{"id":6534,"date":"2023-11-15T13:55:38","date_gmt":"2023-11-15T05:55:38","guid":{"rendered":"http:\/\/192.168.10.115\/index.php\/2023\/11\/15\/6534\/"},"modified":"2023-11-15T14:01:08","modified_gmt":"2023-11-15T06:01:08","slug":"11-12mm-2023%ef%bd%9c%e7%94%a8%e4%ba%8e%e8%bd%a6%e8%b7%af%e5%8d%8f%e5%90%8c%e6%84%9f%e7%9f%a5%e7%9a%84%e8%a7%a3%e8%80%a6%e6%97%a0%e7%9b%91%e7%9d%a3-sim2real-%e5%9f%9f%e9%80%82%e5%ba%94%e6%96%b9","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2023\/11\/15\/6534\/","title":{"rendered":"2023-11-15\u7528\u4e8e\u8f66\u8def\u534f\u540c\u611f\u77e5\u7684\u89e3\u8026\u65e0\u76d1\u7763 Sim2Real \u57df\u9002\u5e94\u65b9\u6cd5"},"content":{"rendered":"

Title: DUSA: Decoupled Unsupervised Sim2Real Adaptation for Vehicle-to-Everything Collaborative Perception<\/p>\n

Paper: https:\/\/arxiv.org\/pdf\/2310.08117<\/p>\n

Code: https:\/\/github.com\/refkxh\/DUSA<\/p>\n

\u7b80\u4ecb<\/p>\n

\u8003\u8651\u5230\u8f66\u8def\u534f\u540c\u771f\u5b9e\u6570\u636e\u96c6\u7684\u5de8\u5927\u6807\u6ce8\u6210\u672c\uff0c\u672c\u7bc7\u6587\u7ae0\u63d0\u51fa\u4e00\u4e2a\u9488\u5bf9\u8f66\u8def\u534f\u540c\u7684\u65e0\u76d1\u7763\u7684\u4ece\u4eff\u771f\u5230\u73b0\u5b9e\u7684\u57df\u9002\u5e94\u65b9\u6cd5\uff08sim2real domain adaptation\uff09\uff1aDecoupled Unsupervised Sim2Real Adaptation (DUSA)\u3002\u8be5\u65b9\u6cd5\u5728\u4eff\u771f\u8f66\u8def\u534f\u540c\u6570\u636e\u96c6v2xset\u548c\u771f\u5b9e\u534f\u540c\u6570\u636e\u96c6dair-v2x\u9a8c\u8bc1\uff0c\u9009\u62e9\u7684\u4f20\u611f\u5668\u4e3a\u6fc0\u5149\u96f7\u8fbe\u3002<\/p>\n

\u8f66\u8def\u534f\u540c\u65e0\u76d1\u7763\u57df\u9002\u5e94\u7684\u6311\u6218 domain gap\u4e3b\u8981\u5305\u542b\u4e24\u90e8\u5206\uff1asim\/real domain gap\u548cinter-agent domain gap\u3002 sim\/real domain gap\u6765\u6e90\u4e8e\u70b9\u4e91\u6570\u636e\u7684\u5bc6\u5ea6\u3001\u5206\u5e03\u548c\u53cd\u5c04\u503c\u7b49\u5dee\u5f02\uff0cinter-agent domain gap\u6765\u6e90\u4e8e\u4f20\u611f\u5668\u7684\u7c7b\u578b\u548c\u653e\u7f6e\u4f4d\u7f6e\u3002<\/p>\n

<\/p>\n

domain gap<\/p>\n

\u4e3a\u89e3\u51b3\u8fd9\u4e24\u79cddomain gap\uff0c\u8be5\u65b9\u6cd5\u5c06\u8f66\u8def\u534f\u540c\u7684\u57df\u9002\u5e94\u95ee\u9898\u5206\u89e3\u4e3a\u4e24\u4e2a\u5b50\u95ee\u9898\u5e76\u8fdb\u884c\u4e86\u76f8\u5e94\u7684\u6a21\u5757\u8bbe\u8ba1\uff1a\u4ece\u4eff\u771f\u5230\u73b0\u5b9e\u7684\u57df\u9002\u5e94\uff08sim2real adaptation\uff09\uff0c\u4f5c\u8005\u8bbe\u8ba1\u4e86Location-adaptive Sim2Real Adapter (LSA) module\u6765\u805a\u5408\u5c40\u90e8\u533a\u57df\u7279\u5f81\uff0c\u5e76\u901a\u8fc7\u4e00\u4e2asim\/real discriminator\u5bf9\u9f50\u771f\u5b9e\u57df\u548c\u4eff\u771f\u57df\u7684\u5168\u5c40\u7279\u5f81\uff1b<\/p>\n

\u667a\u80fd\u4f53\u95f4\u7684\u57df\u9002\u5e94\uff08inter-agent adaptation\uff09\uff0c\u4f5c\u8005\u8bbe\u8ba1\u4e86Confidence-aware Inter-agent Adapter (CIA) module\u5bf9\u9f50\u5f02\u6784\u667a\u80fd\u4f53\u7684\u7ec6\u7c92\u5ea6\u7279\u5f81\u3002<\/p>\n

\u65b9\u6cd5<\/p>\n

\u4e0b\u56fe\u662f\u4e00\u4e2a\u4e2d\u671f\u8f66\u8def\u534f\u540c\u68c0\u6d4b\u7684\u6846\u67b6\u56fe\uff0cego \u667a\u80fd\u4f53\u548c\u5176\u4ed6\u667a\u80fd\u4f53\u7684\u70b9\u4e91\u7279\u5f81\u4f1a\u5728feature fusion module\u8fdb\u884c\u878d\u5408\uff0c\u7528\u4e8e\u5bf9\u66f4\u5e7f\u6cdb\u89c6\u91ce\u7684\u76ee\u6807\u68c0\u6d4b\u3002<\/p>\n

\u65e0\u76d1\u7763\u57df\u9002\u5e94\u7684\u8bad\u7ec3\u6d41\u7a0b\u662f\uff0c\u9996\u5148\u5728\u6e90\u57df\uff08\u4eff\u771f\u6570\u636e\u96c6\uff09\u4f7f\u7528\u6807\u7b7e\u8bad\u7ec3\u8be5\u534f\u540c\u68c0\u6d4b\u7f51\u7edc\uff1b\u5728\u6b64\u57fa\u7840\u4e0a\uff0c\u52a0\u5165\u65e0\u6807\u7b7e\u7684\u76ee\u6807\u57df\uff08\u771f\u5b9e\u6570\u636e\u96c6\uff09\uff0c\u5e76\u6dfb\u52a0Location-adaptive Sim2Real Adapter (LSA) module\u548cConfidence-aware Inter-agent Adapter (CIA) module\u5bf9\u534f\u540c\u68c0\u6d4b\u7f51\u7edc\u8fdb\u884c\u5fae\u8c03\u3002\u5176\u4e2dLSA\u6a21\u5757\u5224\u65ad\u667a\u80fd\u4f53\u5c5e\u4e8e\u6e90\u57df\u6216\u662f\u76ee\u6807\u57df\uff0cCIA\u6a21\u5757\u5224\u65ad\u771f\u5b9e\u6570\u636e\u4e2d\u667a\u80fd\u4f53\u7684\u7c7b\u578b\u3002<\/p>\n

\u7f51\u7edc\u6846\u67b6<\/p>\n

Location-adaptive Sim2Real Adapter (LSA)<\/p>\n

\u4f4d\u7f6e\u81ea\u9002\u5e94\u7684 Sim2Real \u9002\u914d\u5668 (LSA) \u6a21\u5757\u65e8\u5728\u5f25\u5408\u6a21\u62df\u6570\u636e\u548c\u771f\u5b9e\u6570\u636e\u4e4b\u95f4\u7684\u9886\u57df\u5dee\u8ddd\u3002 \u4e3a\u4e86\u4ece\u6a21\u62df\/\u771f\u5b9e\u57df\u5dee\u8ddd\u4e2d\u5b8c\u5168\u6392\u9664\u4ee3\u7406\u95f4\u57df\u5dee\u8ddd\uff0cLSA \u6a21\u5757\u4ec5\u533a\u5206\u914d\u5907\u76f8\u5bf9\u76f8\u4f3c\u4f20\u611f\u5668\u7684\u4ee3\u7406\u7684\u7279\u5f81\u3002\u5373\u8be5\u6a21\u5757\u53ea\u5224\u65adego\u667a\u80fd\u4f53\u7684\u7279\u5f81\u5c5e\u4e8e\u6e90\u57df\u548c\u76ee\u6807\u57df\u3002\u5177\u4f53\u6765\u8bf4\uff0cLSA\u4f7f\u7528\u53ef\u5b66\u4e60\u7684\u7279\u5f81\u9009\u62e9\u56fe\u6765\u6355\u83b7\u5206\u5e03\u7684\u5185\u90e8\u6a21\u5f0f\uff0c\u5e76\u76f8\u5e94\u5730\u4ece\u81ea\u6211\u4ee3\u7406\u7684\u7279\u5f81\u56fe\u4e2d\u9009\u62e9\u91cd\u8981\u7684\u7279\u5f81\uff0c\u6700\u7ec8\u805a\u5408\u5168\u5c40\u7279\u5f81\u3002\u8be5\u5168\u5c40\u7279\u5f81\u6700\u7ec8\u8f93\u5165\u5224\u522b\u5668D_sim\u8fdb\u884c\u4eff\u771f\u57df\u548c\u771f\u5b9e\u57df\u7684\u5224\u65ad\u3002<\/p>\n

LSA<\/p>\n

Confidence-aware Inter-agent Adapter (CIA)<\/p>\n

\u7f6e\u4fe1\u611f\u77e5\u667a\u80fd\u4f53\u95f4\u9002\u914d\u5668\uff08CIA\uff09\u6a21\u5757\u65e8\u5728\u6700\u5c0f\u5316\u73b0\u5b9e\u4e16\u754c\u4e2d\u5f02\u6784\u667a\u80fd\u4f53\u4e4b\u95f4\u7684\u57df\u5dee\u8ddd\u3002 \u5373\u5224\u65ad\u771f\u5b9e\u6570\u636e\u96c6\u7684\u667a\u80fd\u4f53\u5c5e\u4e8e\u54ea\u4e2a\u7c7b\u578b\uff08\u8f66\u8f86\u6216\u8005\u8def\u7aef\uff09\u3002<\/p>\n

\u5177\u4f53\u6765\u8bf4\uff0cCIA\u5c06\u771f\u5b9e\u57df\u7684\u667a\u80fd\u4f53\u7279\u5f81\u8f93\u5165D_agent\u8fdb\u884c\u7c7b\u578b\u5224\u65ad\uff0c\u4f46\u662f\u8003\u8651\u5230\u70b9\u4e91\u7684\u7a00\u758f\u6027\uff0c\u4e00\u4e9b\u65e0\u70b9\u4e91\u533a\u57df\u751f\u6210\u7684\u7a7a\u7f51\u683c\u5bf9\u5224\u65ad\u5e26\u6765\u566a\u58f0\u3002\u56e0\u6b64CIA\u6a21\u5757\u4f7f\u7528\u667a\u80fd\u4f53\u7279\u5f81\u751f\u6210\u7684\u5206\u7c7b\u5206\u6570\u7684\u6700\u5c0f\u503c\u4f5c\u4e3a\u635f\u5931\u7684\u6743\u91cd\uff0c\u786e\u4fdd\u53c2\u4e0e\u5224\u65ad\u7684\u7279\u5f81\u533a\u57df\u90fd\u6709\u70b9\u4e91\u3002<\/p>\n

<\/p>\n

CIA<\/p>\n

\u635f\u5931\u51fd\u6570<\/p>\n

\u5728\u6e90\u57df\u8bad\u7ec3\u534f\u540c\u68c0\u6d4b\u7f51\u7edc\u65f6\uff0c\u4f7f\u75283D\u76ee\u6807\u68c0\u6d4b\u635f\u5931\u51fd\u6570\uff1a\u52a0\u5165\u65e0\u6807\u7b7e\u7684\u76ee\u6807\u57df\u8fdb\u884c\u5fae\u8c03\u540e\uff0c\u4f7f\u7528\u4e0b\u9762\u7684\u7ec4\u5408\u635f\u5931\u51fd\u6570\uff1a\u5b9e\u9a8c<\/p>\n

\u4f7f\u7528\u7684\u6570\u636e\u96c6\u4e3a\u4eff\u771f\u534f\u540c\u8f66\u8def\u534f\u540c\u6570\u636e\u96c6V2XSet\u548c\u771f\u5b9e\u8f66\u8def\u534f\u540c\u6570\u636e\u96c6DAIR-V2X-C\u3002<\/p>\n

Baseline\u91c7\u53d6\u4e86Self-training\u548cNaive Sim\/real Discriminator\uff0c\u5176\u4e2dSelf-training\u4ea4\u66ff\u751f\u6210\u76ee\u6807\u57df\u7684\u4f2a\u6807\u7b7e\u548c\u5fae\u8c03\u7f51\u7edc\uff0cNaive Sim\/real Discriminator\u53ea\u4f7f\u7528\u4e00\u4e2a\u5224\u522b\u5668\u5224\u65ad\u6570\u636e\u6765\u6e90\u4e8e\u4eff\u771f\u57df\u8fd8\u662f\u771f\u5b9e\u57df\u3002<\/p>\n

\u4f5c\u8005\u5728\u591a\u4e2a\u4e2d\u671f\u878d\u5408\u7f51\u7edc\u8fdb\u884c\u4e86\u6cdb\u5316\u6027\u5b9e\u9a8c\uff0c\u8fd9\u91cc\u53ea\u5c55\u793a\u4e00\u4e2a\u878d\u5408\u7f51\u7edc\u7684\u5b9e\u9a8c\u7ed3\u679c\u3002Oracle\u662f\u5728\u76ee\u6807\u57df\u5168\u76d1\u7763\u8bad\u7ec3\u7684\u7ed3\u679c\uff0c\u662f\u5b9e\u9a8c\u7684\u4e0a\u9650\uff0cNo adaption\u662f\u6307\u5c06\u6e90\u57df\u8bad\u7ec3\u5f97\u5230\u7684\u7f51\u7edc\u76f4\u63a5\u7528\u4e8e\u76ee\u6807\u57df\u63a8\u7406\u3002\u53ef\u4ee5\u770b\u5230\u6240\u63d0\u65b9\u6cd5\u5728\u89e3\u51b3\u65e0\u76d1\u7763\u57df\u9002\u5e94\u7684\u6709\u6548\u6027\u3002<\/p>\n

\u4f5c\u8005\u4e5f\u63d0\u4f9b\u4e86\u4e24\u4e2a\u6a21\u5757\u7684\u6d88\u878d\u5b9e\u9a8c\uff0c\u8be5\u7ed3\u679c\u9a8c\u8bc1\u4e86\u4e24\u4e2a\u6a21\u5757\u7684\u6709\u6548\u6027\u4ee5\u53ca\u5404\u6a21\u5757\u6dfb\u52a0\u7279\u5f81\u9009\u62e9\u6b65\u9aa4\u7684\u5fc5\u8981\u6027\u3002<\/p>\n

<\/p>\n

\u7ed3\u8bba<\/p>\n

\u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u7528\u4e8e V2X \u534f\u4f5c\u68c0\u6d4b\u7684\u65e0\u76d1\u7763 sim2real \u57df\u9002\u5e94\u65b9\u6cd5\uff0c\u79f0\u4e3a\u89e3\u8026\u65e0\u76d1\u7763 Sim2Real \u9002\u5e94\uff08DUSA\uff09\u3002 \u5b83\u5c06V2X\u534f\u4f5csim2real\u57df\u9002\u5e94\u95ee\u9898\u89e3\u8026\u4e3a\u4e24\u4e2a\u5b50\u95ee\u9898\uff1asim2real\u9002\u5e94\u548c\u667a\u80fd\u4f53\u95f4\u9002\u5e94\uff0c\u5e76\u5206\u522b\u7528LSA\u6a21\u5757\u548cCIA\u6a21\u5757\u6765\u89e3\u51b3\u5b83\u4eec\u3002 LSA \u6a21\u5757\u5229\u7528\u4f4d\u7f6e\u91cd\u8981\u6027\u6765\u9f13\u52b1\u7279\u5f81\u63d0\u53d6\u5668\u4ea7\u751f\u6a21\u62df\/\u771f\u5b9e\u4e0d\u53d8\u7279\u5f81\u3002 CIA \u6a21\u5757\u5229\u7528\u7f6e\u4fe1\u5ea6\u7ebf\u7d22\u5e2e\u52a9\u7279\u5f81\u63d0\u53d6\u5668\u8f93\u51fa\u4ee3\u7406\u4e0d\u53d8\u7279\u5f81\u3002 \u8fd9\u4e24\u4e2a\u6a21\u5757\u901a\u8fc7 GRL \u7684\u5bf9\u6297\u6027\u8bad\u7ec3\u6d88\u9664\u4e86\u6a21\u62df\/\u771f\u5b9e\u548c\u4ee3\u7406\u95f4\u7684\u57df\u5dee\u8ddd\u3002 \u591a\u4e2a\u534f\u4f5c 3D \u68c0\u6d4b\u5668\u4e0a\u7684\u5b9e\u9a8c\u8bc1\u660e\u4e86\u6240\u63d0\u51fa\u7684 DUSA \u65b9\u6cd5\u5728\u4ece\u6a21\u62df V2XSet \u6570\u636e\u96c6\u5230\u771f\u5b9e\u4e16\u754c DAIR-V2X-C \u6570\u636e\u96c6\u7684\u65e0\u76d1\u7763 sim2real \u9002\u5e94\u65b9\u9762\u7684\u6709\u6548\u6027\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

Title: DUSA: Decoupled […]<\/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-6534","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":1,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/6534"}],"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=6534"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/6534\/revisions"}],"predecessor-version":[{"id":6536,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/6534\/revisions\/6536"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=6534"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=6534"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=6534"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}