{"id":415429,"date":"2024-08-13T21:50:50","date_gmt":"2024-08-13T13:50:50","guid":{"rendered":"https:\/\/www.idc.net\/help\/?p=415429"},"modified":"2024-08-13T21:50:50","modified_gmt":"2024-08-13T13:50:50","slug":"%e7%9b%b4%e6%8e%a5%e5%b9%b2%e4%b8%8a%e8%bd%a6%ef%bc%81drivevlm%ef%bc%9a%e9%a6%96%e4%b8%aaorin%e9%83%a8%e7%bd%b2%e7%9a%84%e5%bf%ab%e6%85%a2%e5%8f%8c%e7%b3%bb%e7%bb%9f%e6%99%ba%e9%a9%be%e5%a4%a7","status":"publish","type":"post","link":"https:\/\/idc.net\/help\/415429\/","title":{"rendered":"\u76f4\u63a5\u5e72\u4e0a\u8f66\uff01DriveVLM\uff1a\u9996\u4e2aOrin\u90e8\u7f72\u7684\u5feb\u6162\u53cc\u7cfb\u7edf\u667a\u9a7e\u5927\u6a21\u578b"},"content":{"rendered":"

DriveVLM\u7684\u4e3b\u8981\u8d21\u732e<\/h2>\n

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\u63d0\u51fa\u4e86\u4e00\u79cd\u5927\u6a21\u578b\u4e0e\u4f20\u7edf\u81ea\u52a8\u9a7e\u9a76\u6a21\u5757\u76f8\u7ed3\u5408\u7684\u65b9\u6cd5DriveVLM-Dual\uff0c\u901a\u8fc7\u6709\u9009\u62e9\u6027\u5730\u4e0e\u4f20\u7edf\u611f\u77e5\u548c\u89c4\u5212\u6a21\u5757\u8fdb\u884c\u4ea4\u4e92\uff0c\u4e00\u65b9\u9762\u5c06\u5339\u914d\u7684\u7269\u4f53\u611f\u77e53D\u4fe1\u606f\u5f15\u5165VLM\u4e00\u4fa7\u5b9e\u73b0\u66f4\u597d\u5730\u7279\u5f81\u5206\u6790\uff0c\u53e6\u4e00\u65b9\u9762VLM\u8f93\u51fa\u7684\u8f68\u8ff9\u70b9\u53ef\u9009\u62e9\u5730\u9001\u5165\u4f20\u7edf\u89c4\u5212\u6a21\u5757\uff0c\u5b9e\u73b0\u5b9e\u65f6\u4e14\u66f4\u7cbe\u7ec6\u5730\u8f68\u8ff9\u89c4\u5212\u3002<\/p>\n

\u63d0\u51fa\u4e86\u4e00\u5957\u6316\u6398\u590d\u6742\u548c\u957f\u5c3e\u9a7e\u9a76\u573a\u666f\u7684\u6570\u636e\u6316\u6398\u6d41\u7a0b\uff0c\u5e76\u4ee5\u6b64\u6784\u5efa\u4e86\u591a\u6837\u5316\u5730SUP-AD\u6570\u636e\u96c6\u3002\u8be5\u6570\u636e\u6316\u6398\u6d41\u7a0b\u4f9d\u6b21\u5305\u62ec\u957f\u5c3e\/\u6311\u6218\u6027\u573a\u666f\u6316\u6398\uff0c\u4eba\u5de5\u7b5b\u9009\u8fc7\u6ee4\uff0c\u89c6\u9891\u5173\u952e\u5e27\u9009\u53d6\uff0c\u573a\u666f\u6807\u6ce8\uff0c\u4eba\u5de5\u68c0\u9a8c\u3002<\/p>\n

DriveVLM\u53ef\u89c6\u5316\u7ed3\u679c<\/h3>\n

\u4f5c\u8005\u63d0\u4f9b\u4e86\u51e0\u4e2aDriveVLM\u7684\u53ef\u89c6\u5316\u573a\u666f\u5c55\u793a\u3002\u5728\u56fe1\u4e2d\uff0cDriveVLM\u5728\u591c\u665a\u8bc6\u522b\u51fa\u524d\u65b9\u6162\u901f\u884c\u9a76\u7684\u8f66\u8f86\uff0c\u5e76\u63d0\u4f9b\u4e86\u53d8\u9053\u8d85\u8f66\u7684\u9a7e\u9a76\u51b3\u7b56\u3002<\/p>\n

\u5728\u56fe2\u4e2d\uff0cDriveVLM\u8bc6\u522b\u4e86\u4e00\u4e2a\u5012\u584c\u7684\u6811\u6728\uff0c\u5e76\u7ed9\u51fa\u4e86\u7a0d\u5fae\u5411\u53f3\u504f\u79fb\u7684\u9a7e\u9a76\u51b3\u7b56\u3002<\/p>\n

\u5728\u56fe3\u4e2d\uff0cDriveVLM\u51c6\u786e\u7684\u6355\u6349\u51fa\u4ea4\u8b66\u793a\u610f\u7ee7\u7eed\u524d\u884c\u7684\u624b\u52bf\uff0c\u5c55\u793a\u4e86\u5176\u5bf9\u4e8e\u7269\u4f53\u884c\u4e3a\u7406\u89e3\u7684\u80fd\u529b\u3002<\/p>\n

\u8be6\u89e3DriveVLM<\/h2>\n

 <\/p>\n

\u56fe\u4e2d\u662fDriveVLM\u7684\u6a21\u578bpipeline\uff0c\u4e3b\u8981\u5305\u62ec\u573a\u666f\u63cf\u8ff0\u3001\u573a\u666f\u5206\u6790\u3001\u5c42\u7ea7\u89c4\u5212\u4e09\u4e2a\u4e3b\u8981\u6a21\u5757\u8bbe\u8ba1\uff0c\u4e0b\u9762\u5c06\u5206\u522b\u4ecb\u7ecd\u3002<\/p>\n

\u4e00\uff0e\u573a\u666f\u63cf\u8ff0<\/h3>\n

\u573a\u666f\u63cf\u8ff0\u6a21\u5757\u7684\u529f\u80fd\u4e3b\u8981\u5206\u4e3a\u4e24\u90e8\u5206\u2014\u2014\u73af\u5883\u63cf\u8ff0\u548c\u5173\u952e\u7269\u4f53\u8bc6\u522b\u3002\u5176\u4e2d\u73af\u5883\u63cf\u8ff0\u4e3b\u8981\u662f\u5bf9\u5171\u6027\u7684\u9a7e\u9a76\u73af\u5883\u7684\u63cf\u8ff0\uff0c\u6bd4\u5982\u5929\u6c14\u548c\u9053\u8def\u72b6\u51b5\u7b49\uff1b\u5173\u952e\u7269\u4f53\u8bc6\u522b\u5219\u662f\u4e3a\u4e86\u627e\u51fa\u5bf9\u4e8e\u5f53\u524d\u9a7e\u9a76\u51b3\u7b56\u4ea7\u751f\u8f83\u5927\u5f71\u54cd\u7684\u5173\u952e\u7269\u4f53\u3002<\/p>\n

\u73af\u5883\u63cf\u8ff0.<\/h4>\n

\u73af\u5883\u63cf\u8ff0\u5171\u5305\u62ec\u4ee5\u4e0b\u56db\u4e2a\u90e8\u5206\uff1a\u5929\u6c14\u3001\u65f6\u95f4\u3001\u9053\u8def\u7c7b\u578b\u3001\u8f66\u9053\u7ebf\u72b6\u51b5\u3002
\n\u5929\u6c14\uff08E_weather\uff09\uff1a\u63cf\u8ff0\u4e86\u5f53\u524d\u9a7e\u9a76\u573a\u666f\u7684\u5929\u6c14\u72b6\u51b5\uff0c\u6bd4\u5982\u6674\u5929\u6216\u8005\u4e0b\u96ea\u7b49\u3002\u50cf\u96e8\u96ea\u6216\u8005\u96fe\u5929\u8fd9\u79cd\u5929\u6c14\u72b6\u51b5\u81ea\u7136\u4f1a\u9700\u8981\u66f4\u52a0\u8c28\u614e\u5730\u9a7e\u9a76\u7b56\u7565\u3002
\n\u65f6\u95f4\uff08E_time\uff09\uff1a\u63cf\u8ff0\u5f53\u524d\u7684\u65f6\u95f4\u6bb5\uff0c\u6bd4\u5982\u767d\u5929\u8fd8\u662f\u591c\u95f4\u573a\u666f\u3002\u50cf\u591c\u95f4\u573a\u666f\u7531\u4e8e\u80fd\u89c1\u5ea6\u4f4e\u4e5f\u9700\u8981\u91c7\u53d6\u8c28\u614e\u5730\u9a7e\u9a76\u7b56\u7565\u3002
\n\u9053\u8def\u7c7b\u578b\uff08E_road\uff09\uff1a\u63cf\u8ff0\u5f53\u524d\u9a7e\u9a76\u6240\u5904\u8def\u6bb5\u7684\u7c7b\u578b\uff0c\u6bd4\u5982\u57ce\u5e02\u3001\u9ad8\u901f\u3001\u4e61\u6751\u7b49\u3002\u4e0d\u540c\u8def\u6bb5\u53ef\u80fd\u5b58\u5728\u4e0d\u540c\u7c7b\u578b\u7684\u6311\u6218\uff0c\u5373\u9700\u8981\u4e0d\u540c\u5730\u9a7e\u9a76\u98ce\u683c\u3002
\n\u8f66\u9053\u7ebf\u72b6\u51b5\uff08E_lane\uff09\uff1a\u63d0\u4f9b\u4e86\u8f66\u9053\u7ebf\u72b6\u51b5\u7684\u63cf\u8ff0\uff0c\u5305\u62ec\u81ea\u8f66\u6240\u5904\u8f66\u9053\u548c\u6f5c\u5728\u7684\u8f66\u9053\u7ebf\u9009\u62e9\u3002\u8fd9\u4e9b\u4fe1\u606f\u5bf9\u4e8e\u6211\u4eec\u8f66\u9053\u7684\u9009\u62e9\u548c\u5b89\u5168\u53d8\u9053\u81f3\u5173\u91cd\u8981\u3002<\/p>\n

\u5173\u952e\u7269\u4f53\u8bc6\u522b<\/h4>\n

\u533a\u522b\u4e8e\u4f20\u7edf\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u6a21\u5757\u5c06\u6240\u6709\u5f85\u68c0\u6d4b\u7269\u4f53\u90fd\u68c0\u51fa\uff0cDriveVLM\u501f\u9274\u4e86\u4eba\u7c7b\u5728\u9a7e\u9a76\u65f6\u7684\u601d\u8003\u8fc7\u7a0b\uff0c\u4e13\u6ce8\u4e8e\u8bc6\u522b\u5f53\u524d\u9a7e\u9a76\u573a\u666f\u4e2d\u6700\u6709\u53ef\u80fd\u5f71\u54cd\u81ea\u8f66\u9a7e\u9a76\u51b3\u7b56\u7684\u7269\u4f53\uff0c\u79f0\u4e4b\u4e3a\u5173\u952e\u7269\u4f53\u3002\u5f97\u76ca\u4e8e\u6d77\u91cf\u6570\u636e\u7684\u9884\u8bad\u7ec3\uff0cVLM\u76f8\u6bd4\u4e8e\u4f20\u7edf3D\u76ee\u6807\u68c0\u6d4b\u5668\u80fd\u591f\u66f4\u597d\u7684\u8bc6\u522b\u51fa\u957f\u5c3e\u7684\u5173\u952e\u7269\u4f53\uff0c\u6bd4\u5982\u8def\u9762\u6742\u7269\u6216\u8005\u975e\u5e38\u89c1\u52a8\u7269\u7b49\u3002\u5bf9\u4e8e\u6bcf\u4e2a\u5173\u952e\u7269\u4f53\uff0cDriveVLM\u4f1a\u5206\u522b\u8f93\u51fa\u5176\u8bed\u4e49\u7c7b\u522bc\u548c\u5bf9\u5e94\u76842D\u76ee\u6807\u6846b\u3002<\/p>\n

\u4e8c\uff0e\u573a\u666f\u5206\u6790<\/h3>\n

\u5728\u4f20\u7edf\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6d41\u6c34\u7ebf\u4e2d\uff0c\u9884\u6d4b\uff08prediction\uff09\u6a21\u5757\u4e00\u822c\u53ea\u8f93\u51fa\u7269\u4f53\u7684\u672a\u6765\u8f68\u8ff9\uff0c\u6765\u8f85\u52a9\u540e\u7eed\u89c4\u5212\u6a21\u5757\u8fdb\u884c\u51b3\u7b56\u3002\u4f46\u8fd9\u79cd\u5355\u4e00\u7684\u8f68\u8ff9\u9884\u6d4b\u4e0d\u80fd\u5168\u9762\u4f53\u73b0\u7269\u4f53\u5bf9\u81ea\u8f66\u9a7e\u9a76\u51b3\u7b56\u7684\u5f71\u54cd\uff0c\u5f88\u591a\u7269\u4f53\u5bf9\u81ea\u8f66\u4ea7\u751f\u7684\u5f71\u54cd\u4e0d\u5355\u5355\u9650\u4e8e\u5176\u672a\u6765\u6f5c\u5728\u8f68\u8ff9\u8fd9\u4e48\u7b80\u5355\u3002\u5f97\u76ca\u4e8e\u5927\u89c6\u89c9\u6a21\u578b\u7684\u53d1\u5c55\uff0cDriveVLM\u5bf9\u5f53\u524d\u9a7e\u9a76\u573a\u666f\u8fdb\u884c\u66f4\u52a0\u5168\u9762\u7684\u573a\u666f\u5206\u6790\u3002
\n\u5173\u952e\u7269\u4f53\u5206\u6790\u3002\u5728\u4e4b\u524d\u5f97\u5230\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u5173\u952e\u7269\u4f53\u540e\uff0cDriveVLM\u5bf9\u5173\u952e\u7269\u4f53\u7279\u5f81\u548c\u5176\u5bf9\u81ea\u8f66\u6f5c\u5728\u7684\u9a7e\u9a76\u5f71\u54cd\u8fdb\u884c\u5206\u6790\u3002\u5728\u8fd9\u91cc\uff0c\u4f5c\u8005\u5c06\u7269\u4f53\u7279\u5f81\u5206\u4e3a3\u4e2a\u65b9\u9762\u2014\u2014\u9759\u6001\u5c5e\u6027\uff08Cs\uff09\u3001\u8fd0\u52a8\u72b6\u6001\uff08Cm\uff09\u548c\u7279\u6b8a\u884c\u4e3a\uff08Cp\uff09\u3002\u9759\u6001\u5c5e\u6027\u63cf\u8ff0\u4e86\u7269\u4f53\u56fa\u6709\u7684\u5c5e\u6027\uff0c\u6bd4\u5982\u9053\u8def\u6807\u5fd7\u4e2d\u7684\u6807\u53f7\u6216\u8005\u6807\u8bed\uff0c\u8d85\u51fa\u5361\u8f66\u8f66\u8eab\u957f\u5ea6\u7684\u8d27\u7269\u7b49\uff0c\u8fd9\u4e9b\u5c5e\u6027\u6709\u52a9\u4e8e\u81ea\u8f66\u786e\u5b9a\u4e00\u4e9b\u6f5c\u5728\u9a7e\u9a76\u98ce\u9669\u6216\u5bf9\u5e94\u7684\u3002
\n\u8fd0\u52a8\u72b6\u6001\uff08Cm\uff09\uff0c\u5305\u62ec\u4f4d\u7f6e\u3001\u65b9\u5411\u548c\u52a8\u4f5c\u7b49\uff0c\u63cf\u8ff0\u7269\u4f53\u5728\u4e00\u6bb5\u65f6\u95f4\u5185\u7684\u8fd0\u52a8\u72b6\u6001\uff0c\u4e0e\u4f20\u7edf\u8f68\u8ff9\u9884\u6d4b\u6a21\u5757\u7c7b\u4f3c\u3002\u7279\u6b8a\u884c\u4e3a\uff08Cp\uff09\u5219\u662f\u6307\u67d0\u4e9b\u4e13\u5c5e\u4e8e\u8be5\u7269\u4f53\u505a\u51fa\u7684\u53ef\u80fd\u5f71\u54cd\u81ea\u8f66\u9a7e\u9a76\u7684\u7279\u5b9a\u884c\u4e3a\u6216\u8005\u624b\u52bf\u7b49\uff0c\u6bd4\u5982\u4ea4\u8b66\u6307\u6325\u4ea4\u901a\u7684\u624b\u52bf\uff0c\u9762\u524d\u7684\u4eba\u5728\u4f7f\u52b2\u6325\u624b\u793a\u610f\u7b49\u3002\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\uff0c\u4f5c\u8005\u5e76\u6ca1\u6709\u5f3a\u5236DriveVLM\u5bf9\u4e8e\u6240\u6709\u5173\u952e\u7269\u4f53\u90fd\u8f93\u51fa\u8fd9\u4e09\u65b9\u9762\u7684\u4fe1\u606f\uff0c\u800c\u662f\u4f7f\u6a21\u578b\u5b66\u4f1a\u5e94\u8be5\u81ea\u9002\u5e94\u5730\u8f93\u51fa\u67d0\u4e2a\u7269\u4f53\u5728\u8fd9\u4e09\u65b9\u9762\u4e2d\u53ef\u80fd\u5305\u542b\u7684\u65b9\u9762\u3002<\/p>\n

\u573a\u666f\u603b\u7ed3<\/h4>\n

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\u5c42\u7ea7\u89c4\u5212<\/h3>\n

DriveVLM\u63d0\u51fa\u4e86\u4e00\u79cd\u9010\u6e10\u9012\u8fdb\u5730\u5c42\u7ea7\u5f0f\u89c4\u5212\uff0c\u4f9d\u6b21\u63a8\u7406\u5bf9\u5e94\u81ea\u8f66\u672a\u6765\u9a7e\u9a76\u51b3\u7b56\u7684\u5143\u52a8\u4f5c\u3001\u51b3\u7b56\u63cf\u8ff0\u3001\u8f68\u8ff9\u70b9\u4e09\u79cd\u89c4\u5212\u76ee\u6807\u3002
\n\u5143\u52a8\u4f5c<\/strong>\uff1a\u6bcf\u4e2a\u201c\u5143\u52a8\u4f5c\u201d\u5bf9\u5e94\u9a7e\u9a76\u51b3\u7b56\u7684\u4e00\u4e2a\u57fa\u672c\u7c92\u5ea6\u7684\u52a8\u4f5c\uff0c\u4e00\u7cfb\u5217\u5143\u52a8\u4f5c\u7684\u5e8f\u5217\u53ef\u4ee5\u4e00\u5b9a\u7a0b\u5ea6\u4e0a\u63cf\u8ff0\u672a\u6765\u77ed\u65f6\u95f4\u5185\u7684\u9a7e\u9a76\u51b3\u7b56\u3002\u4f5c\u8005\u5c06\u5143\u52a8\u4f5c\u7684\u7c7b\u578b\u5f52\u4e3a\u4e8617\u79cd\uff0c\u6bd4\u5982\u52a0\u901f\u3001\u7b49\u5f85\u3001\u5411\u5de6\\\u53f3\u53d8\u9053\u7b49\u3002\u53ef\u4ee5\u6309\u7167\u5176\u7279\u70b9\u5f52\u4e3a\u901f\u5ea6\u63a7\u5236\u7c7b\u3001\u8f6c\u5411\u7c7b\u3001\u8f66\u9053\u7ebf\u63a7\u5236\u7c7b\u8fd9\u4e09\u5927\u7c7b\u522b\u3002<\/p>\n

\u51b3\u7b56\u63cf\u8ff0<\/strong>\uff1a\u76f8\u5bf9\u4e8e\u7b80\u5355\u52a8\u4f5c\u7c92\u5ea6\u7ea7\u522b\u7684\u201c\u5143\u52a8\u4f5c\u201d\uff0c\u201c\u51b3\u7b56\u63cf\u8ff0\u201d\u5305\u542b\u4e86\u5bf9\u4e8e\u9a7e\u9a76\u51b3\u7b56\u66f4\u52a0\u8be6\u7ec6\u591a\u7ef4\u5730\u63cf\u8ff0\u3002\u4e00\u4e2a\u5b8c\u6574\u7684\u201c\u51b3\u7b56\u63cf\u8ff0\u201c\u4e00\u822c\u5305\u542b\u4e09\u4e2a\u57fa\u672c\u5143\u7d20\uff1a\u52a8\u4f5cA\uff0c\u4e3b\u4f53S\uff0c\u4ee5\u53ca\u6301\u7eed\u65f6\u95f4D\u3002\u52a8\u4f5c\u7c7b\u4f3c\u4e4b\u524d\u7684\u5143\u52a8\u4f5c\uff0c\u6bd4\u5982\u201c\u52a0\u901f\u201d\uff0c\u201d\u8f6c\u5f2f\u201d\uff0c\u201c\u7b49\u5f85\u201d\u7b49\u3002\u4e3b\u4f53<\/strong>\u6307\u7684\u662f\u81ea\u8f66\u52a8\u4f5c\u6240\u65bd\u52a0\u7684\u7269\u4f53\uff0c\u4f8b\u5982\u884c\u4eba\u3001\u4ea4\u901a\u4fe1\u53f7\u6216\u7279\u5b9a\u7684\u8f66\u9053\u7b49\u3002\u6301\u7eed\u65f6\u95f4<\/strong>\u8868\u793a\u52a8\u4f5c\u7684\u6267\u884c\u65f6\u95f4\uff0c\u6bd4\u5982\u52a8\u4f5c\u5e94\u8be5\u6301\u7eed\u591a\u4e45\u6216\u4f55\u65f6\u5f00\u59cb\u7b49\u3002
\n\u6587\u4e2d\u63d0\u4f9b\u4e86\u4e00\u4e2a\u5bf9\u5e94\u201c\u51b3\u7b56\u63cf\u8ff0\u201d\u793a\u4f8b\u7684\u5206\u6790\uff1a\u7b49\u5f85\uff08A\uff09\u884c\u4eba\uff08S\uff09\u901a\u8fc7\u8857\u9053\uff0c\u7136\u540e\uff08D\uff09\u5f00\u59cb\u52a0\u901f\uff08A\uff09\uff0c\u5e76\u4e14\u6c47\u5165\u53f3\u4fa7\u8f66\u9053\uff08S\uff09\u3002\u8fd9\u79cd\u7ed3\u6784\u5316\u7684\u51b3\u7b56\u63cf\u8ff0\u6709\u52a9\u4e8eVLM\u8f93\u51fa\u89c4\u8303\u4e14\u6613\u4e8e\u7684\u9a7e\u9a76\u6307\u4ee4\u3002
\n\u8f68\u8ff9\u70b9<\/strong>: \u8f93\u51fa\u8f83\u4e3a\u8be6\u7ec6\u7684\u8f68\u8ff9\u63cf\u8ff0\u540e\uff0cDriveVLM\u63a5\u4e0b\u6765\u8f93\u51fa\u76f8\u5e94\u7684\u8f68\u8ff9\u70b9\u9884\u6d4b\uff0c\u8bb0\u4e3aW = {w1, w2, ..., wn}, wi = (xi , yi)\uff0c\u4ee3\u8868\u672a\u6765\u56fa\u5b9a\u65f6\u95f4\u95f4\u9694t\u65f6\u523b\u7684\u4f4d\u7f6e\u3002\u901a\u8fc7\u8fd9\u79cd\u5206\u5c42\u7ea7\u8bbe\u8ba1\uff0c\u5f15\u5bfcDriveVLM\u4e00\u6b65\u6b65\u5730\u8f93\u51fa\u7531\u6613\u5230\u96be\u5730\u51b3\u7b56\u89c4\u5212\uff0c\u6700\u540e\u5bf9\u5e94\u7684\u8f68\u8ff9\u70b9\u53ef\u4ee5\u9001\u5165\u4e13\u95e8\u7684\u89c4\u63a7\u6a21\u5757\u8fdb\u884c\u8fdb\u4e00\u6b65\u7684\u6539\u5584\u548c\u7ec6\u5316\u3002<\/p>\n

DriveVLM-Dual<\/h2>\n

\u5c3d\u7ba1\u73b0\u6709\u7684\u5927\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u5728\u8bc6\u522b\u957f\u5c3e\u7269\u4f53\u548c\u7406\u89e3\u590d\u6742\u573a\u666f\u65b9\u9762\u8868\u73b0\u4f18\u8d8a\uff0c\u4f46\u6839\u636e\u73b0\u6709\u7814\u7a76\u548c\u4f5c\u8005\u7684\u521d\u6b65\u5b9e\u9a8c\u8868\u660e\uff0cVLM\u6709\u65f6\u5728\u6d89\u53ca\u5230\u63a8\u7406\u7269\u4f53\u7684\u7ec6\u5fae\u8fd0\u52a8\u72b6\u6001\u6539\u53d8\u65f6\u8868\u73b0\u4e0d\u4f73\u3002\u53e6\u5916\uff0c\u7531\u4e8e\u5927\u8bed\u8a00\u6a21\u578b\u5de8\u5927\u7684\u53c2\u6570\u91cf\uff0c\u5bfc\u81f4\u6a21\u578b\u7684\u63a8\u7406\u65f6\u95f4\u76f8\u6bd4\u4f20\u7edf\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5f80\u5f80\u5177\u6709\u8f83\u9ad8\u7684\u5ef6\u8fdf\uff0c\u963b\u788d\u4e86\u5176\u5bf9\u73af\u5883\u7684\u5feb\u901f\u5b9e\u65f6\u53cd\u5e94\u3002\u4e3a\u6b64\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86DriveVLM-Dual\uff0c\u4e00\u79cdVLM\u4e0e\u4f20\u7edf\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e92\u76f8\u534f\u4f5c\u7684\u89e3\u51b3\u65b9\u6848\u3002\u8be5\u65b9\u6cd5\u5305\u542b\u4e24\u4e2a\u5173\u952e\u6027\u8bbe\u8ba1\uff0c\u4e00\u662f\u57283D\u611f\u77e5\u4fe1\u606f\u878d\u5408\uff0c\u4e8c\u662f\u9ad8\u9891\u8f68\u8ff9\u7ec6\u5316\u64cd\u4f5c\u3002<\/p>\n

3D\u611f\u77e5\u4fe1\u606f\u878d\u5408<\/h3>\n

\u5bf9\u4e8e\u4f20\u7edf\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf3D\u68c0\u6d4b\u5668\u68c0\u6d4b\u5230\u7684\u76ee\u6807\u7269\u4f53\uff0c\u8bb0\u4e3a\uff0c\u5176\u4e2d\u8868\u793a\u7b2ci\u4e2a\u7269\u4f53\u76843D\u76ee\u6807\u6846\uff0c\u8868\u793a\u5176\u5bf9\u5e94\u7684\u8bed\u4e49\u7c7b\u522b\u3002\u968f\u540e\u5c06\u8fd9\u4e9b3D\u76ee\u6807\u6846\u6839\u636e\u76f8\u673a\u5185\u5916\u53c2\u53cd\u6295\u5f71\u56de2D\u56fe\u50cf\u5750\u6807\u7cfb\uff0c\u5f97\u5230\u76f8\u5e94\u76842D\u76ee\u6807\u6846\u8868\u793a\u3002\u5c06\u5176\u4e0eVLM\u8fd9\u4e00\u5206\u652f\u8bc6\u522b\u5230\u7684\u5173\u952e\u7269\u4f53Cj\u5bf9\u5e94\u7684\u76ee\u6807\u6846\u4e4b\u95f4\u8fdb\u884c\u4e00\u79cd\u8fd1\u4f3c\u7684\u76ee\u6807\u6846IoU\u5339\u914d\uff0c\u5c06IoU\u5f97\u5206\u8d85\u8fc7\u4e00\u5b9a\u9608\u503c\u5e76\u4e14\u5c5e\u4e8e\u540c\u4e00\u5927\u7684\u8bed\u4e49\u7c7b\u522b\u7684\u5173\u952e\u7269\u4f53\u8bb0\u4e3a\u5339\u914d\u7684\u5173\u952e\u7269\u4f53\uff08matched critical object\uff09\uff0c\u5bf9\u4e8e\u90a3\u4e9b\u4e0d\u7b26\u5408\u6761\u4ef6\u7684\uff0c\u5219\u5f52\u4e3a\u975e\u5339\u914d\u7684\u5173\u952e\u7269\u4f53\u3002\u8be5\u8fc7\u7a0b\u53ef\u4ee5\u7528\u5982\u4e0b\u516c\u5f0f\u8868\u793a\uff1a<\/p>\n

\u5bf9\u4e8e\u5339\u914d\u7684\u5173\u952e\u7269\u4f53\uff0c\u5c06\u5176\u5728\u611f\u77e5\u6a21\u5757\u4e2d\u9884\u6d4b\u5f97\u5230\u7684\u5386\u53f2\u8f68\u8ff9\u3001\u671d\u5411\u3001\u4e2d\u5fc3\u70b9\u5750\u6807\u7b49\u4f5c\u4e3a\u8bed\u8a00prompt\u9001\u5165VLM\u4e2d\u7684\u5173\u952e\u7269\u4f53\u5206\u6790\u6a21\u5757\uff0c\u7528\u6765\u8f85\u52a9\u7269\u4f53\u7279\u5f81\u7684\u63a8\u7406\u3002\u5bf9\u4e8e\u6ca1\u6709\u5339\u914d\u7684\u5173\u952e\u7269\u4f53\uff0c\u6bd4\u5982\u4e00\u4e9b\u4f20\u7edf3D\u611f\u77e5\u6a21\u5757\u96be\u4ee5\u8bc6\u522b\u7684\u957f\u5c3e\u7269\u4f53\uff0c\u4e5f\u4f9d\u65e7\u8fdb\u884c\u5173\u952e\u7269\u4f53\u5206\u6790\uff0c\u53ea\u4e0d\u8fc7\u4e0d\u4f7f\u7528\u76843D\u611f\u77e5\u4fe1\u606f\u4f5c\u4e3a\u8f85\u52a9\u3002\u901a\u8fc7\u8fd9\u79cd\u8bbe\u8ba1\uff0c\u80fd\u4f7f\u5f97DriveVLM\u66f4\u52a0\u51c6\u786e\u7684\u7406\u89e3\u5173\u952e\u7269\u4f53\u7684\u7a7a\u95f4\u4f4d\u7f6e\u548c\u7ec6\u7c92\u5ea6\u7684\u8fd0\u52a8\u72b6\u6001\u53d8\u5316\u7b49\u3002<\/p>\n

\u9ad8\u9891\u8f68\u8ff9\u4f18\u5316<\/h3>\n

\u4e0e\u4f20\u7edf\u89c4\u5212\u5668\u76f8\u6bd4\uff0c\u7531\u4e8eDriveVLM\u5177\u6709\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09\u56fa\u6709\u7684\u5de8\u5927\u53c2\u6570\u91cf\uff0c\u5728\u751f\u6210\u8f68\u8ff9\u65f6\u901f\u5ea6\u663e\u8457\u8f83\u6162\u3002\u4e3a\u4e86\u5b9e\u73b0\u5feb\u901f\u5b9e\u65f6\u7684\u63a8\u7406\u80fd\u529b\uff0c\u4f5c\u8005\u5c06\u5b83\u4e0e\u4f20\u7edf\u7684planner\u76f8\u7ed3\u5408\u5f62\u6210\u4e86\u4e00\u4e2a\u5feb-\u6162\u53cc\u7cfb\u7edf\u8bbe\u8ba1\u3002<\/p>\n

\u5728DriveVLM\u8f93\u51fa\u4e00\u4e2a\u89c4\u5212\u8f68\u8ff9Wslow\u4e4b\u540e\uff0c\u5c06\u5176\u4f5c\u4e3a\u4e00\u4e2a\u53c2\u8003\u8f68\u8ff9\u9001\u5165\u7ecf\u5178\u7684\u89c4\u5212\u6a21\u5757\u8fdb\u884c\u4e00\u4e2a\u4e8c\u9636\u6bb5\u7684\u8f68\u8ff9\u4f18\u5316\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u5bf9\u4e8e\u57fa\u4e8e\u4f18\u5316\u7684planner\uff0cWslow\u4f5c\u4e3a\u4f18\u5316\u6c42\u89e3\u5668\u7684\u521d\u59cb\u89e3\uff1b\u5bf9\u4e8e\u57fa\u4e8e\u795e\u7ecf\u7f51\u7edc\u7684planner\uff0cWslow\u4f5c\u4e3a\u8f93\u5165query\u7684\u5f62\u5f0f\uff0c\u4e0e\u539f\u672cplanner\u7684\u8f93\u5165\u7279\u5f81f\u76f8\u7ed3\u5408\uff0c\u7ecf\u8fc7\u7f51\u7edc\u751f\u6210\u65b0\u7684\u8f68\u8ff9Wfast\u3002\u5728\u5b9e\u9645\u5e94\u7528\u65f6\uff0c\u8be5\u53cc\u7cfb\u7edf\u662f\u5f02\u6b65\u8fd0\u884c\u7684\uff0cVLM\u5206\u652f\u4e3b\u8981\u8d1f\u8d23task-level\u7684\u89c4\u5212\uff0c\u4f20\u7edf\u5206\u652f\u4e2d\u7684planner\u4e3b\u8981\u8d1f\u8d23motion-level\u7684\u89c4\u5212\uff0c\u53ea\u5728\u56fa\u5b9a\u91cd\u53e0\u65f6\u95f4\u63a5\u53d7\u6765\u81eaVLM\u5206\u652f\u7684\u8f68\u8ff9\u8f93\u5165\u3002<\/p>\n

\u4efb\u52a1\u4e0e\u6570\u636e\u96c6<\/h2>\n

SUP\u4efb\u52a1<\/h3>\n

\u4e3a\u4e86\u66f4\u597d\u5730\u8861\u91cf\u5927\u8bed\u8a00\u6a21\u578b\u5728\u5904\u7406\u590d\u6742\u548c\u957f\u5c3e\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u80fd\u529b\uff0c\u4f5c\u8005\u5b9a\u4e49\u4e86\u540d\u4e3aSUP\uff08scene understanding for planning\uff09\u7684\u4efb\u52a1\u548c\u76f8\u5e94\u7684\u8bc4\u4f30\u6307\u6807\u3002
\n\u8f93\u5165\u6570\u636e\u5305\u62ec\u6765\u81ea\u5468\u56f4\u6444\u50cf\u5934\u7684\u591a\u89c6\u89d2\u89c6\u9891\u96c6V\uff0c\u4ee5\u53ca\u53ef\u9009\u7684\u6765\u81ea\u611f\u77e5\u6a21\u5757\u76843D\u611f\u77e5\u7ed3\u679cP\uff0c\u8f93\u51fa\u5305\u62ec\u573a\u666f\u63cf\u8ff0E\uff0c\u573a\u666f\u5206\u6790S\uff0c\u5143\u52a8\u4f5cA\uff0c\u51b3\u7b56\u63cf\u8ff0D\uff0c\u8f68\u8ff9\u70b9W\u3002\u5bf9\u4e8e\u8f68\u8ff9\u70b9W\u53ef\u4ee5\u91c7\u7528\u4f4d\u79fb\u8bef\u5dee\uff08DE\uff09\u548c\u78b0\u649e\u7387\uff08CR\uff09\u4f5c\u4e3a\u6307\u6807\u6765\u8bc4\u4f30\u751f\u6210\u7684\u597d\u574f\uff0c\u4f46\u5bf9\u4e8e\u6587\u672c\u5185\u5bb9\u7684\u573a\u666f\u63cf\u8ff0\u548c\u5206\u6790\uff0c\u4ee5\u53ca\u5143\u52a8\u4f5c\u5e8f\u5217\u7684\u597d\u574f\u5e76\u6ca1\u6709\u5df2\u6709\u7684\u8bc4\u4f30\u65b9\u6cd5\uff0c\u4e8e\u662f\u4f5c\u8005\u5206\u522b\u63d0\u51fa\u4e86\u4f7f\u7528LLM\u548c\u52a8\u6001\u89c4\u5212\u7684\u8bc4\u4f30\u65b9\u6cd5\uff0c\u8be6\u7ec6\u53ef\u53c2\u89c1\u9644\u5f55\u3002<\/p>\n

\u6570\u636e\u96c6\u6784\u5efa<\/h3>\n

\u9488\u5bf9\u4e4b\u524d\u5b9a\u4e49\u7684SUP\u4efb\u52a1\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u6570\u636e\u6316\u6398\u548c\u6807\u6ce8\u7684\u65b9\u6cd5\u3002\u5e76\u4ee5\u6b64\u4e3a\u57fa\u7840\u6784\u5efa\u4e86\u4e00\u4e2a\u8d85\u8fc740\u4e2a\u573a\u666f\u7c7b\u522b\u7684\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\u96c6SUP-AD\u3002\u8be5\u65b9\u6cd5\u6d41\u7a0b\u56fe\u5982\u4e0b\u6240\u793a\uff0c\u9996\u5148\u4ece\u6d77\u91cf\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\u4e2d\u8fdb\u884c\u957f\u5c3e\u76ee\u6807\u6316\u6398\u548c\u6311\u6218\u6027\u573a\u666f\u6316\u6398\u6765\u6536\u96c6\u6837\u672c\u6570\u636e\uff0c\u4e4b\u540e\u5bf9\u4e8e\u6bcf\u4e2a\u573a\u666f\u9009\u62e9\u4e00\u4e2a\u5173\u952e\u5e27\uff0c\u5e76\u8fdb\u884c\u76f8\u5e94\u7684\u573a\u666f\u4fe1\u606f\u6807\u6ce8\u3002<\/p>\n

\u957f\u5c3e\u76ee\u6807\u6316\u6398<\/strong>\u3002\u00a0\u4f5c\u8005\u9996\u5148\u9884\u5b9a\u4e49\u4e86\u4e00\u7cfb\u5217\u957f\u5c3e\u76ee\u6807\u7c7b\u522b\uff0c\u6bd4\u5982\u5f02\u5f62\u8f66\u8f86\u3001\u9053\u8def\u6742\u7269\u548c\u6a2a\u7a7f\u9a6c\u8def\u7684\u52a8\u7269\u7b49\u3002\u63a5\u4e0b\u6765\uff0c\u4f5c\u8005\u4f7f\u7528\u57fa\u4e8eCLIP\u7684\u641c\u7d22\u5f15\u64ce\u4ece\u6d77\u91cf\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\u4e2d\u6316\u6398\u8fd9\u4e9b\u957f\u5c3e\u573a\u666f\uff0c\u8be5\u641c\u7d22\u5f15\u64ce\u80fd\u591f\u4f7f\u7528\u8bed\u8a00 query \u4ece\u5927\u91cf\u7684\u81ea\u52a8\u9a7e\u9a76\u89c6\u9891\u6570\u636e\u4e2d\u6316\u6398\u4e0e\u7c7b\u522b\u76f8\u5173\u7684\u9a7e\u9a76\u6570\u636e\u3002\u5728\u6b64\u4e4b\u540e\u8fdb\u884c\u4eba\u5de5\u68c0\u67e5\uff0c\u4ee5\u7b5b\u9009\u51fa\u4e0e\u6307\u5b9a\u7c7b\u522b\u4e0d\u4e00\u81f4\u7684\u573a\u666f\u3002
\n\u6311\u6218\u6027\u573a\u666f\u6316\u6398<\/strong>\u3002\u00a0\u9664\u4e86\u957f\u5c3e\u7269\u4f53\u5916\uff0c\u4f5c\u8005\u540c\u6837\u5bf9\u5177\u6709\u6311\u6218\u6027\u7684\u9a7e\u9a76\u573a\u666f\u8fdb\u884c\u4e86\u6316\u6398\u3002\u5728\u8fd9\u4e9b\u573a\u666f\u7684\u6570\u636e\u4e2d\uff0c\u9700\u8981\u6839\u636e\u4e0d\u65ad\u53d8\u5316\u7684\u9a7e\u9a76\u6761\u4ef6\u8c03\u6574\u81ea\u8f66\uff08ego vehicle\uff09\u7684\u9a7e\u9a76\u7b56\u7565\u3002\u8fd9\u4e9b\u573a\u666f\u4e00\u822c\u662f\u6839\u636e\u8bb0\u5f55\u7684\u9a7e\u9a76\u64cd\u4f5c\u53d8\u5316\u5f97\u5230\u7684\uff0c\u4f8b\u5982\u6025\u5239\u8f66\u7b49\u3002\u5728\u5f97\u5230\u76f8\u5e94\u6570\u636e\u540e\uff0c\u540c\u6837\u4f1a\u8fdb\u884c\u4eba\u5de5\u7b5b\u9009\u6765\u8fc7\u6ee4\u51fa\u4e0d\u6ee1\u8db3\u8981\u6c42\u7684\u6570\u636e\u3002
\n\u5173\u952e\u5e27\u9009\u62e9<\/strong>\u3002\u00a0\u6bcf\u4e2a\u6316\u6398\u51fa\u6765\u7684\u9a7e\u9a76\u573a\u666f\u90fd\u662f\u4e00\u4e2a\u5341\u51e0\u79d2\u89c6\u9891\u7247\u6bb5\uff0c\u5728\u8fd9\u4e48\u957f\u7684\u65f6\u95f4\u8de8\u5ea6\u4e2d\uff0c\u9009\u53d6\u201c\u5173\u952e\u5e27\u201d\u81f3\u5173\u91cd\u8981\u3002\u5728\u5927\u591a\u6570\u5177\u6709\u6311\u6218\u6027\u7684\u573a\u666f\u4e2d\uff0c\u5173\u952e\u5e27\u662f\u5728\u9700\u8981\u663e\u8457\u6539\u53d8\u901f\u5ea6\u6216\u65b9\u5411\u4e4b\u524d\u7684\u65f6\u523b\u3002\u6839\u636e\u7efc\u5408\u6d4b\u8bd5\uff0c\u4f5c\u8005\u9009\u62e9\u5728\u5b9e\u9645\u64cd\u4f5c\u524d0.5\u79d2\u52301\u79d2\u4f5c\u4e3a\u5173\u952e\u5e27\uff0c\u4ee5\u786e\u4fdd\u6539\u53d8\u9a7e\u9a76\u51b3\u7b56\u7684\u6700\u4f73\u53cd\u5e94\u65f6\u95f4\u3002\u5bf9\u4e8e\u4e0d\u6d89\u53ca\u9a7e\u9a76\u884c\u4e3a\u53d8\u5316\u7684\u573a\u666f\uff0c\u4f5c\u8005\u9009\u62e9\u4e0e\u5f53\u524d\u9a7e\u9a76\u60c5\u666f\u76f8\u5173\u7684\u5e27\u4f5c\u4e3a\u5173\u952e\u5e27\u3002
\n\u573a\u666f\u6807\u6ce8\u3002\u00a0\u5bf9\u4e8e\u9009\u53d6\u597d\u5173\u952e\u5e27\u540e\u7684\u6570\u636e\uff0c\u7531\u4e00\u7ec4\u6807\u6ce8\u5458\u8fdb\u884c\u573a\u666f\u6807\u6ce8\uff0c\u5305\u62ec\u4efb\u52a1\u63d0\u5230\u7684\u573a\u666f\u63cf\u8ff0\u3001\u573a\u666f\u5206\u6790\u548c\u89c4\u5212\u7b49\u5185\u5bb9\u4fe1\u606f\u3002\u540c\u65f6\u4e3a\u4e86\u4fbf\u4e8e\u573a\u666f\u6807\u6ce8\uff0c\u4f5c\u8005\u5f00\u53d1\u4e86\u4e00\u4e2a\u89c6\u9891\u6807\u6ce8\u5de5\u5177\uff0c\u80fd\u591f\u6bd4\u8f83\u65b9\u4fbf\u7684\u9488\u5bf9\u7279\u5b9a\u6807\u6ce8\u5185\u5bb9\u8fdb\u884c\u5bf9\u5e94\u7684\u6807\u6ce8\u548c\u68c0\u67e5\u3002\u6700\u7ec8\u67d0\u4e2a\u573a\u666f\u5173\u952e\u5e27\u7684\u6807\u6ce8\u7ed3\u679c\u5982\u4e0b\u56fe\u6240\u793a<\/p>\n

\u5b9e\u9a8c\u90e8\u5206<\/h2>\n

Main Results<\/h3>\n

\u4f5c\u8005\u5728\u63d0\u51fa\u7684SUP-AD\u548cnuScenes\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u76f8\u5e94\u7684\u5b9e\u9a8c\u6765\u9a8c\u8bc1DriveVLM\u7684\u6709\u6548\u6027\u3002\u5176\u4e2dSUP-AD\u6309\u7167\u00a0\u00a07.5:1:1.5\u7684\u6bd4\u4f8b\u6765\u5212\u5206\u8bad\u7ec3\u3001\u9a8c\u8bc1\u548c\u6d4b\u8bd5\u96c6\uff0c\u6309\u7167\u4e0a\u6587\u63d0\u51fa\u7684\u4e24\u79cd\u8bc4\u4ef7\u6307\u6807\u8fdb\u884c\u4e86\u8bc4\u6d4b\u3002 \u5728nuScenes\u6570\u636e\u96c6\u4e0a\uff0c\u4f5c\u8005\u9075\u5faa\u4e4b\u524d\u7684\u5de5\u4f5c\uff0c\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\u96c6\u4e0a\u751f\u6210\u8f68\u8ff9\u7684\u6027\u80fd\u3002<\/p>\n

\u5176\u4e2d\u5728SUP-AD\u6570\u636e\u96c6\u4e0a\uff0c\u4f5c\u8005\u5c55\u793a\u4e86DriveVLM\u4e0e\u51e0\u79cd\u5927\u578b\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\u5728\u4e4b\u524d\u7684\u6027\u80fd\u6bd4\u8f83\uff0c\u5e76\u4e0eGPT-4V\u8fdb\u884c\u4e86\u5bf9\u6bd4\uff0c\u5982\u88681\u6240\u793a\u3002<\/p>\n

DriveVLM\u91c7\u7528Qwen-VL\u4f5c\u4e3a\u5176\u57fa\u5ea7\u6a21\u578b\uff0c\u7531\u4e8e\u5176\u672c\u8eab\u5f3a\u5927\u7684\u6a21\u578b\u6027\u80fd\uff0c\u76f8\u8f83\u4e8e\u5176\u4ed6\u5f00\u6e90VLMs\uff0c\u5982Lynx\u548cCogVLM\u53d6\u5f97\u4e86\u6700\u4f73\u6027\u80fd\u3002\u5c3d\u7ba1GPT-4V\u5728\u89c6\u89c9\u548c\u8bed\u8a00\u5904\u7406\u65b9\u9762\u8868\u73b0\u51fa\u5f3a\u5927\u7684\u80fd\u529b\uff0c\u4f46\u65e0\u6cd5\u5bf9\u5176\u8fdb\u884c\u5fae\u8c03\uff0c\u53ea\u80fd\u4ee5in-context learning\u7684\u65b9\u5f0f\u6765\u8fdb\u884c\u6d4b\u8bd5\u3002\u4f5c\u8005\u63d0\u5230\u8fd9\u6837\u901a\u5e38\u4f1a\u5bfc\u81f4\u5728\u573a\u666f\u63cf\u8ff0\u4efb\u52a1\u4e2d\u751f\u6210\u65e0\u5173\u4fe1\u606f\uff0c\u6309\u7167\u6240\u63d0\u7684\u8bc4\u4f30\u65b9\u6cd5\uff0c\u8fd9\u4e9b\u989d\u5916\u4fe1\u606f\u7ecf\u5e38\u88ab\u5206\u7c7b\u4e3a\u5e7b\u89c9\u4fe1\u606f\uff0c\u5bfc\u81f4\u5f97\u5206\u4e0d\u9ad8\u3002<\/p>\n

\u5728nuScenes\u6570\u636e\u96c6\u4e0a\uff0c\u4f5c\u8005\u5c06DriveVLM\u548cDriveVLM-Dual\u4e0e\u4e4b\u524d\u7684\u7ecf\u5178\u65b9\u6cd5\u8fdb\u884c\u4e86\u5bf9\u6bd4\uff0c\u5982\u88682\u6240\u793a\u3002\u5f53\u4e0eVAD\u8fdb\u884c\u534f\u540c\u65f6\uff0cDriveVLM-Dual\u5728\u89c4\u5212\u4efb\u52a1\u7684L2\u548cCR\u6307\u6807\u4e0b\u90fd\u53d6\u5f97\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\u3002\u867d\u7136DriveVLM\u662f\u4e3a\u4e86\u7406\u89e3\u590d\u6742\u573a\u666f\u6240\u8bbe\u8ba1\u7684\uff0c\u4f46\u5728nuScenes\u8fd9\u79cd\u666e\u901a\u573a\u666f\u4e0a\u4e5f\u540c\u6837\u8868\u73b0\u51fa\u8272\u3002<\/p>\n

Ablation Study<\/h3>\n

\u6a21\u578b\u8bbe\u8ba1<\/strong>\u3002\u00a0\u4e3a\u4e86\u9a8c\u8bc1\u6bcf\u90e8\u5206\u6a21\u5757\u8bbe\u8ba1\u7684\u5fc5\u8981\u6027\uff0c\u4f5c\u8005\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u5bf9\u4e0d\u540c\u6a21\u5757\u7ec4\u5408\u8fdb\u884c\u4e86\u6d88\u878d\u5b9e\u9a8c\uff0c\u5982\u88683\u6240\u793a\u3002\u5176\u4e2d\u201cBase\u201d\u8868\u793a\u53ea\u8fdb\u884c\u5c42\u7ea7\u89c4\u5212\uff0c\u800c\u4e0d\u91c7\u7528\u6240\u63d0\u51fa\u7684\u7279\u6b8a\u7684CoT\u63a8\u7406\u8bbe\u7f6e\uff1b\u201cCO\u201d\u8868\u793a\u5f15\u5165\u5173\u952e\u7269\u4f53\u5206\u6790\uff1b\u201c3D\u201d\u8868\u793a\u5f15\u5165\u5339\u914d\u76843D\u611f\u77e5\u7ed3\u679c\u4f5c\u4e3a\u989d\u5916\u7684\u8bed\u8a00prompt\u3002<\/p>\n

\u53ef\u4ee5\u770b\u51fa\uff0c\u5305\u542b\u5173\u952e\u7269\u4f53\u5206\u6790\u8fd9\u4e00\u8bbe\u8ba1\u4f7f\u5f97DriveVLM\u63d0\u9ad8\u4e86\u51b3\u7b56\u7684\u51c6\u786e\u6027\uff0c\u4ece\u800c\u5b9e\u73b0\u66f4\u5b89\u5168\u7684\u5bfc\u822a\u3002\u800c\u5f15\u51653D\u611f\u77e5\u7ed3\u679c\u540e\uff0cDrvieVLM\u751f\u6210\u7684\u8f68\u8ff9\u5728L2\u548cCR\u4e0a\u90fd\u4f1a\u6709\u6bd4\u8f83\u660e\u663e\u7684\u4e0b\u964d\uff0c\u8868\u660e\u5f15\u51653D\u611f\u77e5\u7ed3\u679c\u5bf9\u4e8e\u6355\u6349\u8fd0\u52a8\u52a8\u6001\u5e76\u6539\u5584\u8f68\u8ff9\u9884\u6d4b\u81f3\u5173\u91cd\u8981\u3002<\/p>\n

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