{"id":6101,"date":"2023-09-25T09:35:22","date_gmt":"2023-09-25T01:35:22","guid":{"rendered":"http:\/\/192.168.10.115\/index.php\/2023\/09\/25\/6101\/"},"modified":"2023-09-25T09:44:27","modified_gmt":"2023-09-25T01:44:27","slug":"%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e5%92%8c%e8%87%aa%e7%84%b6%e8%af%ad%e8%a8%80%e5%a6%82%e4%bd%95%e7%bb%93%e5%90%88%ef%bc%9fnuprompt%e6%9d%a5%e4%ba%86%ef%bc%81","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2023\/09\/25\/6101\/","title":{"rendered":"2023-09-24\u81ea\u52a8\u9a7e\u9a76\u548c\u81ea\u7136\u8bed\u8a00\u5982\u4f55\u7ed3\u5408\uff1fNuPrompt\u6765\u4e86\uff01"},"content":{"rendered":"

\u200b\u539f\u6807\u9898\uff1aLanguage Prompt for Autonomous Driving<\/p>\n

\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2309.04379.pdf<\/a><\/p>\n

\u4f5c\u8005\u5355\u4f4d\uff1a\u5317\u4eac\u7406\u5de5\u5927\u5b66 \u6fb3\u95e8\u5927\u5b66 MEGVII Technology \u5317\u4eac\u4eba\u5de5\u667a\u80fd\u7814\u7a76\u9662<\/p>\n

\u4ee3\u7801\u94fe\u63a5\uff1ahttps:\/\/github.com\/wudongming97\/Prompt4Driving<\/a>\u8bba\u6587\u601d\u8def\uff1a<\/p>\n

\u8ba1\u7b97\u673a\u89c6\u89c9\u9886\u57df\u7684\u4e00\u4e2a\u65b0\u8d8b\u52bf\u662f\u6839\u636e\u81ea\u7136\u8bed\u8a00\u63d0\u793a\u7b26\u8868\u793a\u7684\u7075\u6d3b\u7684\u4eba\u7c7b\u547d\u4ee4\u6355\u83b7\u611f\u5174\u8da3\u7684\u76ee\u6807\u3002\u7136\u800c\uff0c\u7531\u4e8e\u7f3a\u4e4f\u914d\u5bf9\u63d0\u793a\u5b9e\u4f8b(prompt-instance)\u6570\u636e\uff0c\u5728\u9a7e\u9a76\u573a\u666f\u4e2d\u4f7f\u7528\u8bed\u8a00\u63d0\u793a\u7684\u8fdb\u5c55\u9677\u5165\u4e86\u74f6\u9888\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u7b2c\u4e00\u4e2a\u4ee5\u76ee\u6807\u4e3a\u4e2d\u5fc3\u7684\u8bed\u8a00\u63d0\u793a\u96c6\uff0c\u7528\u4e8e3D\u3001\u591a\u89c6\u56fe\u548c\u591a\u5e27\u7a7a\u95f4\u4e2d\u7684\u9a7e\u9a76\u573a\u666f\uff0c\u540d\u4e3aNuPrompt\u3002\u5b83\u6269\u5c55\u4e86Nuscenes\u7684\u6570\u636e\u96c6\uff0c\u6784\u9020\u4e86\u603b\u517135367\u4e2a\u8bed\u8a00\u63cf\u8ff0\uff0c\u6bcf\u4e2a\u63cf\u8ff0\u5e73\u5747\u5f15\u75285.3\u4e2a\u76ee\u6807\u8f68\u8ff9\u3002\u57fa\u4e8e\u65b0\u57fa\u51c6\u4e2d\u7684\u76ee\u6807-\u6587\u672c\u5bf9(object-text pairs)\uff0c\u672c\u6587\u5236\u5b9a\u4e86\u4e00\u4e2a\u65b0\u7684\u57fa\u4e8e\u63d0\u793a\u7684\u9a7e\u9a76\u4efb\u52a1\uff0c\u5373\u4f7f\u7528\u8bed\u8a00\u63d0\u793a\u6765\u9884\u6d4b\u6240\u63cf\u8ff0\u7684\u76ee\u6807\u7684\u8de8\u89c6\u56fe\u548c\u5e27\u7684\u8f68\u8ff9(trajectory)\u3002\u6b64\u5916\uff0c\u672c\u6587\u8fd8\u63d0\u4f9b\u4e86\u4e00\u4e2a\u7b80\u5355\u7684\u57fa\u4e8eTransformer\u7684\u7aef\u5230\u7aef\u57fa\u7ebf\u6a21\u578b\uff0c\u540d\u4e3aPromptTrack\u3002\u5b9e\u9a8c\u8868\u660e\uff0c\u672c\u6587\u7684PromptTrack\u5728NuPrompt\u4e0a\u53d6\u5f97\u4e86\u4ee4\u4eba\u5370\u8c61\u6df1\u523b\u7684\u6027\u80fd\u3002\u672c\u6587\u5e0c\u671b\u8fd9\u9879\u5de5\u4f5c\u80fd\u4e3a\u81ea\u52a8\u9a7e\u9a76\u793e\u533a\u63d0\u4f9b\u66f4\u591a\u65b0\u7684\u89c1\u89e3\u3002<\/p>\n

\u4e3b\u8981\u8d21\u732e\uff1a<\/p>\n

\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u5927\u89c4\u6a21\u8bed\u8a00\u63d0\u793a\u96c6(language prompt set)\uff0c\u540d\u4e3aNuPrompt\u3002\u636e\u672c\u6587\u6240\u77e5\uff0c\u5b83\u662f\u7b2c\u4e00\u4e2a\u4e13\u95e8\u7814\u7a76\u89c6\u9891\u9886\u57df\u591a\u4e2a\u611f\u5174\u8da3\u76843D\u76ee\u6807\u7684\u6570\u636e\u96c6\u3002<\/p>\n

\u672c\u6587\u6784\u9020\u4e86\u4e00\u4e2a\u65b0\u7684\u57fa\u4e8e\u63d0\u793a\u7684\u9a7e\u9a76\u611f\u77e5\u4efb\u52a1\uff0c\u8981\u6c42\u4f7f\u7528\u8bed\u8a00\u63d0\u793a\u4f5c\u4e3a\u8bed\u4e49\u7ebf\u7d22\u6765\u9884\u6d4b\u76ee\u6807\u7684\u8f68\u8ff9\u3002<\/p>\n

\u672c\u6587\u5f00\u53d1\u4e86\u4e00\u4e2a\u7b80\u5355\u7684\u7aef\u5230\u7aef\u57fa\u7ebf\u6a21\u578b\uff0c\u79f0\u4e3aPromptTrack\uff0c\u5b83\u6709\u6548\u5730\u878d\u5408\u4e86\u65b0\u6784\u5efa\u7684\u63d0\u793a\u63a8\u7406\u5206\u652f\u4e2d\u7684\u8de8\u6a21\u6001\u7279\u5f81\uff0c\u4ee5\u9884\u6d4b\u53c2\u8003\u76ee\u6807(referent objects)\uff0c\u663e\u793a\u4e86\u4ee4\u4eba\u5370\u8c61\u6df1\u523b\u7684\u6027\u80fd\u3002<\/p>\n

\u7f51\u7edc\u8bbe\u8ba1\uff1a<\/p>\n

\u4e3a\u4e86\u63a8\u8fdb\u9a7e\u9a76\u573a\u666f\u4e2d\u63d0\u793a\u5b66\u4e60\u7684\u7814\u7a76\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u5927\u89c4\u6a21\u57fa\u51c6\uff0c\u540d\u4e3aNuPrompt\u3002\u57fa\u51c6\u6d4b\u8bd5\u662f\u5efa\u7acb\u5728\u6d41\u884c\u7684\u591a\u89c6\u56fe3D\u76ee\u6807\u68c0\u6d4b\u6570\u636e\u96c6Nuscenes[2]\u4e0a\u7684\u3002\u672c\u6587\u5c06\u8bed\u8a00\u63d0\u793a\u5206\u914d\u7ed9\u5177\u6709\u76f8\u540c\u7279\u5f81\u7684\u76ee\u6807\u96c6\u5408\uff0c\u4ee5\u4fbf\u4e3a\u5b83\u4eec\u5960\u5b9a\u57fa\u7840(for grounding them)\u3002\u4ece\u672c\u8d28\u4e0a\u8bb2\uff0c\u8fd9\u4e2a\u57fa\u51c6\u63d0\u4f9b\u4e86\u8bb8\u591a3D\u5b9e\u4f8b-\u6587\u672c\u5339\u914d\uff0c\u5177\u6709\u4e09\u4e2a\u4e3b\u8981\u5c5e\u6027: 1.\u771f\u5b9e\u9a7e\u9a76\u63cf\u8ff0\u3002\u4e0e\u73b0\u6709\u7684\u57fa\u51c6\u6d4b\u8bd5\u53ea\u8868\u793a\u6765\u81ea\u6a21\u5757\u5316\u56fe\u50cf\u76842D\u76ee\u6807\u4e0d\u540c\uff0c\u672c\u6587\u6570\u636e\u96c6\u7684\u63d0\u793a\u63cf\u8ff0\u4e86\u6765\u81ea3D\u3001\u73af\u987e\u56db\u5468\u548c\u957f\u65f6\u95f4\u7a7a\u95f4\u7684\u5404\u79cd\u4e0e\u9a7e\u9a76\u76f8\u5173\u7684\u76ee\u6807\u3002\u56fe1\u5c55\u793a\u4e86\u4e00\u4e2a\u5178\u578b\u7684\u4f8b\u5b50\uff0c\u5373\u4e00\u8f86\u8f66\u5728\u591a\u4e2a\u89c6\u56fe\u4e2d\u4ece\u540e\u9762\u5230\u524d\u9762\u8d85\u8fc7\u4e86\u6211\u4eec\u7684\u8f66\u30022.\u5b9e\u4f8b\u7ea7\u63d0\u793a\u6807\u6ce8\u3002\u6bcf\u4e2a\u63d0\u793a\u7b26\u90fd\u8868\u793a\u4e00\u4e2a\u7ec6\u7c92\u5ea6\u7684\u3001\u6709\u533a\u522b\u7684\u3001\u4ee5\u76ee\u6807\u4e3a\u4e2d\u5fc3\u7684\u63cf\u8ff0\uff0c\u5e76\u5141\u8bb8\u5b83\u8986\u76d6\u4efb\u610f\u6570\u91cf\u7684\u9a71\u52a8\u76ee\u6807\u30023.\u5927\u89c4\u6a21\u8bed\u8a00\u63d0\u793a\u3002\u5c31\u63d0\u793a\u7b26\u7684\u6570\u91cf\u800c\u8a00\uff0cNuPrompt\u53ef\u4ee5\u4e0e\u5f53\u524d\u6700\u5927\u7684\u6570\u636e\u96c6[7]\u76f8\u5ab2\u7f8e\uff0c\u5373\u5305\u542b35367\u4e2a\u8bed\u8a00\u63d0\u793a\u7b26\u3002<\/p>\n

\u4e0e\u57fa\u51c6\u4e00\u8d77\uff0c\u672c\u6587\u5236\u5b9a\u4e86\u4e00\u4e2a\u65b0\u7684\u57fa\u4e8e\u63d0\u793a\u7684\u611f\u77e5\u4efb\u52a1\uff0c\u5176\u4e3b\u8981\u76ee\u6807\u662f\u4f7f\u7528\u7ed9\u5b9a\u7684\u8bed\u8a00\u63d0\u793a\u6765\u9884\u6d4b\u548c\u8ddf\u8e2a\u9a7e\u9a76\u73af\u5883\u4e2d\u7684\u591a\u4e2a 3D\u76ee\u6807\u3002\u8be5\u4efb\u52a1\u7684\u96be\u70b9\u5728\u4e8e\u4e24\u4e2a\u65b9\u9762:\u8de8\u5e27\u65f6\u95f4\u5173\u8054\u548c\u8de8\u6a21\u6001\u8bed\u4e49\u7406\u89e3\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u6311\u6218\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u7aef\u5230\u7aef\u7684\u57fa\u7ebf\uff0c\u5b83\u5efa\u7acb\u5728camera-only 3D tracker PF-Track[24]\u4e0a\uff0c\u547d\u540d\u4e3aPromptTrack\u3002\u8bf7\u6ce8\u610f\uff0cPF-Track\u901a\u8fc7\u5b83\u7684\u8fc7\u53bb\u548c\u672a\u6765\u63a8\u7406\u5206\u652f\u5c55\u793a\u4e86\u51fa\u8272\u7684\u65f6\u7a7a\u5efa\u6a21\u3002\u6b64\u5916\uff0c\u672c\u6587\u589e\u52a0\u4e86\u4e00\u4e2a\u5feb\u901f\u63a8\u7406\u5206\u652f\u6765\u8fdb\u884c\u8de8\u6a21\u6001\u7684\u878d\u5408\u548c\u7406\u89e3\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u672c\u6587\u7684\u63d0\u793a\u63a8\u7406\u6d89\u53ca\u5230\u63d0\u793a\u5d4c\u5165\u548c\u67e5\u8be2\u7279\u5f81\u4e4b\u95f4\u7684\u4ea4\u53c9\u6ce8\u610f\u529b\uff0c\u8fd9\u4e9b\u7279\u5f81\u6765\u81ea\u8fc7\u53bb\u7684\u63a8\u7406\uff0c\u8fdb\u4e00\u6b65\u9884\u6d4b prompt-referred \u76ee\u6807\u3002<\/p>\n

\u56fe5\u3002PromptTrack\u7684\u603b\u4f53\u67b6\u6784\u3002\u5bf9\u4e8e\u6bcf\u4e00\u5e27\uff0c\u89c6\u89c9\u7279\u5f81\u548c\u67e5\u8be2\u9996\u5148\u88ab\u8f93\u5165\u5230Transformer\u89e3\u7801\u5668\u4e2d\uff0c\u4ee5\u4ea7\u751f\u7c7b\u4f3c\u4e8e\u539f\u59cbDETR\u6846\u67b6\u7684\u89e3\u7801\u67e5\u8be2\u3002\u7136\u540e\uff0c\u8fc7\u53bb\u7684\u63a8\u7406\u901a\u8fc7\u5904\u7406\u5386\u53f2\u67e5\u8be2\u6765\u589e\u5f3a\u548c\u6539\u8fdb\u7b56\u7565\uff0c\u800c\u672a\u6765\u7684\u63a8\u7406\u5219\u6709\u5229\u4e8e\u4f7f\u7528\u9884\u6d4b\u4f4d\u7f6e\u8fdb\u884c\u8de8\u5e27\u67e5\u8be2\u4f20\u64ad\u3002\u6700\u540e\uff0c\u5feb\u901f\u63a8\u7406\u5206\u652f\u9884\u6d4b prompt-referred \u8f68\u8ff9\u3002\u8be5\u6a21\u578b\u91c7\u7528\u5728\u7ebf\u6a21\u5f0f\u8fdb\u884c\u8bc4\u4ef7\uff0c\u8bad\u7ec3\u53ef\u8fdb\u884c\u7aef\u5230\u7aef differentiated\u3002<\/p>\n

<\/p>\n

\u56fe2\u3002\u8bed\u8a00\u63d0\u793a\u6807\u6ce8\u8fc7\u7a0bPipeline\uff0c\u5305\u62ec\u4e09\u4e2a\u6b65\u9aa4:\u8bed\u8a00\u5143\u7d20\u6536\u96c6\u3001\u8bed\u8a00\u5143\u7d20\u7ec4\u5408\u3001\u63cf\u8ff0\u751f\u6210\u3002\u9996\u5148\uff0c\u5728\u8bed\u8a00\u5143\u7d20\u6536\u96c6\u9636\u6bb5\uff0c\u672c\u6587\u5c06\u6bcf\u4e2a\u8bed\u8a00\u6807\u7b7e\u4e0e referent objects \u914d\u5bf9\u3002\u7136\u540e\uff0c\u5728\u8bed\u8a00\u5143\u7d20\u7ec4\u5408\u9636\u6bb5\uff0c\u9009\u62e9\u5e76\u7ec4\u5408\u67d0\u4e9b\u8bed\u8a00\u5143\u7d20\u3002\u6700\u540e\uff0c\u6839\u636e\u5f97\u5230\u7684\u7ec4\u5408\uff0c\u5728\u63cf\u8ff0\u751f\u6210\u9636\u6bb5\u91c7\u7528\u5927\u578b\u8bed\u8a00\u6a21\u578b(LLM)\u521b\u5efa\u8bed\u8a00\u63cf\u8ff0\u3002<\/p>\n

\u56fe1\u3002\u4e00\u4e2a\u6765\u81eaNuPrompt\u7684\u5178\u578b\u4f8b\u5b50\u3002\u8bed\u8a00\u63d0\u793a\u201c\u6b63\u5728\u8d85\u8f66\u7684\u8f66\u8f86\u201d\uff0c\u5728\u4e09\u7ef4\u3001\u591a\u5e27\u3001\u591a\u89c6\u56fe\u7a7a\u95f4\u5185\u7cbe\u786e\u6ce8\u91ca\u5e76\u5339\u914d\u9a7e\u9a76\u76ee\u6807\u3002NuPrompt\u5305\u542b35367\u4e2a\u76ee\u6807-\u63d0\u793a\u7b26\u5bf9\u3002<\/p>\n

<\/p>\n

\u56fe3\u3002NuPrompt\u7684\u524d100\u4e2a\u5355\u8bcd\u7684\u8bcd\u4e91\u3002\u5b83\u6709\u5927\u91cf\u7684\u8bcd\u6765\u63cf\u8ff0\u9a7e\u9a76\u7269\u4f53\u7684\u5916\u89c2\uff0c\u5982\u201c\u9ed1\u201d\u3001\u201c\u767d\u201d\u3001\u201c\u7ea2\u201d\u7b49\uff0c\u5e76\u6db5\u76d6\u4e86\u8bb8\u591a\u8fd0\u52a8\u573a\u666f\uff0c\u5982\u201c\u8d70\u201d\u3001\u201c\u52a8\u201d\u3001\u201c\u8fc7\u201d\u7b49\u3002<\/p>\n

<\/p>\n

\u56fe4\u3002NuPrompt\u7684\u7edf\u8ba1\u4fe1\u606f:(a)\u6bcf\u4e2a\u63d0\u793a\u7b26\u7684\u5b9e\u4f8b\u6570\u5206\u5e03\u548c(b)\u6bcf\u4e2a\u63d0\u793a\u7b26\u7684\u6846\u6570\u5206\u5e03\u3002<\/p>\n

\u5b9e\u9a8c\u7ed3\u679c\uff1a<\/strong><\/p>\n

\u5f15\u7528\uff1aWu, D., Han, W., Wang, T., Liu, Y., Zhang, X., & Shen, J. (2023). Language Prompt for Autonomous Driving. ArXiv. \/abs\/2309.04379<\/p>\n","protected":false},"excerpt":{"rendered":"

\u200b\u539f\u6807\u9898\uff1aLanguage Prompt fo […]<\/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-6101","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/6101"}],"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=6101"}],"version-history":[{"count":3,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/6101\/revisions"}],"predecessor-version":[{"id":6110,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/6101\/revisions\/6110"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=6101"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=6101"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=6101"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}