{"id":8195,"date":"2024-02-23T15:05:51","date_gmt":"2024-02-23T07:05:51","guid":{"rendered":"http:\/\/192.168.10.115\/index.php\/2024\/02\/23\/8195\/"},"modified":"2024-02-23T15:05:51","modified_gmt":"2024-02-23T07:05:51","slug":"2024-02-23%e6%b8%85%e5%8d%8e%e5%8f%89%e9%99%a2%e3%80%81%e7%90%86%e6%83%b3%e6%8f%90%e5%87%badrivevlm%ef%bc%8c%e8%a7%86%e8%a7%89%e5%a4%a7%e8%af%ad%e8%a8%80%e6%a8%a1%e5%9e%8b%e6%8f%90%e5%8d%87%e8%87%aa","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/02\/23\/8195\/","title":{"rendered":"2024-02-23\u6e05\u534e\u53c9\u9662\u3001\u7406\u60f3\u63d0\u51faDriveVLM\uff0c\u89c6\u89c9\u5927\u8bed\u8a00\u6a21\u578b\u63d0\u5347\u81ea\u52a8\u9a7e\u9a76\u80fd\u529b"},"content":{"rendered":"

\u4e0e\u751f\u6210\u5f0f AI \u76f8\u6bd4\uff0c\u81ea\u52a8\u9a7e\u9a76\u4e5f\u662f\u8fd1\u671f AI \u6700\u6d3b\u8dc3\u7684\u7814\u7a76\u548c\u5f00\u53d1\u9886\u57df\u4e4b\u4e00\u3002\u8981\u60f3\u6784\u5efa\u5b8c\u5168\u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\uff0c\u4eba\u4eec\u9762\u4e34\u7684\u4e3b\u8981\u6311\u6218\u662f AI \u7684\u573a\u666f\u7406\u89e3\uff0c\u8fd9\u4f1a\u6d89\u53ca\u5230\u590d\u6742\u3001\u4e0d\u53ef\u9884\u6d4b\u7684\u573a\u666f\uff0c\u4f8b\u5982\u6076\u52a3\u5929\u6c14\u3001\u590d\u6742\u7684\u9053\u8def\u5e03\u5c40\u548c\u4e0d\u53ef\u9884\u89c1\u7684\u4eba\u7c7b\u884c\u4e3a\u3002<\/p>\n

\u73b0\u6709\u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u901a\u5e38\u5305\u62ec 3D \u611f\u77e5\u3001\u8fd0\u52a8\u9884\u6d4b\u548c\u89c4\u5212\u7ec4\u6210\u90e8\u5206\u3002\u5177\u4f53\u6765\u8bf4\uff0c3D \u611f\u77e5\u4ec5\u9650\u4e8e\u68c0\u6d4b\u548c\u8ddf\u8e2a\u719f\u6089\u7684\u7269\u4f53\uff0c\u5ffd\u7565\u4e86\u7f55\u89c1\u7269\u4f53\u53ca\u5176\u5c5e\u6027\uff0c \u8fd0\u52a8\u9884\u6d4b\u548c\u89c4\u5212\u5219\u5173\u6ce8\u7269\u4f53\u7684\u8f68\u8ff9\u52a8\u4f5c\uff0c\u901a\u5e38\u4f1a\u5ffd\u7565\u7269\u4f53\u548c\u8f66\u8f86\u4e4b\u95f4\u7684\u51b3\u7b56\u7ea7\u4ea4\u4e92\u3002<\/p>\n

\u81ea\u52a8\u9a7e\u9a76\u9700\u8981\u4ece\u6570\u636e\u9a71\u52a8\u8fed\u4ee3\u5230\u77e5\u8bc6\u9a71\u52a8\uff0c\u901a\u8fc7\u8bad\u7ec3\u5177\u5907\u903b\u8f91\u63a8\u7406\u80fd\u529b\u7684\u5927\u6a21\u578b\u624d\u80fd\u771f\u6b63\u89e3\u51b3\u957f\u5c3e\u95ee\u9898\uff0c\u53ea\u6709\u8fd9\u6837\u624d\u80fd\u8fc8\u5411\u5f00\u653e\u4e16\u754c\u7684 L4 \u7ea7\u80fd\u529b\u3002\u968f\u7740 GPT4\u3001Sora \u7b49\u5927\u6a21\u578b\u901a\u8fc7\u6d8c\u73b0\u3001\u89c4\u6a21\u6548\u5e94\u5c55\u73b0\u51fa\u5f3a\u5927 few-shot\/zero-shot \u80fd\u529b\uff0c\u4eba\u4eec\u6b63\u5728\u601d\u8003\u4e00\u6761\u65b0\u8def\u3002<\/p>\n

\u6700\u8fd1\u6e05\u534e\u5927\u5b66\u4ea4\u53c9\u4fe1\u606f\u7814\u7a76\u9662\u3001\u7406\u60f3\u6c7d\u8f66\u63d0\u4ea4\u7684\u65b0\u8bba\u6587\u4e2d\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86 DriveVLM\uff0c\u53d7\u5230\u6700\u8fd1\u751f\u6210\u5f0f AI \u9886\u57df\u5174\u8d77\u7684\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u542f\u53d1\uff0cDriveVLM \u5728\u89c6\u89c9\u7406\u89e3\u548c\u63a8\u7406\u65b9\u9762\u8868\u73b0\u51fa\u4e86\u975e\u51e1\u7684\u80fd\u529b\u3002<\/p>\n

\u5728\u4e1a\u754c\uff0c\u8fd9\u662f\u7b2c\u4e00\u4e2a\u63d0\u51fa\u81ea\u52a8\u9a7e\u9a76\u5feb\u6162\u7cfb\u7edf\u7684\u5de5\u4f5c\uff0c\u65b9\u6cd5\u5145\u5206\u7ed3\u5408\u4e86\u4e3b\u6d41\u81ea\u52a8\u9a7e\u9a76 pipeline \u548c\u5177\u5907\u903b\u8f91\u601d\u8003\u7684\u5927\u6a21\u578b pipeline\uff0c\u5e76\u7b2c\u4e00\u4e2a\u5b8c\u6210\u7aef\u6d4b\u90e8\u7f72\u7684\u5927\u6a21\u578b\u5de5\u4f5c\uff08\u57fa\u4e8e Orin \u5e73\u53f0\uff09\u3002<\/p>\n

DriveVLM \u5305\u542b\u4e00\u4e2a Chain-of-Though (CoT) \u6d41\u7a0b\uff0c\u8be5\u6d41\u7a0b\u5177\u6709\u4e09\u4e2a\u5173\u952e\u6a21\u5757\uff1a\u573a\u666f\u63cf\u8ff0\u3001\u573a\u666f\u5206\u6790\u548c\u5206\u5c42\u89c4\u5212\u3002\u573a\u666f\u63cf\u8ff0\u6a21\u5757\u7528\u8bed\u8a00\u63cf\u8ff0\u9a7e\u9a76\u73af\u5883\uff0c\u5e76\u8bc6\u522b\u573a\u666f\u4e2d\u7684\u5173\u952e\u5bf9\u8c61\uff1b\u573a\u666f\u5206\u6790\u6a21\u5757\u6df1\u5165\u7814\u7a76\u5173\u952e\u5bf9\u8c61\u7684\u7279\u5f81\u53ca\u5176\u5bf9\u81ea\u6211\u8f66\u8f86\u7684\u5f71\u54cd\uff1b\u5206\u5c42\u89c4\u5212\u6a21\u5757\u4ece\u5143\u52a8\u4f5c\u548c\u51b3\u7b56\u63cf\u8ff0\u5230\u8def\u5f84\u70b9\u9010\u6b65\u5236\u5b9a\u8ba1\u5212\u3002<\/p>\n

\u8fd9\u4e9b\u6a21\u5757\u5206\u522b\u5bf9\u5e94\u4e8e\u4f20\u7edf\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u6d41\u7a0b\u7684\u611f\u77e5 – \u9884\u6d4b – \u89c4\u5212\u6d41\u7a0b\u4e09\u90e8\u5206\u7ec4\u4ef6\uff0c\u4e0d\u540c\u4e4b\u5904\u5728\u4e8e\u5b83\u4eec\u5904\u7406\u5bf9\u8c61\u611f\u77e5\u3001\u610f\u56fe\u7ea7\u9884\u6d4b\u548c\u4efb\u52a1\u7ea7\u89c4\u5212\uff0c\u8fd9\u4e9b\u5728\u8fc7\u53bb\u662f\u975e\u5e38\u5177\u6709\u6311\u6218\u6027\u7684\u3002<\/p>\n

\u867d\u7136 VLM \u5728\u89c6\u89c9\u7406\u89e3\u65b9\u9762\u8868\u73b0\u51fa\u8272\uff0c\u4f46\u5b83\u4eec\u5728\u7a7a\u95f4\u57fa\u7840\u548c\u63a8\u7406\u65b9\u9762\u5b58\u5728\u5c40\u9650\u6027\uff0c\u800c\u4e14\u5176\u7b97\u529b\u9700\u6c42\u5bf9\u7aef\u4fa7\u63a8\u7406\u901f\u5ea6\u63d0\u51fa\u4e86\u6311\u6218\u3002\u56e0\u6b64\uff0c\u4f5c\u8005\u8fdb\u4e00\u6b65\u63d0\u51fa\u4e86 DriveVLMDual\uff0c\u8fd9\u662f\u4e00\u79cd\u7ed3\u5408\u4e86 DriveVLM \u548c\u4f20\u7edf\u7cfb\u7edf\u4f18\u70b9\u7684\u6df7\u5408\u7cfb\u7edf\u3002DriveVLM-Dual \u53ef\u9009\u62e9\u5c06 DriveVLM \u4e0e\u4f20\u7edf 3D \u611f\u77e5\u548c\u89c4\u5212\u6a21\u5757\uff08\u5982 3D \u7269\u4f53\u63a2\u6d4b\u5668\u3001\u5360\u7528\u7f51\u7edc\u548c\u8fd0\u52a8\u89c4\u5212\u5668\uff09\u96c6\u6210\uff0c\u4f7f\u7cfb\u7edf\u80fd\u591f\u5b9e\u73b0 3D \u63a5\u5730\u548c\u9ad8\u9891\u89c4\u5212\u80fd\u529b\u3002\u8fd9\u79cd\u53cc\u7cfb\u7edf\u8bbe\u8ba1\u7c7b\u4f3c\u4e8e\u4eba\u8111\u7684\u6162\u901f\u548c\u5feb\u901f\u601d\u7ef4\u8fc7\u7a0b\uff0c\u53ef\u4ee5\u6709\u6548\u5730\u9002\u5e94\u9a7e\u9a76\u573a\u666f\u4e2d\u4e0d\u540c\u7684\u590d\u6742\u6027\u3002<\/p>\n

\u540c\u65f6\uff0c\u65b0\u7814\u7a76\u5b9a\u4e49\u4e86\u573a\u666f\u7406\u89e3\u548c\u89c4\u5212\uff08SUP\uff09\u4efb\u52a1\uff0c\u5e76\u63d0\u51fa\u4e86\u65b0\u7684\u8bc4\u4f30\u6307\u6807\u6765\u8bc4\u4f30 DriveVLM \u548c DriveVLM-Dual \u7684\u573a\u666f\u5206\u6790\u548c\u5143\u52a8\u4f5c\u89c4\u5212\u80fd\u529b\u3002\u6b64\u5916\uff0c\u4f5c\u8005\u8fd8\u8fdb\u884c\u4e86\u5168\u9762\u7684\u6570\u636e\u6316\u6398\u548c\u6ce8\u91ca\u7ba1\u9053\uff0c\u4e3a SUP \u4efb\u52a1\u6784\u5efa\u5185\u90e8 SUP-AD \u6570\u636e\u96c6\u3002<\/p>\n

\u7ecf\u8fc7 nuScenes \u6570\u636e\u96c6\u548c\u81ea\u6709\u6570\u636e\u96c6\u4e0a\u7684\u5927\u91cf\u5b9e\u9a8c\uff0c\u4eba\u4eec\u8bc1\u660e\u4e86 DriveVLM \u7684\u4f18\u8d8a\u6027\uff0c\u5c24\u5176\u662f\u5728\u5c11\u91cf\u955c\u5934\u7684\u60c5\u51b5\u4e0b\u3002\u6b64\u5916\uff0cDriveVLM-Dual \u8d85\u8d8a\u4e86\u6700\u5148\u8fdb\u7684\u7aef\u5230\u7aef\u8fd0\u52a8\u89c4\u5212\u65b9\u6cd5\u3002<\/p>\n

\u8bba\u6587\u300aDriveVLM: The Convergence of Autonomous Driving and Large Vision-Language Models\u300b<\/p>\n

<\/p>\n

\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2402.12289<\/p>\n

\u9879\u76ee\u8fde\u63a5\uff1ahttps:\/\/tsinghua-mars-lab.github.io\/DriveVLM\/<\/p>\n

DriveVLM \u7684\u6574\u4f53\u6d41\u7a0b\u5982\u56fe 1 \u6240\u793a\uff1a<\/p>\n

    \n
  1. \u5c06\u8fde\u7eed\u5e27\u89c6\u89c9\u56fe\u50cf\u8fdb\u884c\u7f16\u7801\uff0c\u901a\u8fc7\u7279\u5f81\u5bf9\u9f50\u6a21\u5757\uff0c\u4e0e LMM \u8fdb\u884c\u4ea4\u4e92\uff1b<\/li>\n
  2. \u4ece\u573a\u666f\u63cf\u8ff0\u5f00\u59cb\u5f15\u5bfc VLM \u6a21\u578b\u7684\u601d\u8003\uff0c\u5148\u5f15\u5bfc\u65f6\u95f4\u3001\u573a\u666f\u3001\u8f66\u9053\u73af\u5883\u7b49\u9759\u6001\u573a\u666f\uff0c\u518d\u5f15\u5bfc\u5f71\u54cd\u9a7e\u9a76\u51b3\u7b56\u5173\u952e\u969c\u788d\u7269\uff1b<\/li>\n
  3. \u5bf9\u5173\u952e\u969c\u788d\u7269\u8fdb\u884c\u5206\u6790\uff0c\u901a\u8fc7\u4f20\u7edf 3D \u68c0\u6d4b\u548c VLM \u7406\u89e3\u7684\u969c\u788d\u7269\u8fdb\u884c\u5339\u914d\uff0c\u8fdb\u2f00\u6b65\u786e\u8ba4\u969c\u788d\u7269\u7684\u6709\u6548\u6027\u5e76\u6d88\u9664\u5e7b\u89c9\uff0c\u63cf\u8ff0\u8be5\u573a\u666f\u4e0b\u7684\u5173\u952e\u969c\u788d\u7269\u7684\u7279\u5f81\u548c\u5bf9\u6211\u4eec\u9a7e\u9a76\u7684\u5f71\u54cd\uff1b<\/li>\n
  4. \u7ed9\u51fa\u5173\u952e\u7684\u300c\u5143\u51b3\u7b56\u300d\uff0c\u5982\u51cf\u901f\u3001\u505c\u8f66\u3001\u5de6\u53f3\u8f6c\u7b49\uff0c\u5728\u6839\u636e\u5143\u51b3\u7b56\u7ed9\u51fa\u9a7e\u9a76\u7b56\u7565\u63cf\u8ff0\uff0c\u5e76\u6700\u7ec8\u7ed9\u51fa\u4e3b\u8f66\u672a\u6765\u7684\u9a7e\u9a76\u8f68\u8ff9\u3002<\/li>\n<\/ol>\n

    <\/p>\n

    \u56fe 1.DriveVLM \u548c DriveVLM-Dual \u6a21\u578b\u7ba1\u9053\u3002\u4e00\u7cfb\u5217\u56fe\u50cf\u7531\u5927\u89c6\u89c9\u8bed\u8a00\u6a21\u578b (VLM) \u5904\u7406\uff0c\u4ee5\u6267\u884c\u7279\u6b8a\u7684\u601d\u60f3\u94fe (CoT) \u63a8\u7406\uff0c\u4ece\u800c\u5f97\u51fa\u9a7e\u9a76\u89c4\u5212\u7ed3\u679c\u3002\u5927\u578b VLM \u6d89\u53ca\u89c6\u89c9\u53d8\u6362\u5668\u7f16\u7801\u5668\u548c\u5927\u8bed\u8a00\u6a21\u578b\uff08LLM\uff09\u3002\u89c6\u89c9\u7f16\u7801\u5668\u4ea7\u751f\u56fe\u50cf\u6807\u8bb0\uff1b\u7136\u540e\u57fa\u4e8e\u6ce8\u610f\u529b\u7684\u63d0\u53d6\u5668\u5c06\u8fd9\u4e9b\u6807\u8bb0\u4e0e LLM \u5bf9\u9f50\uff1b\u6700\u540e\uff0cLLM \u8fdb\u884c CoT \u63a8\u7406\u3002CoT \u8fc7\u7a0b\u53ef\u4ee5\u5206\u4e3a\u4e09\u4e2a\u6a21\u5757\uff1a\u573a\u666f\u63cf\u8ff0\u3001\u573a\u666f\u5206\u6790\u548c\u5c42\u6b21\u89c4\u5212\u3002<\/p>\n

    DriveVLM-Dual \u662f\u4e00\u79cd\u6df7\u5408\u7cfb\u7edf\uff0c\u5229\u7528 DriveVLM \u5bf9\u73af\u5883\u7684\u7efc\u5408\u7406\u89e3\u548c\u51b3\u7b56\u8f68\u8ff9\u7684\u5efa\u8bae\uff0c\u63d0\u5347\u4e86\u4f20\u7edf\u81ea\u52a8\u9a7e\u9a76 Pipeline \u7684\u51b3\u7b56\u548c\u89c4\u5212\u80fd\u529b\u3002\u5b83\u5c06 3D \u611f\u77e5\u7ed3\u679c\u5408\u5e76\u4e3a\u8bed\u8a00\u63d0\u793a\uff0c\u4ee5\u589e\u5f3a 3D \u573a\u666f\u7406\u89e3\u80fd\u529b\uff0c\u5e76\u901a\u8fc7\u5b9e\u65f6\u8fd0\u52a8\u89c4\u5212\u5668\u8fdb\u4e00\u6b65\u7ec6\u5316\u8f68\u8ff9\u8def\u70b9\u3002<\/p>\n

    \u5c3d\u7ba1 VLM \u64c5\u957f\u8bc6\u522b\u957f\u5c3e\u7269\u4f53\u548c\u7406\u89e3\u590d\u6742\u573a\u666f\uff0c\u4f46\u5b83\u4eec\u7ecf\u5e38\u96be\u4ee5\u7cbe\u786e\u7406\u89e3\u7269\u4f53\u7684\u7a7a\u95f4\u4f4d\u7f6e\u548c\u8be6\u7ec6\u8fd0\u52a8\u72b6\u6001\uff0c\u8fd9\u4e00\u4e0d\u8db3\u6784\u6210\u4e86\u91cd\u5927\u6311\u6218\u3002\u66f4\u7cdf\u7cd5\u7684\u662f\uff0cVLM \u5de8\u5927\u7684\u6a21\u578b\u4f53\u91cf\u5bfc\u81f4\u9ad8\u5ef6\u8fdf\uff0c\u963b\u788d\u4e86\u81ea\u52a8\u9a7e\u9a76\u7684\u5b9e\u65f6\u54cd\u5e94\u80fd\u529b\u3002\u4e3a\u4e86\u5e94\u5bf9\u8fd9\u4e9b\u6311\u6218\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86 DriveVLM-Dual\uff0c\u8ba9 DriveVLM \u548c\u4f20\u7edf\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u8fdb\u884c\u5408\u4f5c\u3002\u8fd9\u79cd\u65b0\u65b9\u6cd5\u6d89\u53ca\u4e24\u4e2a\u5173\u952e\u7b56\u7565\uff1a\u7ed3\u5408 3D \u611f\u77e5\u8fdb\u884c\u5173\u952e\u5bf9\u8c61\u5206\u6790\uff0c\u7ed9\u51fa\u9ad8\u7ef4\u9a7e\u9a76\u51b3\u7b56\u4fe1\u606f\uff0c\u4ee5\u53ca\u9ad8\u9891\u8f68\u8ff9\u7ec6\u5316\u3002<\/p>\n

    \u53e6\u5916\uff0c\u4e3a\u4e86\u5145\u5206\u53d1\u6325 DriveVLM \u548c DriveVLMDual \u5728\u5904\u7406\u590d\u6742\u548c\u957f\u5c3e\u9a7e\u9a76\u573a\u666f\u65b9\u9762\u7684\u6f5c\u529b\uff0c\u7814\u7a76\u4eba\u5458\u6b63\u5f0f\u5b9a\u4e49\u4e86\u4e00\u9879\u540d\u4e3a\u573a\u666f\u7406\u89e3\u89c4\u5212\u7684\u4efb\u52a1\uff0c\u4ee5\u53ca\u4e00\u7ec4\u8bc4\u4f30\u6307\u6807\u3002\u6b64\u5916\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u6570\u636e\u6316\u6398\u548c\u6ce8\u91ca\u534f\u8bae\u6765\u7ba1\u7406\u573a\u666f\u7406\u89e3\u548c\u89c4\u5212\u6570\u636e\u96c6\u3002<\/p>\n

    \u4e3a\u4e86\u5145\u5206\u8bad\u7ec3\u6a21\u578b\uff0c\u4f5c\u8005\u5168\u65b0\u5f00\u53d1\u4e86\u2f00\u5957 Drive LLM \u7684\u6807\u6ce8\u5de5\u5177\u548c\u6807\u6ce8\u65b9\u6848\uff0c\u901a\u8fc7\u81ea\u52a8\u5316\u6316\u6398\u3001\u611f\u77e5\u7b97\u6cd5\u9884\u5237\u3001GPT-4 \u5927\u6a21\u578b\u603b\u7ed3\u548c\u4eba\u5de5\u6807\u6ce8\u7b49\u591a\u79cd\u65b9\u5f0f\u76f8\u7ed3\u5408\uff0c\u5f62\u6210\u4e86\u76ee\u524d\u8fd9\u2f00\u5957\u9ad8\u6548\u7684\u6807\u6ce8\u65b9\u6848\uff0c\u6bcf\u2f00\u4e2a Clip \u6570\u636e\u90fd\u5305\u542b\u4e86\u591a\u8fbe\u6570\u5341\u79cd\u6807\u6ce8\u5185\u5bb9\u3002<\/p>\n

    <\/p>\n

    \u56fe 2. SUP-AD \u6570\u636e\u96c6\u7684\u5e26\u6ce8\u91ca\u6837\u672c\u3002<\/p>\n

    \u4f5c\u8005\u8fd8\u63d0\u51fa\u4e86\u4e00\u4e2a\u5168\u9762\u7684\u6570\u636e\u6316\u6398\u548c\u6ce8\u91ca\u7ba1\u9053\uff0c\u5982\u56fe 3 \u6240\u793a\uff0c\u4e3a\u6240\u63d0\u51fa\u7684\u4efb\u52a1\u6784\u5efa\u573a\u666f\u7406\u89e3\u89c4\u5212 (SUP-AD\uff0cScene Understanding for Planning in Autonomous Driving) \u6570\u636e\u96c6\uff0c\u5305\u542b 100k+ \u56fe\u50cf\u548c 1000k+ \u56fe\u6587\u5bf9 \u3002\u5177\u4f53\u6765\u8bf4\uff0c\u4f5c\u8005\u9996\u5148\u4ece\u5927\u578b\u6570\u636e\u5e93\u4e2d\u8fdb\u884c\u957f\u5c3e\u5bf9\u8c61\u6316\u6398\u548c\u5177\u6709\u6311\u6218\u6027\u7684\u573a\u666f\u6316\u6398\u6765\u6536\u96c6\u6837\u672c\uff0c\u7136\u540e\u4ece\u6bcf\u4e2a\u6837\u672c\u4e2d\u9009\u62e9\u4e00\u4e2a\u5173\u952e\u5e27\u5e76\u8fdb\u4e00\u6b65\u8fdb\u884c\u573a\u666f\u6ce8\u91ca\u3002<\/p>\n

    <\/p>\n

    \u56fe 3. \u7528\u4e8e\u6784\u5efa\u573a\u666f\u7406\u89e3\u548c\u89c4\u5212\u6570\u636e\u96c6\u7684\u6570\u636e\u6316\u6398\u548c\u6ce8\u91ca\u7ba1\u9053\uff08\u4e0a\u56fe\uff09\u3002\u4ece\u6570\u636e\u96c6\u4e2d\u968f\u673a\u91c7\u6837\u7684\u573a\u666f\u793a\u4f8b\uff08\u5982\u4e0b\uff09\u5c55\u793a\u4e86\u6570\u636e\u96c6\u7684\u591a\u6837\u6027\u548c\u590d\u6742\u6027\u3002<\/p>\n

    SUP-AD \u5206\u4e3a\u8bad\u7ec3\u3001\u9a8c\u8bc1\u548c\u6d4b\u8bd5\u90e8\u5206\uff0c\u6bd4\u4f8b\u4e3a 7.5 : 1 : 1.5\u3002\u4f5c\u8005\u5728\u8bad\u7ec3\u5206\u5272\u4e0a\u8bad\u7ec3\u6a21\u578b\uff0c\u5e76\u4f7f\u7528\u65b0\u63d0\u51fa\u7684\u573a\u666f\u63cf\u8ff0\u548c\u5143\u52a8\u4f5c\u6307\u6807\u6765\u8bc4\u4f30\u9a8c\u8bc1 \/ \u6d4b\u8bd5\u5206\u5272\u4e0a\u7684\u6a21\u578b\u6027\u80fd\u3002<\/p>\n

    nuScenes \u6570\u636e\u96c6\u662f\u4e00\u4e2a\u5927\u89c4\u6a21\u7684\u57ce\u5e02\u573a\u666f\u9a7e\u9a76\u6570\u636e\u96c6\uff0c\u6709 1000 \u4e2a\u573a\u666f\uff0c\u6bcf\u4e2a\u573a\u666f\u6301\u7eed\u7ea6 20 \u79d2\u3002\u5173\u952e\u5e27\u5728\u6574\u4e2a\u6570\u636e\u96c6\u4e0a\u4ee5 2Hz \u7684\u9891\u7387\u5747\u5300\u6ce8\u91ca\u3002\u5728\u8fd9\u91cc\uff0c\u4f5c\u8005\u91c7\u7528\u4f4d\u79fb\u8bef\u5dee\uff08DE\uff09\u548c\u78b0\u649e\u7387\uff08CR\uff09\u4f5c\u4e3a\u6307\u6807\u6765\u8bc4\u4f30\u6a21\u578b\u5728\u9a8c\u8bc1\u5206\u5272\u4e0a\u7684\u6027\u80fd\u3002<\/p>\n

    \u4f5c\u8005\u5c55\u793a\u4e86 DriveVLM \u4e0e\u51e0\u79cd\u5927\u578b\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u7684\u6027\u80fd\uff0c\u5e76\u5c06\u5b83\u4eec\u4e0e GPT-4V \u8fdb\u884c\u6bd4\u8f83\uff0c\u5982\u8868 1 \u6240\u793a\u3002DriveVLM \u5229\u7528 Qwen-VL \u4f5c\u4e3a\u5176\u9aa8\u5e72\uff0c\u5176\u5b9e\u73b0\u4e86\u4e0e\u5176\u4ed6\u5f00\u6e90 VLM \u76f8\u6bd4\u7684\u6700\u4f73\u6027\u80fd\uff0c\u5177\u6709\u5e94\u7b54\u548c\u7075\u6d3b\u4ea4\u4e92\u7684\u7279\u70b9\u3002\u5176\u4e2d\u524d\u4e24\u4e2a\u5927\u6a21\u578b\u5df2\u5f00\u6e90\uff0c\u4f7f\u7528\u4e86\u540c\u6837\u7684\u6570\u636e\u8fdb\u8fdb\u4e86\u5fae\u8c03\u8bad\u7ec3\uff0cGPT-4V \u4f7f\u7528\u4e86\u590d\u6742\u7684 Prompt \u8fdb\u884c Prompt \u5de5\u7a0b\u3002<\/p>\n

    <\/p>\n

    \u8868 1. \u5728 SUP-AD \u6570\u636e\u96c6\u4e0a\u7684\u6d4b\u8bd5\u96c6\u7ed3\u679c\u3002\u8fd9\u91cc\u4f7f\u7528\u4e86 GPT-4V \u7684\u5b98\u65b9 API\uff0c\u5bf9\u4e8e Lynx \u548c CogVLM\uff0c\u5229\u7528\u8bad\u7ec3\u5206\u5272\u6765\u8fdb\u884c\u5fae\u8c03\u3002<\/p>\n

    \u5982\u8868 2 \u6240\u793a\uff0cDriveVLM-Dual \u4e0e VAD \u914d\u5408\u65f6\uff0c\u5728 nuScenes \u89c4\u5212\u4efb\u52a1\u4e0a\u53d6\u5f97\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\u3002\u8fd9\u8868\u660e\u65b0\u65b9\u6cd5\u867d\u7136\u662f\u4e3a\u7406\u89e3\u590d\u6742\u573a\u666f\u800c\u5b9a\u5236\u7684\uff0c\u4f46\u5728\u666e\u901a\u573a\u666f\u4e2d\u4e5f\u8868\u73b0\u51fa\u8272\u3002\u8bf7\u6ce8\u610f\uff0cDriveVLM-Dual \u6bd4 UniAD \u6709\u4e86\u663e\u8457\u63d0\u5347\uff1a\u5e73\u5747\u89c4\u5212\u4f4d\u79fb\u8bef\u5dee\u964d\u4f4e\u4e86 0.64 \u7c73\uff0c\u78b0\u649e\u7387\u964d\u4f4e\u4e86 51%\u3002<\/p>\n

    <\/p>\n

    \u8868 2. nuScenes \u9a8c\u8bc1\u6570\u636e\u96c6\u7684\u89c4\u5212\u7ed3\u679c\u3002DriveVLM-Dual \u5b9e\u73b0\u4e86\u6700\u4f73\u6027\u80fd\u3002\u2020 \u8868\u793a\u4f7f\u7528 Uni-AD \u7684\u611f\u77e5\u548c\u5360\u7528\u9884\u6d4b\u7ed3\u679c\u3002\u2021 \u8868\u793a\u4e0e VAD \u5408\u4f5c\uff0c\u6240\u6709\u6a21\u578b\u90fd\u4ee5\u81ea\u6211\u72b6\u6001\u4f5c\u4e3a\u8f93\u5165\u3002<\/p>\n

    <\/p>\n

    \u56fe 4. DriveVLM \u7684\u5b9a\u6027\u7ed3\u679c\u3002\u6a59\u8272\u66f2\u7ebf\u4ee3\u8868\u6a21\u578b\u5728\u63a5\u4e0b\u6765 3 \u79d2\u5185\u8ba1\u5212\u7684\u672a\u6765\u8f68\u8ff9\u3002<\/p>\n

    DriveVLM \u7684\u5b9a\u6027\u7ed3\u679c\u5982\u56fe 4 \u6240\u793a\u3002\u5728\u56fe 4a \u4e2d\uff0cDriveVLM \u51c6\u786e\u9884\u6d4b\u5f53\u524d\u573a\u666f\u6761\u4ef6\uff0c\u5e76\u7ed3\u5408\u6709\u5173\u63a5\u8fd1\u6211\u4eec\u7684\u9a91\u8f66\u4eba\u7684\u6709\u601d\u8003\u7684\u89c4\u5212\u51b3\u7b56\u3002DriveVLM \u8fd8\u6709\u6548\u5730\u7406\u89e3\u4e86\u524d\u65b9\u4ea4\u8b66\u624b\u52bf\uff0c\u5411\u81ea\u6211\u8f66\u8f86\u53d1\u51fa\u7ee7\u7eed\u524d\u8fdb\u7684\u4fe1\u53f7\uff0c\u5e76\u4e14\u8fd8\u8003\u8651\u4e86\u53f3\u4fa7\u9a91\u4e09\u8f6e\u8f66\u7684\u4eba\uff0c\u4ece\u800c\u505a\u51fa\u6b63\u786e\u7684\u9a7e\u9a76\u51b3\u7b56\u3002\u8fd9\u4e9b\u5b9a\u6027\u7ed3\u679c\u8bc1\u660e\u4e86 DriveVLM \u6a21\u578b\u5177\u6709\u7406\u89e3\u590d\u6742\u573a\u666f\u5e76\u5236\u5b9a\u5408\u9002\u9a7e\u9a76\u8ba1\u5212\u7684\u5353\u8d8a\u80fd\u529b\u3002<\/p>\n

    <\/p>\n

    \u56fe 7\uff1aSUP-AD \u6570\u636e\u96c6\u4e2d\u7684\u5404\u79cd\u9a7e\u9a76\u573a\u666f\u3002<\/p>\n

    <\/p>\n

    \u56fe 9. SUP-AD \u6570\u636e\u96c6\u4e2d\u725b\u7fa4\u548c\u7f8a\u7fa4\u7684\u793a\u4f8b\u3002\u4e00\u7fa4\u725b\u5728\u672c\u8f66\u524d\u65b9\u7f13\u6162\u79fb\u52a8\uff0c\u8981\u6c42\u7b56\u7565\u63a8\u7406\u51fa\u672c\u8f66\u7f13\u6162\u884c\u9a76\u5e76\u4e0e\u725b\u4fdd\u6301\u5b89\u5168\u8ddd\u79bb\u3002<\/p>\n

    <\/p>\n

    \u56fe 16. DriveVLM \u8f93\u51fa\u7684\u53ef\u89c6\u5316\u3002DriveVLM \u53ef\u4ee5\u7cbe\u786e\u68c0\u6d4b\u5012\u4e0b\u7684\u6811\u6728\u53ca\u5176\u4f4d\u7f6e\uff0c\u968f\u540e\u89c4\u5212\u5408\u9002\u7684\u7ed5\u884c\u8f68\u8ff9\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

    \u4e0e\u751f\u6210\u5f0f AI \u76f8\u6bd4\uff0c\u81ea\u52a8\u9a7e\u9a76\u4e5f\u662f\u8fd1\u671f AI […]<\/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-8195","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\/8195"}],"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=8195"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/8195\/revisions"}],"predecessor-version":[{"id":8199,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/8195\/revisions\/8199"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=8195"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=8195"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=8195"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}