{"id":9756,"date":"2024-04-25T14:19:16","date_gmt":"2024-04-25T06:19:16","guid":{"rendered":"http:\/\/192.168.10.115\/index.php\/2024\/04\/25\/9756\/"},"modified":"2024-04-25T14:25:53","modified_gmt":"2024-04-25T06:25:53","slug":"2024-04-23%e5%9c%b0%e5%b9%b3%e7%ba%bf%ef%bc%9a%e7%94%a8%e7%ab%af%e5%88%b0%e7%ab%af%e6%89%93%e5%bc%80%e9%80%9a%e5%be%80%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e7%bb%88%e5%b1%80%e7%9a%84%e5%a4%a7%e9%97%a8","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/04\/25\/9756\/","title":{"rendered":"2024-04-25\u5730\u5e73\u7ebf\uff1a\u7528\u7aef\u5230\u7aef\u6253\u5f00\u901a\u5f80\u81ea\u52a8\u9a7e\u9a76\u7ec8\u5c40\u7684\u5927\u95e8"},"content":{"rendered":"

\u201c\u6211\u4eec\u662f\u4e00\u4e2a\u62ab\u7740\u82af\u7247\u5916\u8863\u7684\u8f6f\u4ef6\u7b97\u6cd5\u516c\u53f8\u3002<\/strong>\u201d \u5730\u5e73\u7ebf\u521b\u59cb\u4eba\u517cCEO \u4f59\u51ef\u66fe\u5728\u91c7\u8bbf\u4e2d\u8fd9\u6837\u89e3\u8bfb\u5730\u5e73\u7ebf\u7684\u4f18\u52bf\u6253\u6cd5\uff1a\u201c\u5728\u53d8\u5316\u4e2d\u6293\u786e\u5b9a\u6027\uff0c\u5168\u5c40\u662f\u4ee5\u4e00\u6253\u5341\uff0c\u5c40\u90e8\u662f\u4ee5\u5341\u6253\u4e00<\/strong>\u3002\u201d<\/p>\n

\u5982\u4f55\u201c\u5c40\u90e8\u5341\u6253\u4e00\u201d\uff1f<\/p>\n

\u53bb\u5e74\uff0c\u5730\u5e73\u7ebf\u4f5c\u4e3a\u7b2c\u4e00\u4f5c\u8005\u63d0\u51fa\u7684Unified Autonomous Driving(UniAD)\uff0c\u9996\u6b21\u4e3a\u81ea\u52a8\u9a7e\u9a76\u7aef\u5230\u7aef\u901a\u7528\u7f51\u7edc\u67b6\u6784\u7684\u8bbe\u60f3\u7ed9\u51fa\u4e86\u5177\u4f53\u8303\u5f0f\uff0c\u5e76\u4e00\u4e3e\u8363\u83b7CVPR 2023 \u6700\u4f73\u8bba\u6587\u3002\u4eca\u5e74\u5e74\u521d\uff0c\u5730\u5e73\u7ebf\u53c8\u5f00\u6e90\u4e86\u7a00\u758f\u5316\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u7b97\u6cd5\u2014\u2014Sparse4D\u7cfb\u5217\u3002<\/p>\n

\u4f46Sparse4D\u5e76\u4e0d\u4ec5\u4ec5\u662f\u8303\u5f0f\uff0c\u5176\u8fd8\u5c06\u662f\u5730\u5e73\u7ebf\u5f81\u7a0b5\u3001\u5f81\u7a0b6\u82af\u7247\u4e4b\u4e0a\u7684\u7b97\u6cd5\u6837\u677f\u95f4\u4e4b\u4e00\u3002<\/strong><\/p>\n

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01<\/strong><\/p>\n

\u4ee5\u5341\u6253\u4e00\u7684\u201c\u6b66\u5668\u201d<\/strong><\/p>\n

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\n\u5730\u5e73\u7ebf\u526f\u603b\u88c1\u517c\u8f6f\u4ef6\u5e73\u53f0\u4ea7\u54c1\u7ebf\u603b\u88c1\u4f59\u8f76\u5357<\/p>\n

3\u6708\u4e0b\u65ec\uff0c\u7279\u65af\u62c9\u5728\u4e00\u5468\u4e4b\u5185\u8fde\u7eed\u53d1\u5e03\u4e86\u201c\u5b8c\u5168\u7531\u795e\u7ecf\u7f51\u7edc\u7ec4\u6210\u201d\u7684\u7aef\u5230\u7aefFSD\u7cfb\u7edf V12.3.1\u548cV12.3.3\u4e24\u4e2a\u7248\u672c\u3002\u6b64\u524d\uff0c\u4e00\u5468\u4e00\u7248\u5df2\u7ecf\u662f\u4e1a\u5185\u201c\u5377\u738b\u201d\u7ea7\u522b\u7684\u53d1\u7248\u901f\u5ea6\u3002\u6548\u679c\u4e0a\uff0cTesla FSD Tracker\uff08FSD\u7528\u6237\u4e3b\u52a8\u4e0a\u4f20\uff09\u7684\u6570\u636e\u663e\u793a\uff0cFSD V11\u7684\u65e0\u63a5\u7ba1\u884c\u9a76\u91cc\u7a0b\u4e3a100\u82f1\u91cc\u5de6\u53f3\uff0c\u800cV12.3\u5df2\u7ecf\u8fbe\u5230368.7\u82f1\u91cc\uff0c622.33\u516c\u91cc\u3002<\/strong><\/p>\n

3\u670826\u65e5\uff0c\u9a6c\u65af\u514b\u5728X\u4e0a\u8868\u793a\uff1a\u201c\u672c\u5468\u5f00\u59cb\uff0c\u5168\u7f8e\u6240\u6709\u9002\u7528\u8f66\u8f86\u5c06\u80fd\u514d\u8d39\u8bd5\u7528FSD\u4e00\u4e2a\u6708\u201d\u30024\u670813\u65e5\uff0c\u7279\u65af\u62c9\u5ba3\u5e03\u8c03\u6574\u6d77\u5916FSD\u6708\u5ea6\u8ba2\u9605\u8d39\u4ef7\u683c\u7531199 \u7f8e\u5143\u964d\u4f4e\u81f399\u7f8e\u5143\u3002<\/p>\n

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\n\u4f20\u7edf\u611f\u77e5\u7cfb\u7edf\u548c\u7aef\u5230\u7aef\u611f\u77e5\u7cfb\u7edf\u7684\u5bf9\u6bd4<\/p>\n

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\u201c\u7aef\u5230\u7aef\u4e4b\u540e\uff0c\u7814\u53d1\u7684\u9700\u6c42\u5c31\u4ece\u5206\u6790\u3001\u62c6\u89e3\u95ee\u9898\uff0c\u53d8\u4e3a\u641e\u6570\u636e\u53bb\u8bad\u7ec3\u6a21\u578b\uff0c\u7136\u540e\u8bc4\u4f30\u3002\u89e3\u51b3\u95ee\u9898\u7684\u89c4\u6a21\u3001\u6548\u7387\u548c\u6cdb\u5316\u80fd\u529b\u662f\u5b8c\u5168\u4e0d\u4e00\u6837\u4e86<\/strong>\u3002\u201d \u4f59\u8f76\u5357\u8868\u793a\uff0c<\/p>\n

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02<\/strong><\/p>\n

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\u4e0e\u5f53\u4e0b\u7b2c\u4e00\u68af\u961f\u73a9\u5bb6\u91cf\u4ea7\u7684\u6a21\u5757\u5316+\u540e\u5904\u7406\u7ec4\u6210\u7684BEV+Transformer\u611f\u77e5\u65b9\u6848\u4e0d\u540c\uff0cSparse4D\u662f\u5b8c\u5168\u7684\u7aef\u5230\u7aef\u611f\u77e5\u7cfb\u7edf<\/strong>\u3002\u5176\u5b8c\u5168\u7531\u795e\u7ecf\u7f51\u7edc\uff0c\u6d88\u9664\u4e86\u7531\u4eba\u7c7b\u64b0\u5199\u4ee3\u7801\u7684\u540e\u5904\u7406\u73af\u8282\u3002\u901a\u8fc7\u524d\u7aef\u4f20\u611f\u5668\u8f93\u5165\u6570\u636e\u540e\uff0c\u53ef\u76f4\u63a5\u8f93\u51fa3\u7ef4\uff08\u957f\u5bbd\u9ad8 3D\uff09+\u65f6\u95f4\u76844D\u611f\u77e5\u7ed3\u679c\uff0c\u4ee5\u53ca3-9\u79d2\uff08\u4f9d\u636e\u4e0d\u540c\u7cbe\u5ea6\uff09\u7684\u9884\u6d4b\u7ed3\u679c\u3002<\/strong><\/p>\n

\u5728nuScenes\u7eaf\u89c6\u89c93D\u68c0\u6d4b\u548c3D\u8ddf\u8e2a\u4e24\u4e2a\u699c\u5355\u4e0a\uff0cSparse4D\u5747\u4f4d\u5217\u7b2c\u4e00\uff0c\u6210\u4e3aSOTA\uff08state-of-the-art model \u67d0\u9886\u57df\u7684\u6700\u4f73\u5b9e\u8df5\u6a21\u578b\uff09\uff0c\u9886\u5148\u4e8e\u5305\u62ecSOLOFusion\u3001BEVFormer v2\u548cStreamPETR\u5728\u5185\u7684\u4e00\u4f17\u6700\u65b0\u65b9\u6cd5\u3002<\/p>\n


\nSparse4D\u7b97\u6cd5\u67b6\u6784<\/p>\n

\u4f46\u8981\u505a\u7aef\u5230\u7aef\uff0c\u5c31\u610f\u5473\u7740\u653e\u5f03\u73b0\u6709\u7b97\u6cd5\u79ef\u7d2f\u7684\u4ee3\u7801<\/strong>\u3002\u201c\u56e0\u4e3a\u6211\u4eec\u662f\u805a\u7126\u4e8e\u8ba1\u7b97\u65b9\u6848\u548c\u611f\u77e5\u7cfb\u7edf\u7684\uff0c\u6240\u4ee5\u5bf9\u6211\u4eec\u6765\u8bf4\u505a\u7aef\u5230\u7aef\u611f\u77e5\u662f\u521a\u9700<\/strong>\u3002\u201d \u4f59\u8f76\u5357\u8868\u793a\u3002<\/p>\n

\u56e0\u4e3a\u5f81\u7a0b6\u5e0c\u671b\u201c\u641e\u5b9a\u201d\u57ce\u5e02NOA<\/strong>\u3002\u5730\u5e73\u7ebf\u4f59\u51ef\u66fe\u5728\u91c7\u8bbf\u4e2d\u660e\u786e\u8868\u793a\uff0c\u5730\u5e73\u7ebf\u5df2\u7ecf\u5728\u57ce\u533a\u667a\u9a7e\u9886\u57df\u6295\u5165\u4e09\u5e74\u65f6\u95f4\u548c\u6570\u767e\u4eba\u7684\u56e2\u961f\u3002\u8fd9\u4e00\u4ee3\u5f81\u7a0b6\uff08\u9ad8\u9636\u7248\uff09\u8ffd\u6c42\u201c\u8ba9\u7528\u6237\u89c9\u5f97\u57ce\u533a\u667a\u9a7e\u529f\u80fd\u771f\u6b63\u6709\u4ef7\u503c\uff08\u5b89\u5168\u3001\u53ef\u9760\u3001\u8212\u9002\uff09<\/strong>\u3002\u201d<\/p>\n

\u76ee\u524d\uff0c\u57ce\u533a\u667a\u9a7e\u5904\u4e8e\u6210\u672c\u3001\u4f53\u9a8c\u548c\u6548\u7387\u7684\u201c\u4e0d\u53ef\u80fd\u201d\u4e09\u89d2\u5f53\u4e2d<\/strong>\u3002\u9ad8\u6210\u672c\u3001\u9ad8\u4f53\u9a8c\u7684Robotaxi\u96be\u4ee5\u5feb\u901f\u6269\u5f20\u8fd0\u884c\u8303\u56f4\uff1b\u4f4e\u6210\u672c\u3001\u8986\u76d6\u5e7f\u7684\u9ad8\u901fNOA\u96be\u4ee5\u5728\u57ce\u533a\u590d\u5236\u4f53\u9a8c\uff1b\u5df2\u7ecf\u843d\u5730\u7684\u201c\u65e0\u56fe\u201d\u57ce\u5e02NOA\u5904\u4e8e\u4f53\u9a8c\u5dee\u3001\u6269\u5f20\u6162\uff0c\u6210\u672c\u96be\u4ee5\u6536\u655b\u7684\u73b0\u72b6\u3002<\/p>\n

\u7a76\u5176\u539f\u56e0\uff0c\u4eba\u7c7b\u5de5\u7a0b\u5e08\u64b0\u5199\u4ee3\u7801\u89e3\u51b3\u95ee\u9898\u7684\u901f\u5ea6\uff0c\u8fdc\u8d76\u4e0d\u4e0a\u57ce\u5e02\u573a\u666f\u4e2d\u51fa\u73b0\u95ee\u9898\u7684\u901f\u5ea6\u3002<\/strong><\/p>\n

\u800c\u7aef\u5230\u7aef\u5c06\u6539\u53d8\u901f\u5ea6\u4e0d\u5339\u914d\u7684\u73b0\u72b6\u3002\u5728\u4f59\u8f76\u5357\u770b\u6765\uff0c\u76ee\u524d\u7aef\u5230\u7aef\u4e3a\u7cfb\u7edf\u5e26\u6765\u81f3\u5c11\u4e24\u4e2a\u6570\u91cf\u7ea7\u7684\u8fed\u4ee3\u6548\u7387\u63d0\u5347\uff0c\u672a\u6765\u5219\u5c06\u6709\u53ef\u80fd\u662f\u4e0a\u5343\uff0c\u751a\u81f3\u4e0a\u4e07\u500d\u7684\u63d0\u5347<\/strong>\u3002<\/p>\n

\u4ec5\u505a\u7aef\u5230\u7aef\u7684\u611f\u77e5\u7cfb\u7edf\uff0c\u53c8\u53ef\u6709\u6548\u907f\u514d\u7aef\u5230\u7aef\u9ed1\u76d2\u7279\u6027\u5e26\u6765\u7684\u6f5c\u5728\u98ce\u9669\u3002<\/strong>\u7531\u4e8e\u611f\u77e5\u662f\u5bf9\u7269\u7406\u4e16\u754c\u7684\u5ea6\u91cf\uff0c\u65e0\u8bba\u662f\u795e\u7ecf\u7f51\u7edc+\u4ee3\u7801\uff0c\u8fd8\u662f\u7aef\u5230\u7aef\u7684\u611f\u77e5\u7cfb\u7edf\u67b6\u6784\uff0c\u90fd\u662f\u901a\u8fc7\u611f\u77e5\u4f4d\u7f6e\u3001\u89d2\u5ea6\u3001\u901f\u5ea6\u3001\u52a0\u901f\u5ea6\u7684\u51c6\u786e\u6027\u3001\u4e00\u81f4\u6027\u3001\u8bef\u5dee\u5747\u503c\u8fdb\u884c\u6bd4\u8f83\u3002<\/p>\n

\u201c\u53ea\u8981\u8bef\u5dee\u6bd4\u522b\u4eba\u5c0f\uff0c\u5c31\u76f8\u5f53\u4e8e\u6709\u4e86\u6bd4\u8f83\u4f18\u52bf<\/strong>\u3002\u201d \u4f59\u8f76\u5357\u8868\u793a\uff1a\u201cT1\u548c\u4e3b\u673a\u5382\u662f\u96c6\u6210\u6807\u51c6\u5316\u7684\u90e8\u5206\uff0c\u81ea\u5df1\u628a\u63e1\u975e\u6807\u51c6\u5316\u7684\u73af\u8282\u3002\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\uff0c\u611f\u77e5\u662f\u6807\u51c6\u7b54\u6848\uff0c\u89c4\u63a7\u53d6\u51b3\u4e8e\u8f66\u4f01\u5bf9\u7528\u6237\u7684\u8ba4\u8bc6\uff0c\u662f\u975e\u6807\u51c6\u5316\u7684\u90e8\u5206\u3002<\/p>\n

\u6240\u4ee5\u5730\u5e73\u7ebf\u4f5c\u4e3aTier2\u8981\u628a\u80fd\u6807\u51c6\u5316\u7684\u6807\u51c6\u5316\uff0c\u5e76\u628a\u6548\u7387\u505a\u5230\u5c3d\u53ef\u80fd\u6700\u9ad8\u3002\u5728\u8fd9\u4e2a\u8ba4\u8bc6\u7684\u57fa\u7840\u4e0a\uff0c\u6211\u4eec\u56e2\u961f\u5c31\u505a\u4e86\u6548\u7387\u6700\u9ad8\u7684\u611f\u77e5\u7aef\u5230\u7aef<\/strong>\u3002\u201d<\/p>\n

03<\/strong><\/p>\n

\u7a00\u758f\u5316\u7684Sparse4D\uff0c\u4e00\u5207\u4e3a\u4e86\u6548\u7387<\/strong><\/p>\n

\u201c\u5982\u679c\u53ea\u9700\u8981\u8d701\u516c\u91cc\uff0c\u7528\u811a\u5c31\u53ef\u4ee5\u3002\u4f46\u5982\u679c\u8981\u4e00\u5929\u8d701000\u516c\u91cc\uff0c\u5c31\u9700\u8981\u53d1\u660e\u706b\u8f66\u3001\u98de\u673a\u201d \u4f59\u8f76\u5357\u8fd9\u6837\u7c7b\u6bd4\u9762\u5bf9\u57ce\u5e02\u667a\u9a7e\u573a\u666f\uff0c\u89e3\u9898\u6548\u7387\u63d0\u5347\u7684\u91cd\u8981\u6027\u3002<\/p>\n

\u4e0d\u4ec5\u662f\u7aef\u5230\u7aef\u7684\u8def\u7ebf\u9009\u62e9\uff0c\u5730\u5e73\u7ebfSparse4D\u7684\u7b97\u6cd5\u67b6\u6784\u4e5f\u9ad8\u5ea6\u670d\u52a1\u4e8e\u8fd9\u4e00\u6548\u7387\u601d\u7ef4\u3002<\/strong><\/p>\n

\u76ee\u524d\uff0c\u5404\u5bb6\u201c\u65e0\u56fe\u201dNOA\u90fd\u5b58\u5728\u5728\u4e3b\u8f85\u8def\u3001\u5c94\u8def\u53e3\u201c\u4e0d\u8ba4\u8def\u201d\u7684\u73b0\u5b9e\u56f0\u5883\uff0c\u5728\u590d\u6742\u8def\u51b5\u4e2d\u5bf9\u5176\u5b83\u52a8\u9759\u6001\u76ee\u6807\u7684\u68c0\u6d4b\u4e5f\u4e0d\u5b8c\u5168\uff0c\u90e8\u5206\u73a9\u5bb6\u9009\u62e9\u91c7\u7528OCC\uff08\u5360\u7528\u7f51\u7edc\uff09\u505a\u8fdc\u7aef\u786c\u9694\u79bb\u3002<\/p>\n

\u5e95\u5c42\u539f\u56e0\u4e4b\u4e00\uff0c\u662f\u52a8\u6001\u76ee\u6807\u548c\u8f66\u9053\u7ebf\u7b49\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u7684\u5173\u952e\u76ee\u6807\uff0c\u5728\u7a7a\u95f4\u4e2d\u7684\u5206\u5e03\u901a\u5e38\u5f88\u7a00\u758f\u3002\u5bfc\u81f4\u7a20\u5bc6\u8f93\u5165\/\u8f93\u51fa\u7684BEV\u8303\u5f0f\u4e2d\uff0c\u6709\u5927\u91cf\u7684\u8ba1\u7b97\u88ab\u6d6a\u8d39\u3002<\/strong>\u5728\u76ee\u6807\u76f8\u5bf9\u8f83\u5c11\u7684\u9ad8\u901f\u8def\u6bb5\uff0c\u8f66\u7aef\u7b97\u529b\u5c1a\u80fd\u652f\u6491\u3002\u4f46\u5728\u57ce\u5e02\u8def\u51b5\u4e2d\uff0c\u7aef\u4fa7\u7b97\u529b\u4fbf\u5f00\u59cb\u6349\u895f\u89c1\u8098\u3002\u540c\u65f6\u7279\u5f81\u7ea7\u7684\u591a\u6444\u878d\u5408\u4e5f\u5e76\u4e0d\u7b49\u4ef7\u4e8eBEV\u3002<\/strong><\/p>\n


\nDETR3D \u642d\u5efa\u4e86\u7eaf\u7a00\u758f\u611f\u77e5\u7684\u57fa\u672c\u6846\u67b6\uff0c\u5373\u7a00\u758fQuery +\u7a00\u758f\u7279\u5f81\u91c7\u6837<\/p>\n

Sparse4D\u7684\u76ee\u6807\uff0c\u662f\u5b9e\u73b0\u4e00\u4e2a\u9ad8\u6027\u80fd\u9ad8\u6548\u7387\u7684\u957f\u65f6\u5e8f\u7eaf\u7a00\u758f\u878d\u5408\u611f\u77e5\u7b97\u6cd5\uff1a\u65e2\u80fd\u52a0\u901f2D\u52303D \u7684\u8f6c\u6362\u6548\u7387\uff0c\u53c8\u80fd\u5728\u56fe\u50cf\u7a7a\u95f4\u76f4\u63a5\u6355\u83b7\u76ee\u6807\u8de8\u6444\u50cf\u5934\u7684\u5173\u8054\u5173\u7cfb\u3002<\/strong><\/p>\n

\u7a00\u758f\u5316\u8ba1\u7b97\u662f\u66f4\u7c7b\u4f3c\u4eba\u8111\u7684\u4e00\u79cd\u795e\u7ecf\u7f51\u7edc\u67b6\u6784\u65b9\u5f0f\u3002<\/p>\n

\u7a20\u5bc6\u8ba1\u7b97\u7684\u6df1\u5ea6\u795e\u7ecf\u7f51\u7edc\u503e\u5411\u4e8e\u5c06\u6bcf\u4e00\u5c42\u4e2d\u7684\u6bcf\u4e2a\u65b0\u795e\u7ecf\u5143\u90fd\u4e0e\u524d\u4e00\u5c42\u4e2d\u7684\u6240\u6709\u795e\u7ecf\u5143\u8fde\u63a5\u8d77\u6765\u3002\u4f46\u7075\u957f\u7c7b\u751f\u7269\u5927\u8111\u4e2d\u7684\u795e\u7ecf\u5143\u8d8a\u591a\uff0c\u5e73\u5747\u4e0b\u6765\u6bcf\u4e2a\u795e\u7ecf\u5143\u4e0e\u5176\u4ed6\u795e\u7ecf\u5143\u7684\u8fde\u63a5\u5c31\u8d8a\u5c11\u3002\u4f46\u7531\u4e8e\u5927\u8111\u5929\u7136\u5bf9\u201c\u91cd\u70b9\u201d\u654f\u611f\uff0c\u4eba\u7c7b\u5927\u8111\u6d88\u8017\u7684\u80fd\u91cf\u662fGPU\u7684\u5341\u5206\u4e4b\u4e00\uff0c\u4f46\u5f3a\u5ea6\u8981\u9ad8\u51fa10\u4ebf\u500d\u3002<\/p>\n

Transformer\u7684\u81ea\u6ce8\u610f\u529b\u673a\u5236\u6784\u5efa\u8d77\u4e86\u80fd\u591f\u201c\u6ce8\u610f\u91cd\u70b9\u201d\u7684\u6df1\u5c42\u795e\u7ecf\u7f51\u7edc\u3002\u4f46\u8981\u5728\u7aef\u4fa7\u5904\u7406\u8bf8\u5982\u57ce\u5e02\u9a7e\u9a76\u8fd9\u6837\u7684\u8d85\u590d\u6742\u95ee\u9898\uff0c\u4ecd\u9700\u8fdb\u4e00\u6b65\u63d0\u5347\u8ba1\u7b97\u6548\u7387\u3002<\/strong>\u4e0e\u4eba\u7c7b\u7c7b\u4f3c\u7684\uff0c\u5c3d\u53ef\u80fd\u9ad8\u6548\u4f7f\u7528\u795e\u7ecf\u7f51\u7edc\u4e2d\u6bcf\u4e2a\u6743\u91cd\u7684\u7a00\u758f\u7f51\u7edc\u4fbf\u6210\u4e3a\u65b0\u7684\u89e3\u9898\u65b9\u5f0f\u3002<\/p>\n

\u4ece\u7ed3\u679c\u6765\u770b\uff0c\u7a00\u758f\u7c7b\u8ba1\u7b97\u7684Sparse4D\u5728\u4e0d\u589e\u52a0\u6a21\u578b\u63a8\u7406\u8ba1\u7b97\u91cf\u7684\u524d\u63d0\u4e0b\uff0c\u663e\u8457\u63d0\u5347\u4e86\u6a21\u578b\u7684\u68c0\u6d4b\u6548\u679c\u3002<\/p>\n

\u540c\u65f6\uff0c\u7531\u4e8e\u5df2\u7ecf\u5b9e\u73b0\u4e86\u76ee\u6807\u68c0\u6d4b\u7684\u7aef\u5230\u7aef\uff08\u65e0\u9700dense\uff08\u7a20\u5bc6\uff09-to-sparse\uff08\u7a00\u758f\uff09\u7684\u89e3\u7801\uff09\uff0cinstance\uff08\u5b9e\u4f8b\uff0c\u5982\u4e00\u5f20\u884c\u4eba\u6b63\u5728\u7a7f\u8fc7\u8f66\u524d\u7684\u56fe\u7247\uff09\u5728\u65f6\u5e8f\u4e0a\u5df2\u7ecf\u5177\u5907\u4e86\u76ee\u6807\u4e00\u81f4\u6027\uff08\u540c\u4e00\u4e2ainstance\u59cb\u7ec8\u68c0\u6d4b\u540c\u4e00\u4e2a\u76ee\u6807\uff09\u3002Sparse4D\u5728\u65e0\u9700\u4fee\u6539\u4efb\u4f55\u8bad\u7ec3\u6d41\u7a0b\u7684\u60c5\u51b5\u4e0b\uff0c\u5373\u53ef\u62d3\u5c55\u5b8c\u6210\u7aef\u5230\u7aef\u7684\u68c0\u6d4b\u548c\u591a\u76ee\u6807\u8ddf\u8e2a\u4efb\u52a1\u3002<\/strong><\/p>\n


\n\u57fa\u4e8e\u7a00\u758f\u5b9e\u4f8b\u7684Recurrent \u65f6\u5e8f\u65b9\u6848<\/p>\n

\u5728\u8bba\u6587\u4e2d\uff0cSparse4D\u4ecd\u88ab\u8868\u8fbe\u4e3a\u7eaf\u89c6\u89c9\u7684\u7aef\u5230\u7aef\u611f\u77e5\u65b9\u6848\u3002\u4f46\u4f59\u8f76\u5357\u8868\u793a\uff0cSparse4D\u672c\u8d28\u4e0a\u662f\u4e00\u4e2a\u591a\u6a21\u6001\u7684\u611f\u77e5\u6a21\u578b\u3002\u201c\u662f\u5b8c\u5168\u517c\u5bb9\u7684\u63d2\u4ef6\u6a21\u5f0f\uff0c\u7eaf\u89c6\u89c9\u3001\u591a\u6a21\u6001\u90fd\u662f\u5b8c\u5168\u517c\u5bb9\u7684\u3002\u201d<\/strong><\/p>\n

\u201c\u5bf9\u795e\u7ecf\u7f51\u7edc\u6765\u8bf4\uff0c\u4e0d\u540c\u6a21\u6001\u7684\u6570\u636e\u90fd\u53ef\u4ee5\u88ab\u8868\u793a\u6210\u4e00\u79cd\u6807\u51c6\u7ed3\u6784\uff0c\u53ea\u8981\u628a\u65f6\u95f4\u540c\u6b65\u505a\u597d\uff0c\u751a\u81f3\u4e0d\u5bf9\u9f50\u4e5f\u53ef\u4ee5\uff0c\u56e0\u4e3a\u5b83\u53ef\u4ee5\u81ea\u5df1\u5b66\u3002\u4f60\u552f\u4e00\u8981\u7ba1\u7684\u5c31\u662f\u7b97\u529b\uff0c\u5373\u80cc\u540e\u7684\u6210\u672c\u548c\u529f\u8017\u3002<\/strong>\u201d<\/p>\n

04<\/strong><\/p>\n

\u8ddf\u6216\u8005\u4e0d\u8ddf\uff0c\u7aef\u5230\u7aef\u7684\u672a\u6765<\/strong><\/p>\n

\u201c\u5982\u679c\u662f\u4e00\u4e2a\u7eaf\u7cb9\u7684\u6280\u672f\u9009\u62e9\uff0c\u6211\u4f1a\u8bf4\u653e\u4e0b\u624b\u5934\u6240\u6709\u4e1c\u897f\u53bb\u505a\u7aef\u5230\u7aef\u3002\u5982\u679c\u6211\u53ea\u662f\u4e2a\u6280\u672f\u4eba\u5458\uff0c\u6211\u89c9\u5f97\u6211\u4eca\u5929\u505a\u5f97\u6700\u806a\u660e\u7684\uff08\u4ee3\u7801\uff09\u53ef\u80fd\u90fd\u6ca1\u6709\u610f\u4e49<\/strong>\u3002\u201d\u4f59\u8f76\u5357\u8868\u793a\uff1a<\/p>\n

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\u5c3d\u7ba1\u7aef\u5230\u7aef\u5df2\u6210\u4e3a\u4eca\u5e74\u81ea\u52a8\u9a7e\u9a76\u754c\u7684\u70ed\u8bcd\uff0c\u4f46\u5e76\u4e0d\u610f\u5473\u7740\u5f53\u4e0b\u4f1a\u6709\u4f17\u591a\u73a9\u5bb6\u8fc5\u901f\u8ddf\u8fdb\u3002<\/p>\n

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