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id=\"2L3OS1NK\">\u4e3a\u4e86\u51c6\u786e\u7684\u4f18\u5316BEV\u7279\u5f81\uff0c\u4f5c\u8005\u4f7f\u7528LLM\u548c\u5bf9\u6bd4\u5b66\u4e60\u8303\u5f0f\u4e24\u79cd\u76d1\u7763\u4fe1\u53f7\u5bf9BEV\u671f\u671b\u8fdb\u884c\u5b66\u4e60\uff0c<strong>\u4e3a\u4e86\u65b9\u4fbf\u4eceLLM\u4e2d\u5bfc\u51fa\u76f8\u5e94Agent\u671f\u671b\u7684\u611f\u77e5\u4fe1\u606f\uff0c\u4f5c\u8005\u5c06Agent\u6807\u7b7e\u3001\u8fb9\u754c\u6846\u548c\u672a\u6765\u8f68\u8ff9\u7b49ground-truth\u4fe1\u606f\u5d4c\u5165\u5230\u4e0b\u56fe\u6240\u793a\u7684Prompts\u4e2d<\/strong>\uff0c\u7136\u540e\u5c06\u8fd9\u4e9bprompts\u9001\u5165\u5230LLM\u7684\u7f16\u7801\u5668\u4e2d\u5f97\u5230\u76f8\u5e94\u7684Agent\u671f\u671b\u7279\u5f81\u3002<\/p>\n<p class=\"f_center\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2024%2F0419%2F28a933c6j00sc5yk7003xd200l300olg00it00lx.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p id=\"2L3OS1NM\">\u4f5c\u8005\u8bbe\u7f6e\u4e86\u51e0\u4e2aMLP\u5c42 \u6765\u4f7f\u671f\u671b\u7279\u5f81\u9002\u5e94\u5230 BEV \u7279\u5f81\u7a7a\u95f4\u4e2d\uff0c\u5e76\u6309\u7167\u7c7b\u4f3c\u7684\u65b9\u5f0f\u5c06\u8fd9\u4e9b\u671f\u671b\u7279\u5f81\u62fc\u63a5\u8d77\u6765\u751f\u6210Agent\u671f\u671b\u5f20\u91cf\uff0c\u8ba1\u7b97\u8fc7\u7a0b\u5982\u4e0b\u5f0f\u6240\u793a\uff0c\u5176\u4e2d \u5206\u522b\u8868\u793a\u5355\u4e2aAgent\u671f\u671b\u7279\u5f81\u3001\u63cf\u8ff0\u6a21\u677f\u548cADS\u4e2d\u5404\u4e2aAgent\u7684ground-truth\u4fe1\u606f\u3002\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\uff0c<strong>\u4f5c\u8005\u51bb\u7ed3\u4e86LLM\u7684\u53c2\u6570\u4ec5\u5bf9\u9002\u5e94\u5c42<\/strong><strong>\u8fdb\u884c\u66f4\u65b0\uff0c\u8fd9\u6837\u505a\u53ef\u4ee5\u8282\u7701\u663e\u5b58\u540c\u65f6\u4fdd\u7559LLM\u4e2d\u7684\u9884\u8bad\u7ec3\u77e5\u8bc6\u3002<\/strong><\/p>\n<p class=\"f_center\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2024%2F0419%2Fa150004aj00sc5yk70015d200fr006dg00fi0069.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p id=\"2L3OS1NO\">\u5728\u5f97\u5230Agent BEV\u7279\u5f81 \u548cAgent\u671f\u671b\u7279\u5f81 \u540e\uff0c\u5c31\u53ef\u4ee5\u901a\u8fc7\u5bf9\u6bd4\u5b66\u4e60\u635f\u5931\u8fdb\u884c\u4f18\u5316\u5bf9\u9f50\u3002<\/p>\n<p><strong>2.2 \u8f66\u8f86\u4e3a\u4e2d\u5fc3\u7684SLP\u8303\u5f0f<\/strong><\/p>\n<p id=\"2L3OS1NP\">\u8f66\u8f86\u81ea\u6211\u52a8\u6001\u5efa\u6a21\u662fADS\u7cfb\u7edf\u7684\u6838\u5fc3\u529f\u80fd\uff0c<strong>\u4e4b\u524d\u7684\u65b9\u6cd5\u901a\u5e38\u4ee5\u53c2\u6570\u53ef\u5b66\u4e60\u7684\u5f62\u5f0f\u6765\u8bbe\u7f6e ego-query \uff08\u81ea\u6211\u67e5\u8be2\u5411\u91cf\uff09<\/strong><strong>\u4e0eBEV\u7279\u5f81\u4e2d\u7684\u5176\u4ed6Agent\uff08\u524d\u666fAgent\u548c\u8f66\u9053Agent\u7b49\uff09\u8fdb\u884c\u4ea4\u4e92<\/strong>\uff0c\u6765\u5f97\u5230\u8f66\u8f86\u5f53\u524d\u72b6\u6001\u7684\u611f\u77e5\u4fe1\u606f\u3002\u7ecf\u8fc7\u67e5\u8be2\u5904\u7406\u7684\u8f66\u8f86\u7279\u5f81 \u968f\u540e\u88ab\u8fdb\u4e00\u6b65\u5904\u7406\u6765\u9884\u6d4b\u8f66\u8f86\u89c4\u5212\u7684\u4e0b\u4e00\u4e2a\u8def\u5f84\u70b9\uff0c\u8ba1\u7b97\u8fc7\u7a0b\u5982\u4e0b\uff1a<\/p>\n<p class=\"f_center\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2024%2F0419%2Fd9f37848p00sc5yk8000cd200id0031g00id0031.png&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p id=\"2L3OS1NR\">\u5176\u4e2d \u548c \u5206\u522b\u8868\u793aADS\u4e2d\u7684\u81ea\u6211\u4fe1\u606f\u6536\u96c6\u6a21\u5757\u548c\u8def\u5f84\u89c4\u5212\u5934\uff0c\u4f5c\u8005\u8ba4\u4e3a\uff0c<strong>\u867d\u7136\u8fd9\u79cd\u673a\u5236\u53ef\u4ee5\u53d6\u5f97\u826f\u597d\u7684\u89c4\u5212\u7ed3\u679c\uff0c\u4f46\u4ec5\u4ec5\u4f9d\u8d56\u6570\u503c\u4f18\u5316\u4f1a\u5bfc\u81f4ADS\u51b3\u7b56\u7684\u53ef\u89e3\u91ca\u6027\u8f83\u5dee\uff0c\u5bfc\u81f4\u6a21\u578b\u9002\u5e94\u5230\u65b0\u73af\u5883\u4e2d\u7684\u96be\u5ea6\u589e\u5927<\/strong>\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u9650\u5236\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u4ee5\u8f66\u8f86\u4e3a\u4e2d\u5fc3\u7684SLP\u8303\u5f0f\uff0cSLP\u53ef\u4ee5\u4f7f ADS \u5177\u5907\u4ece\u8fde\u7eed\u4e14\u9c81\u68d2\u7684\u7279\u5f81\u7a7a\u95f4\u4e2d\u505a\u51fa\u51b3\u7b56\u7684\u80fd\u529b\u3002<\/p>\n<p id=\"2L3OS1NS\"><strong>SLP\u9996\u5148\u4f7f\u7528\u89c4\u5212\u8def\u5f84\u7684ground-truth\u6765\u6a21\u677f\u5316\u8f66\u8f86\u72b6\u6001\u7684\u8bed\u8a00\u63cf\u8ff0\uff0c\u5176\u4e2d\u5305\u62ec\u4e86\u9ad8\u7ea7\u9a7e\u9a76\u547d\u4ee4\u548c\u8f66\u8f86\u7684\u672a\u6765\u8f68\u8ff9\u7b49\u4fe1\u606f<\/strong>\uff0c\u968f\u540e\u8fd9\u4e9b\u8bed\u8a00\u63d0\u793a\u88ab\u9001\u5165\u5230LLM\u4e2d\u6765\u751f\u6210\u4f18\u5316\u540e\u7684\u8f66\u8f86\u7279\u5f81 \uff0c\u6574\u4f53\u8fc7\u7a0b\u53ef\u4ee5\u8868\u793a\u5982\u4e0b\uff1a<\/p>\n<p class=\"f_center\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2024%2F0419%2F66f36addp00sc5yk80006d200gk001vg00gk001v.png&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p id=\"2L3OS1NU\">\u4e0e\u4e0a\u4e00\u8282\u4e2d\u4ecb\u7ecd\u7684ALP\u8303\u5f0f\u7c7b\u4f3c\uff0c<strong>\u4f5c\u8005\u540c\u6837\u4f7f\u7528\u5bf9\u6bd4\u5b66\u4e60\u635f\u5931\u5bf9\u8f66\u8f86\u7279\u5f81<\/strong><strong>\u548c<\/strong><strong>\u8fdb\u884c\u7279\u5f81\u5bf9\u9f50<\/strong>\uff0c\u6765\u5411\u6574\u4f53\u6846\u67b6\u4e2d\u6ce8\u5165LLM\u4e2d\u7684\u63a8\u7406\u77e5\u8bc6\u3002<\/p>\n<p id=\"2L3OS1NV\"><strong>\u4e09\u3001\u5b9e\u9a8c\u6548\u679c<\/strong><\/p>\n<p id=\"2L3OS1O0\">\u672c\u6587\u7684\u5b9e\u9a8c\u4e3b\u8981\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\uff0c\u8be5\u6570\u636e\u96c6\u662f\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u4e2d\u5305\u542b\u5b8c\u6574\u4f20\u611f\u5668\u5957\u4ef6\uff086 \u4e2a\u6444\u50cf\u5934\u30011 \u4e2a LIDAR\u30015 \u4e2a RADAR\u3001GPS \u548c IMU \u4f20\u611f\u5668\uff09\u6570\u636e\u7684\u5927\u89c4\u6a21\u516c\u5171\u6570\u636e\u96c6\u3002<strong>nuScenes 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id=\"2L3OS1O1\"><strong>\u8def\u5f84\u89c4\u5212\u662f\u6240\u6709ADS\uff08\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\uff09\u7684\u57fa\u77f3\uff0c\u89c4\u5212\u7b97\u6cd5\u7684\u8bbe\u8ba1\u5173\u7cfb\u5230\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u7684\u884c\u8fdb\u5b89\u5168\u548c\u884c\u8fdb\u6548\u7387<\/strong>\u3002\u5728\u4e0b\u8868\u4e2d\uff0c\u4f5c\u8005\u5c06\u672c\u6587\u7684VLP\u6a21\u578b\u4e0e\u5176\u4ed6baseline\u6a21\u578b\u8fdb\u884c\u4e86\u5bf9\u6bd4\u3002<\/p>\n<p class=\"f_center\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2024%2F0419%2Fb464ada4j00sc5yk9002md200u000dwg00is008o.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p id=\"2L3OS1O2\">\u4ece\u8868\u7684\u7b2c 4-6 \u884c\u4e2d\u53ef\u4ee5\u770b\u51fa\uff0c<strong>\u5728ADS\u4e2d\u4ec5\u52a0\u5165SLP\u8303\u5f0f\u5c31\u53ef\u4ee5\u663e\u8457\u964d\u4f4e\u6a21\u578b\u7684L2\u8bef\u5dee\u548c\u78b0\u649e\u7387\uff0c\u5f53SLP\u548cALP\u5171\u540c\u4f5c\u7528\u65f6\uff0c\u6a21\u578b\u7684\u6027\u80fd\u589e\u76ca\u4f1a\u66f4\u52a0\u660e\u663e<\/strong>\u3002\u4e0e\u57fa\u7ebfUniAD\u76f8\u6bd4\uff0cVLP-UniAD \u7684\u5e73\u5747 L2 \u8bef\u5dee\u548c\u51b2\u7a81\u7387\u5206\u522b\u964d\u4f4e\u4e86 28.1% \u548c 48.4%\uff0c\u8fd9\u8868\u660e\u672c\u6587\u63d0\u51fa\u7684\u4e24\u79cd\u81ea\u52a8\u9a7e\u9a76\u5b66\u4e60\u8303\u5f0f\u7684\u6709\u6548\u6027\uff0c\u4ece\u800c\u80fd\u591f\u5e26\u6765\u66f4\u52a0\u5b89\u5168\u7684\u884c\u52a8\u89c4\u5212\u3002<\/p>\n<p><strong>3.2 \u611f\u77e5\u548c\u9884\u6d4b\u5b9e\u9a8c<\/strong><\/p>\n<p id=\"2L3OS1O3\">\u672c\u6587\u7684<strong>\u611f\u77e5\u548c\u9884\u6d4b\u5b9e\u9a8c\u5305\u542b\u4e86\u591a\u76ee\u6807\u8ddf\u8e2a\uff08Multi-object tracking\uff0cMoT\uff09\u3001\u5728\u7ebf\u6d4b\u7ed8\uff08Online mapping\uff09\u548c\u8fd0\u52a8\u9884\u6d4b\uff08Motion forecasting\uff09\u7b49\u591a\u79cd\u4efb\u52a1<\/strong>\u3002\u8fd9\u4e9b\u4efb\u52a1\u662f\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u91cd\u8981\u7684\u4fe1\u606f\u6765\u6e90\uff0c\u611f\u77e5\u548c\u9884\u6d4b\u7684\u7cbe\u5ea6\u76f4\u63a5\u5f71\u54cd\u4e86\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u53ef\u9760\u6027\u3002<\/p>\n<p 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\u7cfb\u7edf\u7684\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u65b9\u9762\u7684\u6709\u6548\u6027<\/strong>\u3002<\/p>\n<p><strong>\u6587\u732e\u53c2\u8003<\/strong><\/p>\n<p id=\"2L3OS1OB\">[1] Bo Jiang, Shaoyu Chen, Qing Xu, Bencheng Liao, Jiajie Chen, Helong Zhou, Qian Zhang, Wenyu Liu, Chang Huang, and Xinggang Wang. Vad: Vectorized scene representation for efficient autonomous driving. arXiv preprintarXiv:2303.12077, 2023.<\/p>\n<p id=\"2L3OS1OC\">[2] Yihan Hu, Jiazhi Yang, Li Chen, Keyu Li, Chonghao Sima, Xizhou Zhu, Siqi Chai, Senyao Du, Tianwei Lin, Wenhai Wang, et al. Planning-oriented autonomous driving. In Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition, pages 17853\u201317862, 2023.<\/p>\n<p id=\"2L3OS1OD\">llustration From IconScout By Delesign Graphics<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u81ea\u52a8\u9a7e\u9a76\u662f\u4eba\u5de5\u667a\u80fd\u9886\u57df\u4e2d\u4e00\u9879\u517c\u5177\u4ee3\u8868\u6027\u548c\u6311\u6218\u6027 [&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-9667","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\/9667"}],"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=9667"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/9667\/revisions"}],"predecessor-version":[{"id":9676,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/9667\/revisions\/9676"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=9667"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=9667"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=9667"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}