{"id":21993,"date":"2024-09-03T21:03:15","date_gmt":"2024-09-03T13:03:15","guid":{"rendered":"https:\/\/17aitech.com\/?p=21993"},"modified":"2024-09-03T21:03:15","modified_gmt":"2024-09-03T13:03:15","slug":"cvpr-2024-%ef%bd%9c-%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e4%b8%96%e7%95%8c%e6%a8%a1%e5%9e%8b%e5%9b%9b%e7%bb%b4%e6%97%b6%e7%a9%ba%e9%a2%84%e8%ae%ad%e7%bb%83","status":"publish","type":"post","link":"https:\/\/17aitech.com\/?p=21993","title":{"rendered":"CVPR 2024 \uff5c \u81ea\u52a8\u9a7e\u9a76\u4e16\u754c\u6a21\u578b\u56db\u7ef4\u65f6\u7a7a\u9884\u8bad\u7ec3"},"content":{"rendered":"

\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:CVPR 2024 \uff5c \u81ea\u52a8\u9a7e\u9a76\u4e16\u754c\u6a21\u578b\u56db\u7ef4\u65f6\u7a7a\u9884\u8bad\u7ec3<\/a><\/p>\n

\u5317\u4eac\u5927\u5b66\u4e0eEVLO\u521b\u65b0\u56e2\u961f\u5171\u540c\u63d0\u51fa\u9762\u5411\u81ea\u52a8\u9a7e\u9a76\u7684\u56db\u7ef4\u65f6\u7a7a\u9884\u8bad\u7ec3\u7b97\u6cd5DriveWorld\u3002\u8be5\u65b9\u6cd5\u91c7\u7528\u4e16\u754c\u6a21\u578b\u8fdb\u884c\u9884\u8bad\u7ec3\uff0c\u8bbe\u8ba1\u8bb0\u5fc6\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\u8fdb\u884c\u56db\u7ef4\u65f6\u7a7a\u5efa\u6a21\uff0c\u901a\u8fc7\u9884\u6d4b\u573a\u666f\u7684\u5360\u636e\u6805\u683c\uff0c\u964d\u4f4e\u81ea\u52a8\u9a7e\u9a76\u9762\u4e34\u7684\u968f\u673a\u4e0d\u786e\u5b9a\u6027\u548c\u77e5\u8bc6\u4e0d\u786e\u5b9a\u6027\u3002\u8be5\u8bba\u6587\u5df2\u88abCVPR 2024\u63a5\u6536\u3002<\/p>\n

<\/a><\/p>\n

\u8bba\u6587\u9898\u76ee\uff1aDriveWorld: 4D Pre-trained Scene Understanding via World Models for Autonomous Driving<\/p>\n

\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2405.04390<\/a><\/p>\n

\u4e00\u3001\u52a8\u673a<\/strong><\/p>\n

\u81ea\u52a8\u9a7e\u9a76\u7684\u573a\u666f\u7406\u89e3\u4efb\u52a1\u6d89\u53ca\u5230\u5bf9\u573a\u666f\u7684\u611f\u77e5\u548c\u9884\u6d4b\u672a\u6765\u53d8\u5316\u7b49\u591a\u4e2a\u5c42\u9762\uff0c\u8fd9\u4e9b\u5c42\u9762\u4e0d\u4ec5\u5305\u62ec\u7a7a\u95f4\u4e0a\u7684\u4e09\u7ef4\u7ed3\u6784\uff0c\u8fd8\u5305\u542b\u65f6\u95f4\u7ef4\u5ea6\u4e0a\u7684\u52a8\u6001\u53d8\u5316\u3002\u8fd9\u79cd\u590d\u6742\u7684\u573a\u666f\u7406\u89e3\u8981\u6c42\u6a21\u578b\u80fd\u591f\u6355\u6349\u548c\u7406\u89e3\u56db\u7ef4\u65f6\u7a7a\u7684\u5185\u5728\u5173\u8054\uff0c\u4ece\u800c\u505a\u51fa\u51c6\u786e\u7684\u51b3\u7b56\u3002\u7531\u4e8e\u81ea\u7136\u573a\u666f\u7684\u968f\u673a\u6027\u3001\u73af\u5883\u7684\u5c40\u90e8\u53ef\u89c2\u6d4b\u6027\u4ee5\u53ca\u5404\u79cd\u4e0b\u6e38\u4efb\u52a1\u7684\u591a\u6837\u6027\uff0c\u5b66\u4e60\u56db\u7ef4\u65f6\u7a7a\u8868\u793a\u662f\u6781\u5177\u6311\u6218\u6027\u7684\u3002\u9884\u8bad\u7ec3\u5728\u4ece\u5927\u91cf\u6570\u636e\u4e2d\u83b7\u53d6\u901a\u7528\u8868\u793a\u65b9\u9762\u53d1\u6325\u7740\u5173\u952e\u4f5c\u7528\uff0c\u80fd\u591f\u6784\u5efa\u4e00\u4e2a\u5177\u5907\u901a\u7528\u77e5\u8bc6\u7684\u57fa\u7840\u6a21\u578b\u3002\u7136\u800c\uff0c\u6709\u5173\u81ea\u52a8\u9a7e\u9a76\u4e2d\u56db\u7ef4\u65f6\u7a7a\u7684\u9884\u8bad\u7ec3\u7814\u7a76\u4ecd\u7136\u76f8\u5bf9\u8f83\u5c11\u3002<\/p>\n

\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u8bbe\u8ba1\u548c\u5b9e\u73b0\u9700\u8981\u9762\u5bf9\u548c\u5904\u7406\u5404\u79cd\u4e0d\u786e\u5b9a\u6027\uff0c\u8fd9\u4e9b\u4e0d\u786e\u5b9a\u6027\u4e3b\u8981\u5206\u4e3a\u4e24\u7c7b\uff1aAleatoric\u4e0d\u786e\u5b9a\u6027\u548cEpistemic\u4e0d\u786e\u5b9a\u6027\u3002Aleatoric\u4e0d\u786e\u5b9a\u6027\u6e90\u81ea\u4e8e\u4e16\u754c\u7684\u56fa\u6709\u968f\u673a\u6027\uff0c\u4f8b\u5982\u884c\u4eba\u7684\u7a81\u7136\u79fb\u52a8\u6216\u8f66\u8f86\u7684\u610f\u5916\u884c\u4e3a\u3002Epistemic\u4e0d\u786e\u5b9a\u6027\u5219\u6e90\u4e8e\u5bf9\u73af\u5883\u4e0d\u5b8c\u5168\u7684\u8ba4\u77e5\uff0c\u4f8b\u5982\u7531\u4e8e\u906e\u6321\u6216\u4f20\u611f\u5668\u9650\u5236\u5bfc\u81f4\u7684\u4fe1\u606f\u7f3a\u5931\u3002\u4e3a\u4e86\u6709\u6548\u5e94\u5bf9\u8fd9\u4e9b\u4e0d\u786e\u5b9a\u6027\uff0c\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5fc5\u987b\u80fd\u591f\u5229\u7528\u8fc7\u53bb\u7684\u7ecf\u9a8c\u6765\u9884\u6d4b\u672a\u6765\u53ef\u80fd\u7684\u72b6\u6001\uff0c\u5e76\u5bf9\u4e0d\u53ef\u89c1\u7684\u533a\u57df\u8fdb\u884c\u63a8\u6d4b\u3002\u672c\u5de5\u4f5c\u901a\u8fc7\u56db\u7ef4\u65f6\u7a7a\u9884\u8bad\u7ec3\u7684\u4e16\u754c\u6a21\u578b\u6765\u89e3\u51b3\u8fd9\u4e00\u6311\u6218\uff0c\u65e8\u5728\u63d0\u5347\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5728\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u4efb\u52a1\u4e2d\u7684\u6027\u80fd\u3002<\/p>\n

\u4e8c\u3001\u65b9\u6cd5<\/strong><\/p>\n

\u5bf9\u4e8e\u7531\u81ea\u52a8\u9a7e\u9a76\u73af\u89c6\u76f8\u673a\u7cfb\u7edf\u89c2\u5bdf\u5230\u7684T\u4e2a\u89c6\u9891\u5e27\u7684\u5e8f\u5217o1:T\uff0c\u4ee5\u53ca\u5b83\u4eec\u5bf9\u5e94\u7684\u4e13\u5bb6\u884c\u4e3aa1:T\u548c\u4e09\u7ef4\u5360\u636e\u6805\u683c\u6807\u7b7ey1:T\uff0c\u5176\u4e2d\u4e09\u7ef4\u5360\u636e\u6805\u683c\u6807\u7b7e\u53ef\u4ee5\u5229\u7528\u4e09\u7ef4\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u548c\u59ff\u6001\u6570\u636e\u83b7\u5f97\u3002\u6211\u4eec\u7684\u76ee\u6807\u662f\u901a\u8fc7\u4e16\u754c\u6a21\u578b\u5b66\u4e60\u4e00\u4e2a\u7d27\u51d1\u7684BEV\u8868\u793a\uff0c\u8be5\u8868\u793a\u901a\u8fc7\u8fc7\u53bb\u591a\u89c6\u89d2\u56fe\u50cf\u548c\u52a8\u4f5c\u9884\u6d4b\u7684\u5f53\u524d\u548c\u672a\u6765\u7684\u4e09\u7ef4\u5360\u636e\u6805\u683c\u3002<\/p>\n

<\/a><\/p>\n

2.1\u65f6\u5e8f\u6982\u7387\u6a21\u578b<\/strong><\/p>\n

\u4e3a\u4e86\u8d4b\u4e88\u6a21\u578b\u56db\u7ef4\u65f6\u7a7a\u5efa\u6a21\u7684\u80fd\u529b\uff0c\u6211\u4eec\u9996\u5148\u5f15\u5165\u4e24\u4e2a\u6f5c\u5728\u53d8\u91cf(h1:T,s1:T)\uff0c\u5176\u4e2dht\u8868\u793a\u5386\u53f2\u4fe1\u606f\u53d8\u91cf\uff0c\u5305\u542b\u4e86\u5230\u65f6\u95f4\u6b65t\u7684\u6240\u6709\u5386\u53f2\u4fe1\u606f\uff0cst\u8868\u793a\u968f\u673a\u72b6\u6001\u53d8\u91cf\uff0c\u662f\u6a21\u578b\u9884\u6d4b\u672a\u6765\u72b6\u6001\u7684\u5173\u952e\u3002ht\u901a\u8fc7\u5386\u53f2\u4fe1\u606fh1:t\u22121\u548c\u968f\u673a\u72b6\u6001s1:t\u22121\u8fdb\u884c\u66f4\u65b0\u3002\u4e3a\u4e86\u9884\u6d4b\u672a\u6765\u72b6\u6001\uff0c\u6211\u4eec\u9075\u5faa\u5faa\u73af\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\uff08Recurrent State-Space Model\uff0cRSSM\uff09\uff0c\u6784\u5efa\u540e\u9a8c\u72b6\u6001\u5206\u5e03q(st\u2223o\u2264t,a<\/p>\n

\u8003\u8651\u5230BEV\u7279\u5f81\u7684\u7ef4\u5ea6\u5f88\u9ad8\uff0c\u6211\u4eec\u5c06\u5176\u8f6c\u6362\u4e3a\u4e00\u7ef4\u5411\u91cfxt\uff0c\u7136\u540e\u4ece(ht,at\u22121,xt)\u4e2d\u62bd\u6837\u9ad8\u65af\u5206\u5e03\u4ee5\u751f\u6210\u540e\u9a8c\u72b6\u6001\u5206\u5e03\uff1a
p(st\u2223ht\u22121,st\u22121)\u223dN(\u03bc\u03b8(ht,a^t\u22121),\u03c3\u03b8(ht,a^t\u22121)I),
\u5176\u4e2dst\u88ab\u53c2\u6570\u5316\u4e3a\u5e26\u6709\u5bf9\u89d2\u534f\u65b9\u5dee\u7684\u6b63\u6001\u5206\u5e03\uff0c\u521d\u59cb\u5206\u5e03\u8bbe\u7f6e\u4e3as1\u223dN(0,I)\u3002(\u03bc\u03d5,\u03c3\u03d5)\u662f\u53c2\u6570\u5316\u540e\u9a8c\u72b6\u6001\u5206\u5e03\u7684\u591a\u5c42\u611f\u77e5\u673a\u3002<\/p>\n

\u5728\u6ca1\u6709\u89c2\u5bdf\u5230\u56fe\u50cf\u7684\u60c5\u51b5\u4e0b\uff0c\u6a21\u578b\u6839\u636e\u5386\u53f2\u4fe1\u606f\u548c\u9884\u6d4b\u7684\u52a8\u4f5c\u5f97\u51fa\u5148\u9a8c\u72b6\u6001\u5206\u5e03\uff1a
p(st\u2223ht\u22121,st\u22121)\u223dN(\u03bc\u03b8(ht,a^t\u22121),\u03c3\u03b8(ht,a^t\u22121)I),
\u5176\u4e2d(\u03bc\u03b8,\u03c3\u03b8)\u53c2\u6570\u5316\u5148\u9a8c\u72b6\u6001\u5206\u5e03\u3002\ud835\udf0b\ud835\udf03\u662f\u7528\u4e8e\u9884\u6d4b\u52a8\u4f5c a^t\u22121\u7684\u7b56\u7565\u7f51\u7edc\uff0c\u57fa\u4e8e\u5386\u53f2\u4fe1\u606fht\u22121\u548c\u968f\u673a\u72b6\u6001st\u22121\u3002<\/p>\n

<\/a><\/p>\n

2.1.1 \u52a8\u6001\u4fe1\u606f\u4f20\u9012<\/strong><\/p>\n

\u5728\u81ea\u52a8\u9a7e\u9a76\u7684\u573a\u666f\u7406\u89e3\u4e2d\uff0c\u8003\u8651\u7269\u4f53\u7684\u8fd0\u52a8\u5bf9\u4e8e\u51c6\u786e\u9884\u6d4b\u672a\u6765\u72b6\u6001\u81f3\u5173\u91cd\u8981\u3002\u4e3a\u4e86\u6355\u6349\u8fd9\u79cd\u52a8\u6001\u4fe1\u606f\uff0c\u6211\u4eec\u63d0\u51fa\u901a\u8fc7\u5f15\u5165\u8fd0\u52a8\u53c2\u6570\u6765\u5efa\u6a21\u7269\u4f53\u7684\u8fd0\u52a8\uff0c\u4ece\u800c\u5728\u52a8\u6001\u4fe1\u606f\u4f20\u64ad\u8fc7\u7a0b\u4e2d\u5b9e\u73b0\u8fd0\u52a8\u611f\u77e5\u3002\u6211\u4eec\u5f15\u5165\u4e86\u8fd0\u52a8\u611f\u77e5\u5c42\u5f52\u4e00\u5316\uff08MLN\uff09\u3002\u8fd0\u52a8\u5c5e\u6027\u5305\u62ec\u901f\u5ea6v\u548c\u76f8\u5bf9\u65f6\u95f4\u95f4\u9694\u0394t\u3002(v,\u0394t)\u88ab\u5c55\u5e73\u5e76\u901a\u8fc7\u4e24\u4e2a\u7ebf\u6027\u5c42(\u03be1,\u03be2)\u8f6c\u6362\u4e3a\u4eff\u5c04\u5411\u91cf\u03b3\u548c\u03b2\uff1a\u03b3=\u03be1(v,\u0394t),\u03b2=\u03be2(v,\u0394t)\u3002 \u7136\u540e\u6267\u884c\u4eff\u5c04\u53d8\u6362\u4ee5\u5f97\u5230\u8fd0\u52a8\u611f\u77e5\u7684\u6f5c\u5728\u968f\u673a\u72b6\u6001\uff0c\u8868\u793a\u4e3ast=\u03b3\u22c5LN(st)+\u03b2\u3002\u968f\u7740\u8f66\u8f86\u7684\u8fd0\u52a8\uff0c\u786e\u5b9a\u6027\u5386\u53f2\u72b6\u6001ht\u53ef\u4ee5\u5efa\u7acb\u52a8\u6001\u8bb0\u5fc6\u5e93h1:t\u3002\u901a\u8fc7\u4e0e\u52a8\u6001\u8bb0\u5fc6\u5e93\u8fdb\u884c\u4ea4\u53c9\u6ce8\u610f\u673a\u5236\u8ba1\u7b97\uff0c\u53ef\u4ee5\u5f97\u5230\u786e\u5b9a\u6027\u5386\u53f2\u72b6\u6001ht\u3002
\u786e\u5b9a\u6027\u5386\u53f2\u72b6\u6001\u4e3aht+1=f\u03b8(ht,st)\u3002<\/p>\n

2.1.2 \u7a7a\u95f4\u4fe1\u606f\u4f20\u9012<\/strong><\/p>\n

\u5728\u81ea\u52a8\u9a7e\u9a76\u7684\u573a\u666f\u7406\u89e3\u4e2d\uff0c\u9664\u4e86\u52a8\u6001\u53d8\u5316\u4fe1\u606f\uff0c\u7a7a\u95f4\u7ed3\u6784\u4fe1\u606f\u540c\u6837\u91cd\u8981\u3002\u7531\u4e8e\u8fde\u7eed\u7684\u573a\u666f\u5e27\u901a\u5e38\u53ea\u5305\u542b\u5fae\u5c0f\u7684\u53d8\u5316\uff0c\u800c\u573a\u666f\u7684\u4e3b\u8981\u5185\u5bb9\u5f80\u5f80\u662f\u7531\u9759\u6001\u7269\u4f53\u7ec4\u6210\u7684\uff0c\u5982\u9053\u8def\u3001\u6811\u6728\u548c\u4ea4\u901a\u6807\u5fd7\uff0c\u56e0\u6b64\u5728\u5904\u7406\u8fd9\u4e9b\u4fe1\u606f\u65f6\uff0c\u76f4\u63a5\u5c06\u8f93\u5165\u56fe\u50cf\u8f6c\u6362\u4e3a\u4e00\u7ef4\u5411\u91cf\u53ef\u80fd\u4f1a\u5bfc\u81f4\u5173\u952e\u7a7a\u95f4\u7ed3\u6784\u4fe1\u606f\u7684\u4e22\u5931\u3002\u6211\u4eec\u4ece1\u5230T\u5e27\u4e2d\u968f\u673a\u9009\u62e9\u4e00\u5e27o\u2032\uff0c\u5e76\u4f7f\u7528\u5176BEV\u7279\u5f81b\u2032\u6784\u5efa\u4e00\u4e2a\u63cf\u8ff0\u7a7a\u95f4\u611f\u77e5\u7ed3\u6784\u7684\u6f5c\u5728\u9759\u6001\u8868\u793ab^=z\u03b8(b\u2032)\u3002\u6211\u4eec\u5c06\u7a7a\u95f4\u611f\u77e5\u7684\u9759\u6001\u8868\u793ab^\u4e0e\u52a8\u6001\u53d8\u5316\u7684\u8fd0\u52a8\u8868\u793ast\u7ed3\u5408\u8d77\u6765\uff0c\u5f97\u5230\u4e86\u5468\u56f4\u573a\u666f\u7684\u7efc\u5408\u8868\u793a\u3002<\/p>\n

2.2 \u9884\u8bad\u7ec3\u8f85\u52a9\u4efb\u52a1<\/strong><\/p>\n

\u5bf9\u5468\u56f4\u73af\u5883\u7684\u5168\u9762\u7406\u89e3\u5bf9\u81ea\u52a8\u9a7e\u9a76\u89c6\u81f3\u5173\u91cd\u8981\u7684\u3002\u6211\u4eec\u63d0\u51fa\u5c06\u7269\u7406\u4e16\u754c\u5efa\u6a21\u4e3a\u4e09\u7ef4\u5360\u636e\u6805\u683c\u7ed3\u6784\u6765\u63cf\u8ff0\u8f66\u8f86\u5468\u56f4\u7684\u73af\u5883\u3002\u4e09\u7ef4\u5360\u636e\u6805\u683c\u89e3\u7801\u5668\u88ab\u8bbe\u7f6e\u4e3ay^t=l\u03b8(m\u03b8(h~t,st),b^),\u5176\u4e2dm\u03b8\u662f\u5c06\u4e00\u7ef4\u7279\u5f81\u6269\u5c55\u5230BEV\u7ef4\u5ea6\u7684\u7f51\u7edc\uff0cl\u03b8\u662f\u7528\u4e8e\u9884\u6d4b\u5360\u636e\u6805\u683c\u7684\u4e09\u7ef4\u5377\u79ef\u7f51\u7edc\u3002\u8fd9\u79cd\u56db\u7ef4\u5360\u636e\u6805\u683c\u9884\u8bad\u7ec3\u4e0d\u4ec5\u80fd\u591f\u6355\u6349\u5230\u573a\u666f\u7684\u9759\u6001\u7ed3\u6784\uff0c\u8fd8\u80fd\u591f\u7406\u89e3\u573a\u666f\u968f\u65f6\u95f4\u7684\u52a8\u6001\u53d8\u5316\uff0c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u63d0\u4f9b\u4e86\u66f4\u52a0\u4e30\u5bcc\u548c\u52a8\u6001\u7684\u73af\u5883\u7406\u89e3\u3002<\/p>\n

2.3 \u4efb\u52a1\u63d0\u793a\u673a\u5236<\/strong><\/p>\n

\u867d\u7136\u901a\u8fc7\u4e16\u754c\u6a21\u578b\u8bbe\u8ba1\u7684\u9884\u8bad\u7ec3\u4efb\u52a1\u53ef\u4ee5\u5b66\u4e60\u56db\u7ef4\u65f6\u7a7a\u8868\u793a\uff0c\u4f46\u4e0d\u540c\u7684\u4e0b\u6e38\u4efb\u52a1\u5173\u6ce8\u7684\u4fe1\u606f\u662f\u4e0d\u540c\u7684\u3002\u4e3a\u4e86\u7f13\u89e3\u8fd9\u4e2a\u95ee\u9898\uff0c\u53d7\u5c11\u6837\u672c\u56fe\u50cf\u8bc6\u522b\u7684\u8bed\u4e49\u63d0\u793a\u548c\u591a\u4efb\u52a1\u5b66\u4e60\u4e2d\u7684\u89c6\u89c9\u793a\u4f8b\u5f15\u5bfc\u63d0\u793a\u7684\u542f\u53d1\uff0c\u5f15\u5165\u4e86\u201c\u4efb\u52a1\u63d0\u793a\u201d\u673a\u5236\uff0c\u4e3a\u4e0d\u540c\u7684\u4efb\u52a1\u63d0\u4f9b\u7279\u5b9a\u7684\u63d0\u793a\uff0c\u4ee5\u5f15\u5bfc\u5b83\u4eec\u63d0\u53d6\u4efb\u52a1\u76f8\u5173\u7684\u7279\u5f81\u3002\u7531\u4e8e\u4e0d\u540c\u4efb\u52a1\u4e4b\u95f4\u5b58\u5728\u8bed\u4e49\u5173\u8054\uff0c\u6211\u4eec\u5229\u7528\u5927\u8bed\u8a00\u6a21\u578bg\u03c6(\u22c5)\uff08\u4f8b\u5982BERT\uff0cCLIP\uff09\u6784\u5efa\u8fd9\u4e9b\u4efb\u52a1\u63d0\u793a\u3002\u4f8b\u5982\uff0c\u9488\u5bf9\u4e09\u7ef4\u5360\u636e\u6805\u683c\u91cd\u5efa\u4efb\u52a1\u7684\u4efb\u52a1\u63d0\u793a\uff0c\u5176\u5173\u6ce8\u66f4\u591a\u7684\u662f\u5f53\u524d\u573a\u666f\uff0c\u8bbe\u7f6e\u4e3a\u201c\u4efb\u52a1\u662f\u9884\u6d4b\u5f53\u524d\u573a\u666f\u7684\u4e09\u7ef4\u5360\u636e\u6805\u683c\u201d\u3002\u6211\u4eec\u5c06\u63d0\u793aptext\u8f93\u5165\u5230g\u03c6(\u22c5)\u4e2d\u4ee5\u83b7\u53d6\u63d0\u793a\u7f16\u7801g\u03c6(ptext)\u3002\u968f\u540e\u5c06\u5176\u6269\u5c55\u5230BEV\u7684\u7ef4\u5ea6\uff0c\u8868\u793a\u4e3aq\u03c6(g\u03c6(ptext))\uff0c\u5c06\u5176\u4e0e\u5b66\u5230\u7684\u65f6\u7a7a\u7279\u5f81\u96c6\u6210\u5728\u4e00\u8d77\u3002<\/p>\n

2.4 \u9884\u8bad\u7ec3\u76ee\u6807\u51fd\u6570<\/strong><\/p>\n

DriveWorld\u7684\u9884\u8bad\u7ec3\u76ee\u6807\u5305\u62ec\u6700\u5c0f\u5316\u540e\u9a8c\u72b6\u6001\u5206\u5e03\u4e0e\u5148\u9a8c\u72b6\u6001\u5206\u5e03\u4e4b\u95f4\u7684\u5dee\u5f02\uff08\u5373Kullback-Leibler\uff08KL\uff09\u6563\u5ea6\uff09\uff0c\u4ee5\u53ca\u6700\u5c0f\u5316\u4e0e\u8fc7\u53bb\u548c\u672a\u6765\u4e09\u7ef4\u5360\u636e\u6805\u683c\uff08\u5373\u4ea4\u53c9\u71b5\u635f\u5931\uff08CE\uff09\uff09\u548c\u52a8\u4f5c\uff08\u5373L1\u635f\u5931\uff09\u76f8\u5173\u7684\u635f\u5931\u3002\u6211\u4eec\u91c7\u7528\u6a21\u578b\u5728T\u4e2a\u65f6\u95f4\u6b65\u5185\u89c2\u5bdf\u8f93\u5165\uff0c\u7136\u540e\u9884\u6d4b\u672a\u6765\u7684\u4e09\u7ef4\u5360\u636e\u6805\u683c\u548cL\u4e2a\u6b65\u9aa4\u7684\u52a8\u4f5c\u3002<\/p>\n

\u4e09\u3001\u5b9e\u9a8c<\/strong><\/p>\n

3.1 \u5b9e\u9a8c\u8bbe\u7f6e<\/strong><\/p>\n

\u6211\u4eec\u5728\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\u96c6\u4e0anuScenes\u548cOpenScenes\u4e0a\u8fdb\u884c\u9884\u8bad\u7ec3\uff0c\u5e76\u5728nuScenes\u4e0a\u8fdb\u884c\u5fae\u8c03\u3002\u6211\u4eec\u91c7\u7528\u591a\u5e27\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u805a\u5408\u7684\u65b9\u5f0f\u83b7\u5f97\u5bc6\u96c6\u7684\u4e09\u7ef4\u5360\u636e\u6805\u683c\u6807\u7b7e\u3002<\/p>\n

3.2 \u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n

\u8fd9\u91cc\u5c55\u793a\u90e8\u5206\u7ed3\u679c\uff0c\u66f4\u591a\u7ed3\u679c\u8bf7\u53c2\u8003\u8bba\u6587\u3002<\/p>\n

<\/a><\/p>\n

<\/a><\/p>\n

<\/a><\/p>\n

<\/a><\/p>\n

<\/a><\/p>\n

\u56db\u3001\u603b\u7ed3<\/strong><\/p>\n

DriveWorld\u901a\u8fc7\u57fa\u4e8e\u4e16\u754c\u6a21\u578b\u7684\u56db\u7ef4\u65f6\u7a7a\u9884\u8bad\u7ec3\uff0c\u63d0\u9ad8\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5bf9\u5468\u56f4\u73af\u5883\u7684\u7406\u89e3\u548c\u9884\u6d4b\u80fd\u529b\uff0c\u964d\u4f4e\u81ea\u52a8\u9a7e\u9a76\u9762\u4e34\u7684\u4e0d\u786e\u5b9a\u6027\u3002DriveWorld\u63d0\u51fa\u4e86\u8bb0\u5fc6\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\u8fdb\u884c\u65f6\u7a7a\u5efa\u6a21\uff0c\u5305\u542b\u52a8\u6001\u8bb0\u5fc6\u5b58\u50a8\u6a21\u5757\u7528\u4e8e\u5b66\u4e60\u65f6\u5e8f\u611f\u77e5\u8868\u793a\uff0c\u9759\u6001\u573a\u666f\u4f20\u64ad\u6a21\u5757\u7528\u4e8e\u5b66\u4e60\u7a7a\u95f4\u611f\u77e5\u8868\u793a\u3002\u4e3a\u4e86\u8fdb\u4e00\u6b65\u63d0\u5347\u6a21\u578b\u7684\u9002\u5e94\u6027\u548c\u7075\u6d3b\u6027\uff0cDriveWorld\u8fd8\u5f15\u5165\u4e86\u4efb\u52a1\u63d0\u793a\u673a\u5236\uff0c\u5141\u8bb8\u6a21\u578b\u6839\u636e\u5f53\u524d\u7684\u4efb\u52a1\u9700\u6c42\u81ea\u9002\u5e94\u5730\u8c03\u6574\u5176\u8868\u793a\uff0c\u4ece\u800c\u5728\u4e0d\u540c\u7684\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u4e2d\u5b9e\u73b0\u6700\u4f73\u6027\u80fd\u3002<\/p>\n

\u53c2\u8003<\/strong><\/p>\n

[1]Chen Min, et al. Multi-Camera Unified Pre-Training Via 3D Scene Reconstruction[J]. IEEE Robotics and Automation Letters, 2024.<\/p>\n

[2]Chen Min, et al. Occupancy-mae: Self-supervised pre-training large-scale lidar point clouds with masked occupancy autoencoders[J]. IEEE Transactions on Intelligent Vehicles, 2023.<\/p>\n

EVOL\u521b\u65b0\u56e2\u961f\u4ecb\u7ecd<\/strong><\/p>\n

\u8d75\u5065<\/strong>\uff0c\u4e2d\u56fd\u7535\u4fe1\u4eba\u5de5\u667a\u80fd\u7814\u7a76\u9662\u591a\u5a92\u4f53\u8ba4\u77e5\u5b66\u4e60\u5b9e\u9a8c\u5ba4\uff08EVOL Lab\uff09\u8d1f\u8d23\u4eba\u3001\u9752\u5e74\u79d1\u5b66\u5bb6\uff0c\u897f\u5317\u5de5\u4e1a\u5927\u5b66\u5149\u7535\u4e0e\u667a\u80fd\u7814\u7a76\u9662\u7814\u7a76\u5458\u3001\u535a\u5bfc\uff0c\u535a\u58eb\u6bd5\u4e1a\u4e8e\u65b0\u52a0\u5761\u56fd\u7acb\u5927\u5b66\uff0c\u7814\u7a76\u5174\u8da3\u5305\u62ec\u591a\u5a92\u4f53\u5206\u6790\u3001\u4e34\u5730\u5b89\u9632\u3001\u5177\u8eab\u667a\u80fd\u3002<\/p>\n

\u5171\u53d1\u8868CCF-A\u7c7b\u8bba\u658760\u4f59\u7bc7\uff0c\u542b\u4e00\u4f5cT-PAMI\u00d72\uff08IF: 24.314\uff09\u3001IJCV\u00d73\uff08IF: 13.369\uff09\uff0c\u7b2c\u4e00\u53d1\u660e\u4eba\u6388\u6743\u56fd\u5bb6\u53d1\u660e\u4e13\u52295\u9879\u3002\u76f8\u5173\u6280\u672f\u6210\u679c\u5728\u767e\u5ea6\u3001\u8682\u8681\u91d1\u670d\u3001\u5947\u864e360\u7b496\u4e2a\u79d1\u6280\u884c\u4e1a\u9886\u519b\u4f01\u4e1a\u5f97\u5230\u5e94\u7528\uff0c\u4ea7\u751f\u4e86\u663e\u8457\u6548\u76ca\u3002\u66fe\u5165\u9009\u4e2d\u56fd\u79d1\u534f\u53ca\u5317\u4eac\u5e02\u79d1\u534f\u201c\u9752\u5e74\u4eba\u624d\u6258\u4e3e\u5de5\u7a0b\u201d\uff0c\u4e3b\u6301\u56fd\u81ea\u7136\u9752\u5e74\u79d1\u5b66\u57fa\u91d1\u7b49\u9879\u76ee6\u9879\u3002\u66fe\u83b7\u5434\u6587\u4fca\u4eba\u5de5\u667a\u80fd\u4f18\u79c0\u9752\u5e74\u5956\uff082023\uff09\u3001\u5434\u6587\u4fca\u4eba\u5de5\u667a\u80fd\u81ea\u7136\u79d1\u5b66\u5956\u4e00\u7b49\u5956\uff082\/5\uff0c2022\uff09\u3001\u65b0\u52a0\u5761\u6a21\u5f0f\u8bc6\u522b\u4e0e\u673a\u5668\u667a\u80fd\u534f\u4f1a\uff08PREMIA\uff09Lee Hwee Kuan\u5956\u3001ACM Multimedia\u552f\u4e00\u6700\u4f73\u5b66\u751f\u8bba\u6587\u5956\uff08\u4e00\u4f5c\uff0c1\/208\uff0cCCF-A\u7c7b\u4f1a\u8bae\uff0c2018\uff09\uff0c7\u6b21\u5728\u56fd\u9645\u91cd\u8981\u79d1\u6280\u8d5b\u4e8b\u4e2d\u593a\u51a0\u3002<\/p>\n

\u62c5\u4efb\u5317\u4eac\u56fe\u8c61\u56fe\u5f62\u5b66\u5b66\u4f1a\u7406\u4e8b\uff0c\u56fd\u9645\u77e5\u540d\u671f\u520a\u300aArtificial Intelligence Advances\u300b\u3001\u300aIET Computer Vision\u300b\u7f16\u59d4\uff0c\u300aPattern Recognition Letters\u300b\u3001\u300aElectronics\u300b\u7279\u520a\u5ba2\u5ea7\u7f16\u8f91\uff0cVALSE\u8d44\u6df1\u9886\u57df\u4e3b\u5e2d\uff0cACM Multimedia 2021\u5206\u8bba\u575b\u4e3b\u5e2d\uff0cCICAI 2022\/2023\u9886\u57df\u4e3b\u5e2d\uff0cCCBR 2024\u8bba\u575b\u4e3b\u5e2d\uff0c\u4e2d\u56fd\u4eba\u5de5\u667a\u80fd\u5b66\u4f1a\/\u4e2d\u56fd\u56fe\u8c61\u56fe\u5f62\u5b66\u5b66\u4f1a\u9ad8\u7ea7\u4f1a\u5458\uff0c\u201c\u6311\u6218\u676f\u201d\u5927\u5b66\u751f\u79d1\u6280\u4f5c\u54c1\u7ade\u8d5b\u8bc4\u59d4\uff0c\u4e2d\u56fd\u4eba\u5de5\u667a\u80fd\u5927\u8d5b\u4e13\u5bb6\u59d4\u59d4\u5458\u7b49\u3002<\/p>\n

GitHub\u4e3b\u9875\uff1ahttps:\/\/zhaoj9014.github.io<\/a><\/p>\n

\u5b66\u9662\u4e3b\u9875\uff1ahttps:\/\/iopen.nwpu.edu.cn\/info\/1252\/4626.htm<\/a><\/p>\n

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