\/h2>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u7684SparseOccVLA\u5229\u7528sparse occupancy query\u4f5c\u4e3a\u6865\u6881\uff0c\u5c06occupancy\u4e0eVLM\u505a\u4e86\u6709\u6548\u7ed3\u5408\uff0c\u5728\u573a\u666f\u7406\u89e3\u3001\u672a\u6765\u9884\u6d4b\u3001\u8def\u5f84\u89c4\u5212\u7b49\u81ea\u52a8\u9a7e\u9a76\u6838\u5fc3\u4efb\u52a1\u4e2d\u90fd\u5b9e\u73b0\u4e86\u5f3a\u5927\u7684\u6027\u80fd\u3002\u672c\u6587\u672c\u8d28\u4e0a\u63d0\u4f9b\u4e86\u4e00\u4e2a\u8d85\u8d8a\u4f20\u7edf\u57fa\u4e8eMLP,Q-Former\u548cBEV\u7684\u8fde\u63a5\u89c6\u89c9\u548c\u8bed\u8a00\u7684\u65b0\u8303\u5f0f\uff0c\u8fd9\u5c06\u4fc3\u8fdb\u8de8\u9886\u57df\u7814\u7a76\uff0c\u540c\u65f6\u63a8\u52a8\u81ea\u52a8\u9a7e\u9a76\u793e\u533a\u7684\u53d1\u5c55\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1996906884289032497_15\">\u53c2\u8003<\/h2>\n\n\n\n<p>[1]Dang C, Wang J, Li G, et al. SparseOccVLA: Bridging Occupancy and Vision-Language Models via Sparse Queries for Unified 4D Scene Understanding and Planning[J]. arXiv preprint arXiv:2601.06474, 2026.<\/p>\n\n\n\n<p>[2]Wang J, Liu Z, Meng Q, et al. Opus: occupancy prediction using a sparse set[J]. Advances in Neural Information Processing Systems, 2024, 37: 119861-119885.<\/p>\n\n\n\n<p>[3]Dang C, Liu H, Bao J, et al. Sparseworld: A flexible, adaptive, and efficient 4d occupancy world model powered by sparse and dynamic queries[J]. arXiv preprint arXiv:2510.17482, 2025.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/zhuanlan.z [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-36640","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":3,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/36640"}],"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=36640"}],"version-history":[{"count":3,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/36640\/revisions"}],"predecessor-version":[{"id":36643,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/36640\/revisions\/36643"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=36640"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=36640"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=36640"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}