{"id":16345,"date":"2023-11-09T10:02:59","date_gmt":"2023-11-09T02:02:59","guid":{"rendered":"https:\/\/aif.amtbbs.org\/?p=16345"},"modified":"2023-11-09T10:05:05","modified_gmt":"2023-11-09T02:05:05","slug":"%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e4%b8%ad%e5%9f%ba%e4%ba%8e-transformer%e7%9a%84%e6%a8%a1%e5%9e%8b%e5%92%8c%e7%a1%ac%e4%bb%b6%e5%8a%a0%e9%80%9f%e5%88%86%e6%9e%90","status":"publish","type":"post","link":"https:\/\/aif.amtbbs.org\/index.php\/2023\/11\/09\/16345\/","title":{"rendered":"\u81ea\u52a8\u9a7e\u9a76\u4e2d\u57fa\u4e8e Transformer\u7684\u6a21\u578b\u548c\u786c\u4ef6\u52a0\u901f\u5206\u6790"},"content":{"rendered":"<div 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data-dominant-color=\"e9e9ea\" data-has-transparency=\"false\" style=\"--dominant-color: #e9e9ea;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-16365\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/f3e0c1573cc7cf2645d994eae7cf7aa89357e3-1.png\" width=\"720\" height=\"544\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/f3e0c1573cc7cf2645d994eae7cf7aa89357e3-1.png 720w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/f3e0c1573cc7cf2645d994eae7cf7aa89357e3-1-300x227.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/f3e0c1573cc7cf2645d994eae7cf7aa89357e3-1-150x113.png 150w\" sizes=\"auto, (max-width: 720px) 100vw, 720px\" \/><\/p>\n<p class=\"js_darkmode__25\">\u56fe1\uff1a\u5de6\u56fe\u63cf\u7ed8\u4e86Self-Attention(\u6216\u7f29\u653e\u70b9\u79ef\u6ce8\u610f)\uff0c\u53f3\u56fe\u663e\u793a\u4e86\u5305\u542b\u51e0\u4e2a\u6ce8\u610f\u5c42\u7684Multi-Head-Attention\uff0c\u5982\u56fe[24]\u6240\u793a\u3002<\/p>\n<p class=\"js_darkmode__26\">Transformer\u67b6\u6784[24]\u6700\u521d\u662f\u57fa\u4e8e\u81ea\u7136\u8bed\u8a00\u5904\u7406(NLP)\u4efb\u52a1\u7684\u6ce8\u610f\u673a\u5236\u5f00\u53d1\u7684\uff0c\u4f46\u5b83\u4eec<strong>\u6a21\u62df\u957f\u671f\u4f9d\u8d56\u5173\u7cfb\u548c\u6355\u6349\u5168\u5c40\u73af\u5883\u7684\u80fd\u529b<\/strong>\uff0c\u4f7f\u5b83\u4eec\u5728\u81ea\u52a8\u9a7e\u9a76\u7684\u611f\u77e5\u4efb\u52a1\u4e2d\u5177\u6709\u5438\u5f15\u529b\u3002\u5b83\u65e8<strong>\u5728\u5904\u7406\u548c\u6355\u83b7\u8f93\u5165\u6570\u636e\u4e2d\u7684\u4f9d\u8d56\u5173\u7cfb\uff0c\u4ece\u800c\u6d88\u9664\u4e86\u5bf9\u5faa\u73af\u6216\u5377\u79ef\u5c42\u7684\u9700\u6c42\uff0c\u4ece\u800c\u5b9e\u73b0\u9ad8\u5ea6\u5e76\u884c\u8ba1\u7b97<\/strong>\u3002\u5178\u578b\u7684Transformer\u7531\u7f16\u7801\u5668-\u89e3\u7801\u5668\u7ed3\u6784\u7ec4\u6210\u3002\u7f16\u7801\u5668\u7531\u4e00\u5806\u76f8\u540c\u7684\u5c42\u7ec4\u6210\uff0c\u6bcf\u4e2a\u5c42\u5305\u542b\u4e24\u4e2a\u4e3b\u8981\u7ec4\u4ef6\uff1aMulti-Head-Attention\u673a\u5236(\u5982\u56fe1\u6240\u793a)\u548c\u4f4d\u7f6e\u7f16\u7801\u524d\u9988\u795e\u7ecf\u7f51\u7edc\u3002Multi-Head-Attention<strong>\u6a21\u5757\u4f7f\u6a21\u578b\u80fd\u591f\u540c\u65f6\u6743\u8861\u8f93\u5165\u5e8f\u5217\u4e2d\u4e0d\u540c\u90e8\u5206\u76f8\u5bf9\u4e8e\u5f7c\u6b64\u7684\u91cd\u8981\u6027\uff0c\u4ece\u800c\u6355\u83b7\u957f\u671f\u4f9d\u8d56\u5173\u7cfb<\/strong>\u3002Transformer\u67b6\u6784\u5305\u542b\u4f4d\u7f6e\u7f16\u7801\uff0c\u5b83\u6ce8\u5165\u6709\u5173\u8f93\u5165\u5143\u7d20\u7684\u76f8\u5bf9\u6216\u7edd\u5bf9\u4f4d\u7f6e\u7684\u4fe1\u606f\uff0c\u56e0\u4e3aAttention\u673a\u5236\u672c\u8eab\u5e76\u4e0d\u6355\u83b7\u4f4d\u7f6e\u4fe1\u606f\u3002<\/p>\n<p class=\"js_darkmode__27\">\u56e0\u6b64\uff0cTransformer\u67b6\u6784\u7684\u786c\u4ef6\u52a0\u901f\u6210\u4e3a\u5b9e\u73b0\u5b9e\u9645\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u6a21\u578b\u7684\u4e00\u4e2a\u91cd\u8981\u9886\u57df\u3002\u4eba\u5de5\u667a\u80fd\u82af\u7247\u4e0a\u7684\u786c\u4ef6\u52a0\u901f\u6d89\u53ca\u4f7f\u7528\u4e13\u7528\u5904\u7406\u5668\u6216\u4e13\u7528\u786c\u4ef6\u5355\u5143\u6765\u6bd4\u901a\u7528CPU\u6216GPU\u66f4\u6709\u6548\u5730\u6267\u884c\u7279\u5b9a\u64cd\u4f5c\u3002\u53e6\u4e00\u65b9\u9762\uff0cTransformer\u7b97\u5b50\u662fTransformer\u4f53\u7cfb\u7ed3\u6784\u7684\u57fa\u672c\u6784\u5efa\u5757\uff0c<strong>\u7528\u4e8e\u6267\u884c\u57fa\u672c\u7684\u6570\u5b66\u8fd0\u7b97\uff0c\u4f8b\u5982\u77e9\u9635\u4e58\u6cd5\u3001\u6ce8\u610f\u529b\u8ba1\u7b97\u548c\u524d\u9988\u795e\u7ecf\u7f51\u7edc\u8ba1\u7b97<\/strong>\u3002Transformer\u7b97\u5b50\u7684\u4f18\u5316\u5bf9\u4e8e\u5145\u5206\u5229\u7528\u786c\u4ef6\u52a0\u901f\u5668\u7684\u529f\u80fd\u5e76\u5b9e\u73b0\u57fa\u4e8eTransformer\u7684\u6a21\u578b\u7684\u5feb\u901f\u3001\u9ad8\u6548\u90e8\u7f72\u548c\u6267\u884c\u81f3\u5173\u91cd\u8981\u3002\u901a\u8fc7\u5b9a\u5236\u8fd9\u4e9b\u8fd0\u7b97\u7b26\u6765\u5229\u7528AI\u82af\u7247\u7684\u4f18\u52bf\uff0c\u5982<strong>\u5e76\u884c\u6027\u3001\u4f4e\u7cbe\u5ea6\u7b97\u6cd5\u548c\u4e13\u95e8\u7684\u529f\u80fd\u5355\u5143<\/strong>\uff0cTransformer\u6a21\u578b\u7684\u6574\u4f53\u6027\u80fd\u53ef\u4ee5\u663e\u8457\u63d0\u9ad8\u3002\u4eba\u5de5\u667a\u80fd\u52a0\u901f\u5668<strong>\u901a\u5e38\u91c7\u7528\u4f4e\u7cbe\u5ea6\u7b97\u672f\u3001\u6570\u636e\u538b\u7f29\u548c\u5e76\u884c\u5904\u7406\u7b49\u6280\u672f\u6765\u52a0\u5feb\u8ba1\u7b97\u901f\u5ea6\u5e76\u964d\u4f4e\u529f\u8017<\/strong>\u3002<\/p>\n<p class=\"js_darkmode__28\">\u672c\u6587\u7684\u5176\u4f59\u90e8\u5206\u7ec4\u7ec7\u5982\u4e0b\u3002\u7b2c\u4e8c\u8282\u4ecb\u7ecd\u4e86\u57fa\u672c\u7684Transformer\u6a21\u578b\u4ee5\u53ca\u4e0d\u540c\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u4e2d\u7684\u5404\u79cdTransformer\u53d8\u4f53\u3002\u7b2c\u4e09\u8282\u4ecb\u7ecd\u4e86\u4fbf\u643a\u5f0fAI\u8bbe\u5907\u4e2d\u4e0d\u540c\u7684Transformer\u7f16\u7801\u5668-\u89e3\u7801\u5668\u7ed3\u6784\u3001\u64cd\u4f5c\u7b26\u548c\u786c\u4ef6\u52a0\u901f\u8fdb\u5c55\u3002\u7b2c\u56db\u8282\u8ba8\u8bba\u4e86\u57fa\u4e8eTransformer\u7684\u6df1\u5ea6\u5b66\u4e60\u5b9e\u73b0\u7684\u6311\u6218\u548c\u8d8b\u52bf\uff0c\u5e76\u7ed9\u51fa\u4e86\u7ed3\u8bba\u3002<\/p>\n<h3>2.Transformer\u6a21\u578b\u548c\u4efb\u52a1<\/h3>\n<p class=\"js_darkmode__30\">\u6ce8\u610f\u673a\u5236\u548cTransformer\u67b6\u6784\u7684\u53d1\u5c55\u5386\u53f2\u53ef\u4ee5\u901a\u8fc7\u4e00\u7cfb\u5217\u5173\u952e\u7684\u53d1\u5c55\u548c\u91cc\u7a0b\u7891\u5f0f\u7684\u8bba\u6587\u6765\u8ffd\u6eaf\uff0c\u5982\u56fe2\u6240\u793a\u3002[25]\u9996\u5148\u5728\u795e\u7ecf\u673a\u5668\u7ffb\u8bd1\u7684\u80cc\u666f\u4e0b\u5f15\u5165\u4e86\u6ce8\u610f\u673a\u5236\uff0c\u63d0\u51fa\u4e86\u4e00\u79cd\u6e90\u5e8f\u5217\u548c\u76ee\u6807\u5e8f\u5217\u4e4b\u95f4\u7684\u52a8\u6001\u5bf9\u9f50\u65b9\u6cd5\u3002\u8fd9\u79cd\u65b9\u6cd5\u514b\u670d\u4e86\u65e9\u671f\u5e8f\u5217\u5230\u5e8f\u5217\u6a21\u578b\u4e2d\u56fa\u5b9a\u957f\u5ea6\u4e0a\u4e0b\u6587\u5411\u91cf\u7684\u5c40\u9650\u6027\u3002Luong\u7b49\u4eba[26]\u901a\u8fc7\u63d0\u51fa<strong>\u5c40\u90e8\u5173\u6ce8\u548c\u5168\u5c40\u5173\u6ce8<\/strong>\u8fdb\u4e00\u6b65\u6539\u8fdb\u4e86\u6ce8\u610f\u673a\u5236\uff0c<strong>\u524d\u8005\u5173\u6ce8\u8f83\u5c0f\u7684\u6e90\u5e8f\u5217\u5b50\u96c6\uff0c\u540e\u8005\u8003\u8651\u6240\u6709\u6e90\u8bcd\u8fdb\u884c\u53d8\u957f\u5bf9\u9f50\u4e0a\u4e0b\u6587\u8ba1\u7b97\u3002<\/strong><\/p>\n<p><img data-dominant-color=\"f4f4f3\" data-has-transparency=\"false\" style=\"--dominant-color: #f4f4f3;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-16366\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/664b29f80635a499ab90089772a77a16c75046-1.png\" width=\"720\" height=\"337\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/664b29f80635a499ab90089772a77a16c75046-1.png 720w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/664b29f80635a499ab90089772a77a16c75046-1-300x140.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/664b29f80635a499ab90089772a77a16c75046-1-150x70.png 150w\" sizes=\"auto, (max-width: 720px) 100vw, 720px\" \/><\/p>\n<p class=\"js_darkmode__31\">\u56fe2\uff1a\u4e00\u4e2a\u65f6\u95f4\u8f74\u56fe\uff0c\u8bf4\u660e\u4e86Attention\u673a\u5236\u548cTransformer\u67b6\u6784\u7814\u7a76\u7684\u5386\u53f2\u548c\u5173\u952e\u91cc\u7a0b\u7891\u3002<\/p>\n<p class=\"js_darkmode__32\">\u8fd9\u6761\u8def\u7ebf\u7684\u4e00\u4e2a\u91cc\u7a0b\u7891\u662f\u7531Vaswani\u7b49\u4eba\u63d0\u51fa\u7684\uff0c\u4ed6\u4eec\u9996\u6b21\u5f15\u5165\u4e86Transformer\u4f53\u7cfb\u7ed3\u6784\u3002\u8fd9\u4e00\u521b\u65b0\u663e\u8457\u63d0\u9ad8\u4e86\u5404\u79cdNLP\u4efb\u52a1\u7684\u6027\u80fd\u3002\u968f\u540e\uff0cDevlin\u7b49\u4eba<strong>\u63d0\u51fa\u4e86BERT(\u6765\u81eaTransformer\u7684\u53cc\u5411\u7f16\u7801\u5668\u8868\u793a)\uff0c\u8fd9\u662f\u4e00\u4e2a\u4f7f\u7528Transformer\u67b6\u6784\u8fdb\u884c\u53cc\u5411\u8868\u793a\u7684\u9884\u8bad\u7ec3\u6a21\u578b<\/strong>\u3002\u5f53\u5bf9\u4e0b\u6e38\u4efb\u52a1\u8fdb\u884c\u5fae\u8c03\u65f6\uff0cBERT\u5728NLP\u4efb\u52a1\u4e2d\u53d6\u5f97\u4e86\u524d\u6240\u672a\u6709\u7684\u6027\u80fd\u3002<\/p>\n<p class=\"js_darkmode__33\">\u5728\u53e6\u4e00\u9879\u7814\u7a76\u4e2d\uff0cRadford\u7b49\u4eba<strong>\u63d0\u51fa\u4e86GPT(\u751f\u6210\u9884\u8bad\u7ec3Transformer)\u6a21\u578b\uff0c\u8be5\u6a21\u578b\u91c7\u7528\u5355\u5411Transformer\u67b6\u6784\u8fdb\u884c\u8bed\u8a00\u6a21\u578b\u9884\u8bad\u7ec3<\/strong>\u3002\u5728\u7279\u5b9a\u4efb\u52a1\u4e0a\u5bf9GPT\u8fdb\u884c\u5fae\u8c03\u4ea7\u751f\u4e86\u5b9e\u8d28\u6027\u7684\u6027\u80fd\u6539\u8fdb\uff0c\u968f\u540e\u7684\u8fed\u4ee3(GPT-2\u3001GPT-3\u548cGPT-4)\u7ee7\u7eed\u63a8\u8fdb\u6700\u5148\u8fdb\u7684\u6280\u672f\u3002<\/p>\n<p class=\"js_darkmode__34\">\u6700\u8fd1\uff0cDosovitskiy\u7b49\u4eba\u7528vision Transformer (ViT)\u6a21\u578b\u8bc1\u660e\u4e86Transformer\u67b6\u6784\u5bf9\u8ba1\u7b97\u673a\u89c6\u89c9\u4efb\u52a1\u7684\u9002\u7528\u6027\u3002<strong>\u901a\u8fc7\u5c06\u56fe\u50cf\u5212\u5206\u4e3a\u4e0d\u91cd\u53e0\u7684\u5c0f\u5757\u5e76\u4f7f\u7528\u7ebf\u6027\u5d4c\u5165<\/strong>\uff0c\u4f5c\u8005\u5728\u56fe\u50cf\u5206\u7c7b\u4efb\u52a1\u4e2d\u53d6\u5f97\u4e86\u4e0e\u4f20\u7edfCNN\u6a21\u578b\u76f8\u6bd4\u5177\u6709\u7ade\u4e89\u529b\u7684\u7ed3\u679c\u3002ViT\u4e5f\u662f\u540e\u7eed\u56fe\u50cf\u5904\u7406\u4efb\u52a1\u4e2d\u57fa\u4e8etransformer\u7684\u6a21\u578b\u7684\u57fa\u672c\u67b6\u6784\u4e4b\u4e00\u3002<\/p>\n<h4>2.1 \u9488\u5bf9\u56fe\u50cf\u5904\u7406\u7684\u57fa\u7840\u6a21\u578b<\/h4>\n<p class=\"js_darkmode__37\">\u4f5c\u4e3a\u57fa\u4e8eTransformer\u7684\u56fe\u50cf\u5904\u7406\u6a21\u578b\u7684\u5148\u9a71\u67b6\u6784\uff0cViT[29]\u7528self-attention\u53d6\u4ee3\u4e86\u4f20\u7edfCNN\u7684\u5377\u79ef\u5c42\u3002\u5982\u56fe3\u6240\u793a\uff0c\u5b83\u5c06\u56fe\u50cf\u5212\u5206\u4e3a\u4e00\u7cfb\u5217\u4e0d\u91cd\u53e0\u7684patchs\uff0c\u7136\u540e\u5c06\u5176\u8f93\u5165Transformer\u7f16\u7801\u5668\u4ee5\u5b66\u4e60\u56fe\u50cf\u7684\u8868\u793a\u3002Transformer\u7f16\u7801\u5668\u7531\u51e0\u4e2a\u81ea\u5173\u6ce8\u5c42\u7ec4\u6210\uff0c\u7136\u540e\u662f\u524d\u9988\u5c42\u3002<strong>\u81ea\u6ce8\u610f\u673a\u5236\u5141\u8bb8\u7f51\u7edc\u5173\u6ce8\u56fe\u50cf\u4e2d\u76f8\u5173\u7684patchs\uff0c\u800c\u5ffd\u7565\u65e0\u5173\u7684patchs<\/strong>\u3002\u4e3a\u4e86\u4f7fViT\u9002\u7528\u4e8e\u66f4\u5927\u7684\u56fe\u50cf\uff0c\u4f5c\u8005\u5f15\u5165\u4e86\u4e00\u79cd\u6df7\u5408\u65b9\u6cd5\uff0c\u5c06\u5377\u79ef\u5c42\u4e0eself-attention\u5c42\u7ed3\u5408\u8d77\u6765\u3002<strong>\u5377\u79ef\u5c42\u7528\u4e8e\u964d\u4f4e\u56fe\u50cf\u7684\u7a7a\u95f4\u5206\u8fa8\u7387\uff0c\u800c\u81ea\u5173\u6ce8\u5c42\u7528\u4e8e\u6355\u83b7patchs\u4e4b\u95f4\u7684\u8fdc\u7a0b\u4f9d\u8d56\u5173\u7cfb\u3002<\/strong><\/p>\n<p><img data-dominant-color=\"e6e6e4\" data-has-transparency=\"false\" style=\"--dominant-color: #e6e6e4;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-16367\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/03bff37894e3be8002689497b1efbe65ae805a-1.png\" width=\"720\" height=\"513\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/03bff37894e3be8002689497b1efbe65ae805a-1.png 720w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/03bff37894e3be8002689497b1efbe65ae805a-1-300x214.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/03bff37894e3be8002689497b1efbe65ae805a-1-150x107.png 150w\" sizes=\"auto, (max-width: 720px) 100vw, 720px\" \/><\/p>\n<p class=\"js_darkmode__38\">\u56fe3\uff1aViT\u67b6\u6784\uff0c\u5de6\u56fe\u4e3a\u56fe\u50cf\u5206\u5272\u548c\u4f4d\u7f6e\u5d4c\u5165\u8fc7\u7a0b\uff0c\u53f3\u56fe\u4e3a\u5305\u542b\u591a\u5934\u5173\u6ce8\u5c42\u7684\u6807\u51c6\u7f16\u7801\u5668\u67b6\u6784\uff0c\u5982\u56fe[29]\u6240\u793a\u3002<\/p>\n<p class=\"js_darkmode__39\">\u53d7ViT\u7684\u542f\u53d1\uff0c<strong>Swin-Transformer[30]\u5f15\u5165\u4e86\u4e00\u79cd\u65b0\u7684\u5206\u5c42\u4f53\u7cfb\u7ed3\u6784\uff0c\u5c06self-attention\u673a\u5236\u7ec4\u7ec7\u6210\u591a\u5c42\u6b21\u7684\u5c42\u6b21\u7ed3\u6784<\/strong>\uff0c\u5176\u4e2d\u6bcf\u4e00\u5c42\u7531\u4e00\u7ec4\u4e0d\u91cd\u53e0\u7684patch\u7ec4\u6210\u3002\u8fd9\u79cd\u65b9\u6cd5\u7684\u52a8\u673a\u662f\u89c2\u5bdf\u5230\u7531\u4e8eself-attention\u7684\u4e8c\u6b21\u590d\u6742\u6027\uff0c\u89c6\u89c9Transformer\u5177\u6709\u6709\u9650\u7684\u53ef\u6269\u5c55\u6027\u3002Swin-Transformer\u7684\u4e3b\u8981<strong>\u521b\u65b0\u4e4b\u5904\u5728\u4e8e\u4f7f\u7528\u4e86\u53ef\u79fb\u52a8\u7684\u7a97\u53e3\uff0c\u8fd9\u4f7f\u5f97patchs\u80fd\u591f\u5173\u6ce8\u76f8\u90bb\u7684patchs\uff0c\u540c\u65f6\u907f\u514d\u4e0e\u76f8\u90bb\u7684patchs\u91cd\u53e0\u3002\u8fd9\u51cf\u5c11\u4e86\u8ba1\u7b97\u81ea\u5173\u6ce8\u6240\u9700\u7684\u8ba1\u7b97\u6b21\u6570\uff0c\u5e76\u4f7f\u4f53\u7cfb\u7ed3\u6784\u80fd\u591f\u6269\u5c55\u5230\u66f4\u5927\u7684\u56fe\u50cf\u5c3a\u5bf8<\/strong>\u3002\u5b83\u8fd8\u5f15\u5165\u4e86\u4e00\u79cd\u65b0\u7684\u6807\u8bb0\u5316\u65b9\u6848\uff0c\u5c06\u56fe\u50cf\u5212\u5206\u4e3a\u56fa\u5b9a\u5927\u5c0f\u7684\u975e\u91cd\u53e0patchs\uff0c\u7136\u540e\u5728\u5c42\u6b21\u7ed3\u6784\u7684\u6bcf\u4e2a\u7ea7\u522b\u5c06\u8865\u4e01\u9012\u5f52\u5206\u7ec4\u4e3a\u66f4\u5927\u7684\u201c\u5b8fpatchs\u201d\u3002\u8fd9\u79cd\u65b9\u6cd5<strong>\u6709\u52a9\u4e8e\u4fdd\u5b58\u7a7a\u95f4\u4fe1\u606f\uff0c\u5e76\u5141\u8bb8\u6a21\u578b\u6355\u6349\u672c\u5730\u548c\u5168\u5c40\u80cc\u666f<\/strong>\u3002\u8bb8\u591a\u611f\u77e5\u6a21\u578b\u4f7f\u7528SwinTransformer\u4f5c\u4e3a\u4e3b\u5e72\u6765\u83b7\u53d6\u56fe\u50cf\u7279\u5f81\uff0c\u5982BEVFusion[31]\u3001[32]\u548cBEVerse[33]\u3002<\/p>\n<p class=\"js_darkmode__40\">\u5728\u81ea\u52a8\u9a7e\u9a76\u5e94\u7528\u4e2d\uff0c\u57fa\u4e8eTransformer\u7684\u67b6\u6784\u5df2\u88ab\u5e7f\u6cdb\u5e94\u7528\u4e8e\u5404\u79cd\u5b50\u4efb\u52a1\uff0c\u5305\u62ec<strong>\u7269\u4f53\u68c0\u6d4b\u3001\u8f66\u9053\u68c0\u6d4b\u548c\u5206\u5272\u3001\u8ddf\u8e2a\u548c\u5b9a\u4f4d\u3001\u8def\u5f84\u89c4\u5212\u548c\u51b3\u7b56<\/strong>\u3002\u6b64\u5916\uff0c\u6700\u8fd1\u7684\u7814\u7a76\u8fd8\u63a2\u7d22\u4e86Transformer\u5728\u6784\u5efa\u81ea\u52a8\u9a7e\u9a76\u7aef\u5230\u7aef\u6df1\u5ea6\u5b66\u4e60\u6a21\u578b\u4e2d\u7684\u5e94\u7528\u3002\u8fd9\u4e9b\u6a21\u578b\u5229\u7528\u6ce8\u610f\u529b\u673a\u5236\u8fdb\u4e00\u6b65\u63d0\u9ad8\u5176\u4e13\u6ce8\u4e8e\u76f8\u5173\u4fe1\u606f\u7684\u80fd\u529b\uff0c\u5e76\u5728\u590d\u6742\u7684\u771f\u5b9e\u9a7e\u9a76\u573a\u666f\u4e2d\u6709\u6548\u6267\u884c\u3002\u5728\u672c\u8282\u7684\u5176\u4f59\u90e8\u5206\u4e2d\uff0c\u6211\u4eec\u5c06\u6839\u636e\u5b83\u4eec\u7684\u4efb\u52a1\u56de\u987e\u57fa\u4e8eTransformer\u7684\u6a21\u578b\uff0c\u5982\u88681\u6240\u793a\u3002\u6211\u4eec\u4e3b\u8981\u5c06\u4efb\u52a1\u5206\u4e3a\u4e09\u7c7b\uff1a<strong>3D\u548c\u4e00\u822c\u611f\u77e5\u4efb\u52a1(\u5305\u62ec\u76ee\u6807\u68c0\u6d4b\uff0c\u8ddf\u8e2a\u548c3D\u5206\u5272)\uff1b2D\u548c\u5e73\u9762\u4efb\u52a1(\u5305\u62ec\u8f66\u9053\u68c0\u6d4b\u3001\u5206\u5272\u548c\u9ad8\u6e05\u5730\u56fe\u751f\u6210)\uff1b<\/strong>\u4ee5\u53ca\u5176\u4ed6\u4efb\u52a1(\u5305\u62ec\u8f68\u8ff9\u9884\u6d4b\u3001\u884c\u4e3a\u9884\u6d4b\u548c\u7aef\u5230\u7aef\u4efb\u52a1)\u3002<\/p>\n<p><img data-dominant-color=\"edeeee\" data-has-transparency=\"false\" style=\"--dominant-color: #edeeee;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-16368\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/893fc07583a8cf98b015317a58eb85a992f827-1.png\" width=\"720\" height=\"617\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/893fc07583a8cf98b015317a58eb85a992f827-1.png 720w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/893fc07583a8cf98b015317a58eb85a992f827-1-300x257.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/893fc07583a8cf98b015317a58eb85a992f827-1-150x129.png 150w\" sizes=\"auto, (max-width: 720px) 100vw, 720px\" \/><\/p>\n<p class=\"js_darkmode__41\">\u88681\uff1a\u5404\u7c7bTransformer\u5728\u6807\u51c6nvidia gtx3090 gpu\u4e0a\u7684\u57fa\u51c6\u6027\u80fd\u3002backbone\u63cf\u8ff0\u6bcf\u4e2a\u6a21\u578b\u7684\u4e3b\u5e72\u67b6\u6784\uff0cparameter\u8868\u793a\u6a21\u578b\u53c2\u6570\u7684\u5927\u5c0f\u3002Gflops\u4ee3\u8868\u6bcf\u79d2\u5343\u5146\u6d6e\u70b9\u8fd0\u7b97\uff0cfps\u8868\u793a\u5e27\u6570\u6bcf\u79d2\uff0cmap\u8868\u793a\u6a21\u578b\u7684\u5e73\u5747\u7cbe\u5ea6\u3002\u6700\u540e\u4e00\u5217\u8868\u793a\u6bcf\u4e2a\u6a21\u578b\u4f7f\u7528\u7684\u57fa\u51c6\u6570\u636e\u96c6\u3002<\/p>\n<h4>2.2 3D\u901a\u7528\u611f\u77e5\u4efb\u52a1<\/h4>\n<p class=\"js_darkmode__44\">\u7b2c\u4e00\u7c7b\u4efb\u52a1\u662f3D\u548c\u4e00\u822c\u611f\u77e5\uff0c\u5305\u62ec\u76ee\u6807\u68c0\u6d4b\uff0c\u8ddf\u8e2a\u548c3D\u5206\u5272\u4efb\u52a1\u3002\u8fd9\u662f\u8fd1\u5e74\u6765\u57fa\u4e8eTransformer\u7684\u6a21\u578b\u7814\u7a76\u7684\u70ed\u95e8\u9886\u57df\u4e4b\u4e00\u3002\u8fd9\u79cd\u7c7b\u578b\u7684\u4efb\u52a1\u65e8\u5728\u5206\u5272\u3001\u8bc6\u522b\u548c\u8ddf\u8e2a\u7269\u4f53\uff0c\u5982\u8f66\u8f86\u3001\u884c\u4eba\u548c\u73af\u5883\u4e2d\u7684\u5176\u4ed6\u5143\u7d20\u3002\u5728\u5404\u79cd\u57fa\u4e8etransformer\u7684\u6a21\u578b\u4e2d\uff0cDETR[67]\u662f\u4e00\u4e2a\u65e9\u671f\u7684\u91cd\u8981\u6a21\u578b\uff0c\u5b83\u542f\u53d1\u4e86\u8bb8\u591a\u540e\u7eed\u4f5c\u54c1\uff0c\u5c3d\u7ba1\u5b83\u6700\u521d\u662f\u4e3a2D\u68c0\u6d4b\u800c\u8bbe\u8ba1\u7684\u3002<\/p>\n<p class=\"js_darkmode__45\"><strong>DETR\u5c06\u76ee\u6807\u68c0\u6d4b\u89c6\u4e3a\u4f7f\u7528\u9884\u751f\u6210\u6846\u7684\u9884\u6d4b\u95ee\u9898\uff0c\u5e76\u6d88\u9664\u4e86\u4f20\u7edf\u7684\u951a\u70b9\u3002\u91c7\u7528\u57fa\u4e8e\u5308\u7259\u5229\u7b97\u6cd5\u7684\u4e8c\u5206\u5339\u914d\u65b9\u6cd5\u76f4\u63a5\u9884\u6d4b\u4e00\u5bf9\u4e00\u7684\u76ee\u6807\u96c6<\/strong>\u3002\u5df2\u7ecf\u63d0\u51fa\u4e86\u53d8\u5f62DETR[68]\u7b49\u53d8\u4f53\u6a21\u578b\uff0c\u901a\u8fc7\u5f15\u5165\u53d8\u5f62\u6ce8\u610f\u6765\u63d0\u9ad8\u6a21\u578b\u7684\u6536\u655b\u901f\u5ea6\u5e76\u89e3\u51b3\u67e5\u8be2\u6b67\u4e49\u95ee\u9898\u3002\u5728DETR\u67b6\u6784\u7684\u57fa\u7840\u4e0a\uff0c<strong>DETR3D[34]\u5c06Transformer\u5e94\u7528\u4e8e\u591a\u4e2a\u6444\u50cf\u673a\uff0c\u7528\u4e8e\u9e1f\u77b0(BEV)\u7a7a\u95f4\u76843D\u7269\u4f53\u68c0\u6d4b<\/strong>\u3002\u5b83\u9996\u5148\u5c06\u70b9\u4e91\u6570\u636e(\u6765\u81ea\u6fc0\u5149\u96f7\u8fbe)\u8f6c\u6362\u4e3a3D\u4f53\u7d20\u8868\u793a\uff0c\u7136\u540e\u5c06\u5176\u8f93\u5165\u5230\u6539\u8fdb\u7684DETR\u67b6\u6784\u4e2d\uff0c\u8be5\u67b6\u6784<strong>\u4f7f\u7528\u591a\u5c3a\u5ea6\u7279\u5f81\u878d\u5408\u6765\u6355\u83b7\u5168\u5c40\u548c\u5c40\u90e8\u4e0a\u4e0b\u6587\u4fe1\u606f<\/strong>\u3002<\/p>\n<p class=\"js_darkmode__46\"><strong>FUTR[69]\u5728\u67b6\u6784\u4e0a\u4e5f\u4e0eDETR\u76f8\u4f3c\uff0c\u4f46\u4f7f\u7528\u4e86\u591a\u4f20\u611f\u5668(\u56fe\u50cf+\u6fc0\u5149\u96f7\u8fbe+\u96f7\u8fbe)\u3002\u5c06\u591a\u6a21\u6001\u8f93\u5165\u878d\u5408\u6210BEV\u7279\u5f81\uff0c\u7136\u540e\u63d0\u5347\u4ee5\u5b9e\u73b03D BBOX<\/strong>\u3002\u5728FUTR\u7684\u57fa\u7840\u4e0a\uff0c<strong>FUTR3D[35]\u5c063D\u76ee\u6807\u68c0\u6d4b\u6269\u5c55\u5230\u591a\u6a21\u6001\u878d\u5408\u3002\u5b83\u5728\u7ed3\u6784\u4e0a\u4e0eDETR3D\u7c7b\u4f3c\uff0c\u4f46\u589e\u52a0\u4e86\u4e00\u4e2a\u6a21\u6001\u4e0d\u53ef\u77e5\u7279\u5f81\u91c7\u6837\u5668(maffs)\uff0c\u80fd\u591f\u5904\u7406\u5404\u79cd\u4f20\u611f\u5668\u914d\u7f6e\u5e76\u878d\u5408\u4e0d\u540c\u7684\u6a21\u6001<\/strong>\uff0c\u5305\u62ec2D\u76f8\u673a\u30013D\u6fc0\u5149\u96f7\u8fbe\u30013D\u96f7\u8fbe\u548c4D\u6210\u50cf\u96f7\u8fbe\u3002<\/p>\n<p class=\"js_darkmode__47\"><strong>PETR[36]\uff0c[37]\u662f\u53e6\u4e00\u4e2a\u6700\u8fd1\u7684\u53d1\u5c55\uff0c\u4f7f\u7528\u4f4d\u7f6e\u5d4c\u5165\u53d8\u6362\u8fdb\u884c\u591a\u89c6\u56fe3D\u7269\u4f53\u68c0\u6d4b\u3002\u5c06\u4e09\u7ef4\u5750\u6807\u4f4d\u7f6e\u4fe1\u606f\u7f16\u7801\u4e3a\u56fe\u50cf\u7279\u5f81\uff0c\u751f\u6210\u4e09\u7ef4\u4f4d\u7f6e\u611f\u77e5\u7279\u5f81<\/strong>\u3002\u5728\u63a8\u7406\u8fc7\u7a0b\u4e2d\uff0c\u53ef\u4ee5\u79bb\u7ebf\u751f\u6210\u4e09\u7ef4\u4f4d\u7f6e\u5750\u6807\uff0c\u5e76\u5c06\u5176\u7528\u4f5c\u989d\u5916\u7684\u8f93\u5165\u4f4d\u7f6e\u5d4c\u5165\u3002<\/p>\n<p class=\"js_darkmode__48\"><strong>CrossDTR[38]\u7ed3\u5408\u4e86PETR\u548cDETR3D\u7684\u4f18\u52bf\uff0c\u521b\u5efa\u4e86\u4e00\u4e2a\u6a2a\u5411\u89c6\u56fe\u548c\u6df1\u5ea6\u5f15\u5bfc\u6846\u67b6\uff0c\u5b9e\u73b0\u4e86\u4e0e\u5176\u4ed6\u65b9\u6cd5\u76f8\u5f53\u7684\u7cbe\u5ea6\uff0c\u540c\u65f6\u7531\u4e8e\u89e3\u7801\u5668\u5c42\u6570\u8f83\u5c11\uff0c\u63d0\u4f9b\u4e86\u5feb\u901f\u7684\u5904\u7406\u65f6\u95f4\u3002<\/strong><\/p>\n<p class=\"js_darkmode__49\"><strong>BEVFormer[39]\u3001[40]\u91c7\u7528\u4e86\u4e0d\u540c\u7684\u65b9\u6cd5\uff0c\u91c7\u7528\u65f6\u7a7aTransfomer\u67b6\u6784\u5b9e\u73b0\u7edf\u4e00\u7684BEV\u8868\u793a\uff0c\u4ece\u800c\u5728\u4e0d\u4f9d\u8d56\u591a\u6a21\u6001\u8f93\u5165\u7684\u60c5\u51b5\u4e0b\u63d0\u9ad8\u6027\u80fd<\/strong>\u3002\u5b83\u7ed3\u5408\u4e86\u7a7a\u95f4\u548c\u65f6\u95f4\u878d\u5408\uff0c\u5229\u7528\u5386\u53f2\u4fe1\u606f\u6765\u589e\u5f3a\u6027\u80fd\u3002BEVFormer\u5229\u7528\u65f6\u95f4\u81ea\u6ce8\u610f\u6a21\u5757\u4ece\u5386\u53f2BEV\u7279\u5f81\u4e2d\u63d0\u53d6\u7279\u5f81\uff0c\u7528\u4e8e\u8fd0\u52a8\u76ee\u6807\u901f\u5ea6\u4f30\u8ba1\u548c\u906e\u6321\u76ee\u6807\u68c0\u6d4b\uff0c\u5e76\u5728\u5782\u76f4\u65b9\u5411\u4e0a\u6269\u5c55\u7a7a\u95f4\u4ea4\u53c9\u6ce8\u610f\uff0c\u7528\u4e8eBEV Z\u65b9\u5411\u7684\u67f1\u72b6\u67e5\u8be2\u3002<\/p>\n<p class=\"js_darkmode__50\">\u76f8\u6bd4\u4e4b\u4e0b\uff0c<strong>UVTR[41]\u4fa7\u91cd\u4e8e\u5229\u7528\u56fe\u50cf\u548cLiDAR\u8f93\u5165\u4e4b\u95f4\u7684\u8de8\u6a21\u6001\u4ea4\u4e92\u6765\u589e\u5f3a\u6df1\u5ea6\u63a8\u65ad<\/strong>\uff0c\u5728\u6ca1\u6709\u9ad8\u5ea6\u538b\u7f29\u7684\u60c5\u51b5\u4e0b\uff0c\u5728BEV\u4e2d\u4e3a\u6bcf\u4e2a\u6a21\u6001\u751f\u6210\u5355\u72ec\u7684\u4f53\u7d20\u7a7a\u95f4\uff0c\u7136\u540e\u901a\u8fc7\u77e5\u8bc6\u8f6c\u79fb\u548c\u6a21\u6001\u878d\u5408\u6765\u878d\u5408\u591a\u6a21\u6001\u4fe1\u606f\u3002\u8be5\u65b9\u6cd5\u4e3a\u6269\u5927\u4e09\u7ef4\u5360\u4f4d\u7814\u7a76\u63d0\u4f9b\u4e86\u6709\u5e0c\u671b\u7684\u65b9\u5411\u3002<\/p>\n<p 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class=\"js_darkmode__52\"><strong>SurroundOcc[44]\u4ece\u591a\u89c6\u89d2\u548c\u591a\u5c3a\u5ea62D\u56fe\u50cf\u7279\u5f81\u4e2d\u6267\u884c\u4e863D BEV\u7279\u5f81\u67e5\u8be2\uff0c\u5e76\u4e3a\u5176\u6dfb\u52a0\u4e863D\u5377\u79ef<\/strong>\u3002Transformer\u5c42\uff0c\u5e76\u9010\u6b65\u4e0a\u91c7\u6837\u7684\u4f53\u79ef\u7279\u5f81\u3002\u5f53\u751f\u6210\u591a\u7ea7BEV\u7279\u5f81\u65f6\uff0c\u5176\u4e09\u7ef4\u5377\u79ef\u7f51\u7edc\u53ef\u4ee5\u5c06\u8fd9\u4e9b\u7279\u5f81\u7ec4\u5408\u5728\u4e00\u8d77\uff0c\u751f\u6210\u5bc6\u96c6\u7684\u7a7a\u95f4\u5360\u7528\u3002<\/p>\n<p class=\"js_darkmode__53\">\u5728\u4e09\u7ef4\u76ee\u6807\u8ddf\u8e2a\u4efb\u52a1\u4e2d\uff0c\u5927\u591a\u6570\u73b0\u6709\u65b9\u6cd5\u4f9d\u8d56\u4e8e\u5229\u7528\u7a7a\u95f4\u548c\u5916\u89c2\u76f8\u4f3c\u6027\u7684\u542f\u53d1\u5f0f\u7b56\u7565\u3002\u7136\u800c\uff0c\u5b83\u4eec\u5f80\u5f80\u4e0d\u80fd\u6709\u6548\u5730\u6a21\u62df\u65f6\u95f4\u4fe1\u606f\u3002\u6700\u8fd1\u57fa\u4e8eTransformer\u7684\u6a21\u578b\u65e8\u5728\u7f13\u89e3\u8fd9\u4e2a\u95ee\u9898\u3002\u4f8b\u5982\uff0cMOTR[45]\u6269\u5c55\u4e86DETR\u6a21\u578b\uff0c\u6784\u5efa\u4e86\u4e00\u4e2a\u591a\u76ee\u6807\u8ddf\u8e2a(MOT)\u6846\u67b6\u3002\u5b83<strong>\u5f15\u5165\u4e86\u4e00\u4e2a\u201c\u8ddf\u8e2a\u67e5\u8be2\u201d\u6765\u6a21\u62df\u6574\u4e2a\u89c6\u9891\u4e2d\u7684\u8ddf\u8e2a\u5b9e\u4f8b\uff0c\u65e8\u5728\u5229\u7528\u89c6\u9891\u5e8f\u5217\u4e2d\u7684\u65f6\u95f4\u53d8\u5316<\/strong>\uff0c\u5e76\u9690\u5f0f\u5730\u5b66\u4e60\u76ee\u6807\u7684\u957f\u671f\u65f6\u95f4\u53d8\u5316\uff0c\u907f\u514d\u4e86\u5bf9\u663e\u5f0f\u542f\u53d1\u5f0f\u7b56\u7565\u7684\u9700\u8981\u3002\u4e0e\u4f9d\u8d56\u57fa\u4e8e\u8fd0\u52a8\u548c\u57fa\u4e8e\u5916\u89c2\u7684\u76f8\u4f3c\u6027\u542f\u53d1\u5f0f\u548c\u540e\u5904\u7406\u6280\u672f\u7684\u4f20\u7edf\u65b9\u6cd5\u4e0d\u540c\uff0c<strong>MOTR\u5904\u7406\u5bf9\u8c61\u8ddf\u8e2a\u65f6\u4e0d\u9700\u8981\u8ddf\u8e2aNMS\u6216IoU\u5339\u914d\u3002<\/strong><\/p>\n<p class=\"js_darkmode__54\"><strong>MUTR3D[46]\u901a\u8fc7\u57fa\u4e8e\u7a7a\u95f4\u548c\u5916\u89c2\u76f8\u4f3c\u6027\u7684\u8de8\u76f8\u673a\u548c\u8de8\u5e27\u76ee\u6807\u5173\u8054\uff0c\u540c\u65f6\u8fdb\u884c\u68c0\u6d4b\u548c\u8ddf\u8e2a<\/strong>\u3002\u8fd9\u79cd\u65b9\u6cd5<strong>\u5229\u75283D\u8f68\u8ff9\u67e5\u8be2\u76f4\u63a5\u5efa\u6a21\u5bf9\u8c61\u76843D\u72b6\u6001\u548c\u5916\u89c2\u7279\u5f81<\/strong>\uff0c\u968f\u7740\u65f6\u95f4\u7684\u63a8\u79fb\u548c\u8de8\u591a\u4e2a\u76f8\u673a\u3002\u5728\u6bcf\u4e00\u5e27\u4e2d\uff0c3D\u8f68\u8ff9\u67e5\u8be2\u4ece\u6240\u6709\u53ef\u89c1\u6444\u50cf\u673a\u91c7\u6837\u7279\u5f81\uff0c\u5e76\u5b66\u4f1a\u542f\u52a8\uff0c\u8ddf\u8e2a\u6216\u7ec8\u6b62\u8f68\u8ff9\u3002<\/p>\n<p class=\"js_darkmode__55\">\u57fa\u4e8eTransformer\u7684\u65b9\u6cd5\u57283D\u548c\u4e00\u822c\u611f\u77e5\u4efb\u52a1\u4e2d\u53d6\u5f97\u4e86\u4ee4\u4eba\u5370\u8c61\u6df1\u523b\u7684\u8fdb\u5c55\uff0c\u5f3a\u8c03\u4e86\u5728\u66f4\u590d\u6742\u548c\u73b0\u5b9e\u81ea\u6cbb\u7684\u66f4\u5e7f\u6cdb\u7684\u611f\u77e5\u4efb\u52a1\u4e2d\u5f00\u53d1\u4e13\u95e8\u6ce8\u610f\u673a\u5236\u7684\u6f5c\u529b\u9a7e\u9a76\u573a\u666f\u3002<\/p>\n<h4>2.3 2D\u548c\u5e73\u9762\u4efb\u52a1<\/h4>\n<p class=\"js_darkmode__58\">\u4e0e3D\u4efb\u52a1\u7c7b\u522b\u76f8\u53cd\uff0c\u6211\u4eec\u5c06\u7b2c\u4e8c\u4e2a\u4efb\u52a1\u7c7b\u522b\u5206\u7c7b\u4e3a2D\u548c\u5e73\u9762\u4efb\u52a1\uff0c\u5176\u4e2d\u6a21\u578b\u4e3b\u8981\u5904\u7406\u8f66\u9053\u68c0\u6d4b\uff0c\u5206\u5272\u548c\u9ad8\u6e05\u5730\u56fe\u751f\u6210\u7b49\u4efb\u52a1\u3002\u5bf9\u4e8e\u8f66\u9053\u68c0\u6d4b\u4efb\u52a1\uff0c\u6211\u4eec\u8fdb\u4e00\u6b65\u5c06\u6a21\u578b\u5206\u4e3a\u4e24\u7ec4\u3002\u7b2c\u4e00\u7ec4\u6a21\u578b\u751f\u6210BEV\u7279\u5f81\uff0c\u7136\u540e\u662fCNN\u8bed\u4e49\u5206\u5272\u548c\u68c0\u6d4b\u5934\u3002<\/p>\n<p class=\"js_darkmode__59\">\u4f8b\u5982\uff0c<strong>BEVSegFormer[47]\u4f7f\u7528\u4e86\u4ea4\u53c9\u6ce8\u610f\u673a\u5236\u6765\u67e5\u8be2\u591a\u89c6\u56fe2D\u56fe\u50cf\u7279\u5f81\u3002\u5728Transformer\u4e4b\u540e\u6dfb\u52a0\u8bed\u4e49\u89e3\u7801\u5668\uff0c\u5c06\u67e5\u8be2\u89e3\u7801\u4e3aBEV\u9053\u8def\u8bed\u4e49\u5206\u5272\u7ed3\u679c\u3002<\/strong><\/p>\n<p class=\"js_darkmode__60\">PersFormer[48]\u4f7f\u7528CNN\u63d0\u53d6\u56fe\u50cf\u7279\u5f81\uff0c\u5e76\u5c06\u5176\u5206\u6210\u4e24\u6761\u8def\u5f84\u3002<strong>\u7b2c\u4e00\u4e2a\u8def\u5f84\u8fde\u63a5\u5230\u57fa\u4e8eCNN\u7684\u4e8c\u7ef4\u8f66\u9053\u68c0\u6d4b\u5934\uff0c\u7b2c\u4e8c\u4e2a\u8def\u5f84\u4f7f\u7528\u9006\u900f\u89c6\u6620\u5c04(IPM)\u65b9\u6cd5\u5c06\u900f\u89c6\u56fe(PV)\u89c6\u56fe\u7279\u5f81\u8f6c\u6362\u4e3aBEV\u89c6\u56fe\u7279\u5f81<\/strong>\uff0c\u8fde\u63a5\u5230Transformer\u7f51\u7edc\u8fdb\u884cBEV\u7279\u5f81\u67e5\u8be2\u548c\u589e\u5f3a\u3002\u7b2c\u4e8c\u7ec4\u6a21\u578b\u4f7f\u7528\u591a\u9879\u5f0f\u3001\u5173\u952e\u70b9\u3001\u5411\u91cf\u548c\u6298\u7ebf\u7b49\u5404\u79cd\u8868\u793a\u76f4\u63a5\u67e5\u8be2\u548c\u751f\u6210\u9053\u8def\u7ed3\u6784\u3002<\/p>\n<p class=\"js_darkmode__61\">\u4f8b\u5982\uff0c<strong>LSTR[49]\u7528\u4e8c\u9636\u6216\u4e09\u9636\u591a\u9879\u5f0f\u903c\u8fd1\u5e73\u5766\u7684\u5355\u8f66\u9053\u9053\u8def\u6807\u8bb0<\/strong>\u3002\u4f7f\u7528Transformer\u67e5\u8be2\u66f4\u65b0\u591a\u9879\u5f0f\u7684\u53c2\u6570\uff0c\u5308\u7259\u5229\u5339\u914d\u635f\u5931\u4f18\u5316\u4e86\u8def\u5f84\u76f8\u5173\u7684\u56de\u5f52\u635f\u5931\u3002LSTR\u91c7\u7528\u4e86\u8f7b\u91cf\u7ea7\u7684Transformer\u4f53\u7cfb\u7ed3\u6784\uff0c\u4ee5\u5b9e\u73b0\u66f4\u9ad8\u6548\u7684\u67e5\u8be2\u3002<\/p>\n<p class=\"js_darkmode__62\"><strong>CurveFormer[50]\u901a\u8fc7\u76f4\u63a5\u4ece2D\u56fe\u50cf\u4e2d\u751f\u6210\u8f66\u9053\u7ebf\uff0c\u800c\u4e0d\u9700\u8981\u7279\u5f81\u89c6\u56fe\u53d8\u6362\uff0c\u52a0\u5feb\u4e86\u63a8\u7406\u901f\u5ea6<\/strong>\u3002\u91c7\u7528Transformer\u89e3\u7801\u5668\uff0c\u5229\u7528\u66f2\u7ebf\u67e5\u8be2\u5c06\u4e09\u7ef4\u8f66\u9053\u68c0\u6d4b\u516c\u5f0f\u8f6c\u5316\u4e3a\u66f2\u7ebf\u4f20\u64ad\u95ee\u9898\uff0c\u5229\u7528\u66f2\u7ebf\u76f8\u4ea4\u5173\u6ce8\u6a21\u5757\u8ba1\u7b97\u66f2\u7ebf\u67e5\u8be2\u4e0e\u56fe\u50cf\u7279\u5f81\u7684\u76f8\u4f3c\u5ea6\u3002<\/p>\n<p class=\"js_darkmode__63\">\u9664\u4e86\u8f66\u9053\u68c0\u6d4b\u4e4b\u5916\uff0cTransformer\u67b6\u6784\u8fd8\u7528\u4e8e\u5206\u5272\u4efb\u52a1\u3002\u4f8b\u5982\uff0c<strong>TIiM[51]\u63d0\u4f9b\u4e86\u4e00\u4e2a\u7528\u4e8e\u77ac\u65f6\u6620\u5c04\u7684\u5e8f\u5217\u5230\u5e8f\u5217\u6a21\u578b\uff0c\u8be5\u6a21\u578b\u5c06\u56fe\u50cf\u548c\u89c6\u9891\u8f6c\u6362\u4e3a\u5f00\u9500\u6620\u5c04\u6216BEV\u8868\u793a<\/strong>\u3002\u901a\u8fc7\u5047\u8bbe\u56fe\u50cf\u4e2d\u7684\u5782\u76f4\u626b\u63cf\u7ebf\u4e0e\u67b6\u7a7a\u5730\u56fe\u4e2d\u7684\u5c04\u7ebf\u4e4b\u95f4\u5b58\u5728\u4e00\u5bf9\u4e00\u7684\u5bf9\u5e94\u5173\u7cfb\uff0cTIiM\u88ab\u8ba4\u4e3a\u662f\u4e00\u79cd\u6570\u636e\u9ad8\u6548\u548c\u7a7a\u95f4\u611f\u77e5\u7684\u65b9\u6cd5\u3002<\/p>\n<p class=\"js_darkmode__64\"><strong>Panoptic SegFormer[52]\u63d0\u51fa\u4e86\u4e00\u79cd\u7ed3\u5408\u8bed\u4e49\u5206\u5272\u548c\u5b9e\u4f8b\u5206\u5272\u7684Panoptic\u5206\u5272\u6846\u67b6\u3002\u63d0\u51fa\u4e86\u76d1\u7763\u63a9\u7801\u89e3\u7801\u5668\u548c\u67e5\u8be2\u89e3\u8026\u7b56\u7565\uff0c\u5b9e\u73b0\u4e86\u6709\u6548\u7684\u5206\u5272\u3002<\/strong><\/p>\n<p class=\"js_darkmode__65\">\u5bf9\u4e8e\u9ad8\u6e05\u5730\u56fe\u751f\u6210\u4efb\u52a1\uff0c<strong>STSU[53]\u5c06\u8f66\u9053\u8868\u793a\u4e3aBEV\u5750\u6807\u4e0b\u7684\u6709\u5411\u56fe\uff0c\u5e76\u57fa\u4e8e\u7b80\u5355\u591a\u5c42\u611f\u77e5\u5668(MLP)\u5b66\u4e60Bezier\u63a7\u5236\u70b9\u548c\u56fe\u8fde\u901a\u6027<\/strong>\u3002\u91c7\u7528DETR\u578b\u67e5\u8be2\u65b9\u6cd5\u5c06\u524d\u89c6\u6444\u50cf\u5934\u56fe\u50cf\u8f6c\u6362\u4e3aBEV\u9053\u8def\u7ed3\u6784\u3002<\/p>\n<p class=\"js_darkmode__66\"><strong>VectorMapNet[54]\u662f\u7b2c\u4e00\u4e2a\u5b9e\u73b0\u9ad8\u7cbe\u5ea6\u5730\u56fe\u7aef\u5230\u7aef\u77e2\u91cf\u5316\u7684Transformer\u7f51\u7edc[70]\uff0c\u4f7f\u7528BEV\u89c6\u56fe\u4e2d\u7684\u7a00\u758f\u6298\u7ebf\u539f\u8bed\u5efa\u6a21\u51e0\u4f55\u5f62\u72b6\u3002\u5b83\u91c7\u7528\u4e24\u9636\u6bb5\u7684\u6d41\u6c34\u7ebf\uff0c\u5305\u62ec\u96c6\u5408\u9884\u6d4b(\u7528\u4e8e\u68c0\u6d4b\u7c97\u7cd9\u5173\u952e\u70b9)\u548c\u5e8f\u5217\u751f\u6210(\u7528\u4e8e\u9884\u6d4b\u6620\u5c04\u5143\u7d20\u7684\u4e0b\u4e00\u4e2a\u70b9)\u3002<\/strong><\/p>\n<p class=\"js_darkmode__67\"><strong>MapTR[55]\u5f00\u53d1\u4e86\u4e00\u4e2a\u7528\u4e8e\u5728\u7ebf\u77e2\u91cf\u5316\u9ad8\u7cbe\u5ea6\u5730\u56fe\u751f\u6210\u7684\u6846\u67b6\uff0c\u8be5\u6846\u67b6\u5c06\u5730\u56fe\u5143\u7d20\u5efa\u6a21\u4e3a\u5177\u6709\u4e00\u7ec4\u7b49\u6548\u5305\u7edc\u7684\u70b9\u96c6<\/strong>\u3002\u5f15\u5165\u5206\u5c42\u67e5\u8be2\u5d4c\u5165\u65b9\u6848\uff0c\u7075\u6d3b\u7f16\u7801\u5b9e\u4f8b\u7ea7\u548c\u70b9\u7ea7\u4fe1\u606f\uff0c\u5b66\u4e60\u6620\u5c04\u5143\u7d20\u7684\u7ed3\u6784\u5316\u4e8c\u90e8\u5339\u914d\u3002<\/p>\n<p class=\"js_darkmode__68\">\u8fd9\u4e9b\u6a21\u578b\u5df2\u88ab\u8bc1\u660e\u53ef\u4ee5\u6709\u6548\u5730\u5c06\u591a\u89c6\u56fe\u7279\u5f81\u5408\u5e76\u4e3a\u7edf\u4e00\u7684BEV\u89c6\u56fe\uff0c\u4ece\u800c\u4fc3\u8fdb\u7aef\u5230\u7aef\u5728\u7ebf\u9ad8\u7cbe\u5ea6\u5730\u56fe\u6784\u5efa\uff0c\u8fd9\u5bf9\u5176\u4ed6\u4e0b\u6e38\u4efb\u52a1\u81f3\u5173\u91cd\u8981\u3002<\/p>\n<h4>2.4 \u9884\u6d4b\u548c\u51b3\u7b56<\/h4>\n<p class=\"js_darkmode__71\">\u9664\u4e862D\/3D\u611f\u77e5\u4efb\u52a1\u5916\uff0cTransformer\u67b6\u6784\u8fd8\u7528\u4e8e\u9884\u6d4b\u3001\u89c4\u5212\u548c\u51b3\u7b56\u7b49\u5176\u4ed6\u4efb\u52a1\u3002\u6b64\u5916\uff0c\u6700\u8fd1\u7684\u7814\u7a76\u63a2\u7d22\u4e86\u4f7f\u7528Transformer\u6784\u5efa\u6574\u4e2a\u81ea\u52a8\u9a7e\u9a76\u7aef\u5230\u7aef\u6df1\u5ea6\u795e\u7ecf\u7f51\u7edc\u6a21\u578b\uff0c\u65e8\u5728\u5c06\u611f\u77e5\u3001\u89c4\u5212\u548c\u63a7\u5236\u7edf\u4e00\u5230\u4e00\u4e2a\u96c6\u6210\u7cfb\u7edf\u4e2d\u3002\u5bf9\u4e8e\u8f68\u8ff9\u6216\u884c\u4e3a\u9884\u6d4b\uff0c\u6807\u51c6CNN\u6a21\u578b\u7684\u7279\u5f81\u63d0\u53d6\u5b58\u5728\u5b9e\u9645\u6311\u6218\uff0c\u7279\u522b\u662f\u5176\u6a21\u62df\u8fdc\u7a0b\u76f8\u4e92\u4f5c\u7528\u7684\u80fd\u529b\u6709\u9650\u3002\u7136\u540e\u5f00\u53d1\u57fa\u4e8eTransformer\u7684\u6a21\u578b\u6765\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\u3002<\/p>\n<p class=\"js_darkmode__72\"><strong>VectorNet[56]\u7684\u5f00\u53d1\u662f\u4e3a\u4e86\u5c06\u8fd9\u4e9b\u51e0\u4f55\u5f62\u72b6(\u4ece\u9053\u8def\u6807\u8bb0\u6216\u8f66\u8f86\u8f68\u8ff9)\u8f6c\u6362\u4e3a\u77e2\u91cf\u683c\u5f0f\u8f93\u5165\u3002\u5b83\u5f15\u5165\u4e86\u4e00\u4e2a\u5206\u5c42\u56fe\u795e\u7ecf\u7f51\u7edc\uff0c\u8be5\u7f51\u7edc\u4f7f\u7528\u77e2\u91cf\u8868\u793a\u5bf9\u9ad8\u6e05\u5730\u56fe\u548c\u4ee3\u7406\u8f68\u8ff9\u8fdb\u884c\u7f16\u7801\uff0c\u5e76\u5229\u7528\u5355\u4e2a\u9053\u8def\u7ec4\u4ef6\u7684\u7a7a\u95f4\u5c40\u90e8\u6027\u5e76\u5bf9\u5176\u76f8\u4e92\u4f5c\u7528\u8fdb\u884c\u5efa\u6a21\u3002<\/strong><\/p>\n<p class=\"js_darkmode__73\"><strong>TNT[78]\u6839\u636e\u6bcf\u6761\u8f68\u8ff9\u7684\u7aef\u70b9\u5b9a\u4e49\u8f66\u8f86\u6a21\u5f0f\uff0c\u5c06\u8f68\u8ff9\u9884\u6d4b\u8f6c\u5316\u4e3a\u7aef\u70b9\u9884\u6d4b\u95ee\u9898\uff0c\u7b80\u5316\u4e86\u8f68\u8ff9\u9884\u6d4b<\/strong>\u3002\u7136\u800c\uff0c\u4f5c\u4e3a\u4e00\u79cd\u57fa\u4e8e\u951a\u70b9\u7684\u6280\u672f\uff0cTNT\u5728\u9884\u6d4b\u7aef\u70b9\u4e4b\u524d\u9700\u8981\u542f\u53d1\u5f0f\u951a\u70b9\u5b9a\u4e49\u3002<\/p>\n<p class=\"js_darkmode__74\">DenseTNT[57]\u901a\u8fc7\u76f4\u63a5\u9884\u6d4b\u7aef\u70b9\u7684\u6982\u7387\u5206\u5e03\u6765\u514b\u670d\u8fd9\u4e00\u9650\u5236\uff0c\u4ece\u800c\u5b9e\u73b0\u65e0\u951a\u70b9\u9884\u6d4b\u3002mmTransformer[58]\u63d0\u51fa\u4e86\u4e00\u4e2a\u5806\u53e0\u7684Transformer\u67b6\u6784\uff0c\u901a\u8fc7\u4e00\u7ec4\u56fa\u5b9a\u7684\u72ec\u7acb\u63d0\u6848\u5728\u529f\u80fd\u7ea7\u522b\u5bf9\u591a\u6a21\u6001\u8fdb\u884c\u5efa\u6a21\u3002\u7136\u540e\u5236\u5b9a\u4e86\u4e00\u9879\u57fa\u4e8e\u533a\u57df\u7684\u57f9\u8bad\u6218\u7565\uff0c\u4ee5\u8bf1\u5bfc\u6240\u4ea7\u751f\u7684\u5efa\u8bae\u7684\u591a\u6a21\u6001\u3002\u8be5\u7b56\u7565\u5728\u4fdd\u8bc1\u591a\u6a21\u6001\u884c\u4e3a\u8f93\u51fa\u7684\u540c\u65f6\u964d\u4f4e\u4e86\u8fd0\u52a8\u9884\u6d4b\u7684\u590d\u6742\u6027\u3002<\/p>\n<p class=\"js_darkmode__75\">AgentFormer[59]\u5141\u8bb8\u4ee3\u7406\u5728\u7279\u5b9a\u65f6\u95f4\u7684\u72b6\u6001\u76f4\u63a5\u5f71\u54cd\u53e6\u4e00\u4e2a\u4ee3\u7406\u7684\u672a\u6765\u72b6\u6001\uff0c\u6d88\u9664\u4e86\u5728\u5355\u4e00\u7ef4\u5ea6\u4e2d\u7f16\u7801\u7684\u4e2d\u95f4\u7279\u5f81\u7684\u9700\u8981\u3002\u8fd9\u79cd\u65b9\u6cd5\u53ef\u4ee5\u540c\u65f6\u5b66\u4e60\u65f6\u95f4\u4fe1\u606f\u548c\u4ea4\u4e92\u5173\u7cfb\u3002\u5b83\u8fd8\u786e\u4fdd\u4ee3\u7406\u7684\u5f53\u524d\u5173\u7cfb\u901a\u8fc7\u4e0d\u540c\u65f6\u95f4\u7684\u5173\u7cfb\u5f97\u5230\u53cd\u6620\uff0c\u4ece\u800c\u51cf\u8f7b\u4e86\u5728\u4f20\u7edfTransformer\u6ce8\u610f\u673a\u5236\u4e2d\u901a\u5e38\u5728\u76f8\u540c\u8f93\u5165\u5143\u7d20\u72b6\u6001\u4e0b\u53d1\u751f\u7684\u65f6\u95f4\u548c\u4ee3\u7406\u4fe1\u606f\u635f\u5931\u3002\u5bf9\u4e8e\u66f4\u590d\u6742\u7684\u60c5\u51b5\uff0c\u5176\u4e2d\u8f93\u5165\u5305\u542b\u9759\u6001\u548c\u52a8\u6001\u6570\u636e(\u4f8b\u5982\uff0c\u9053\u8def\u51e0\u4f55\u5f62\u72b6\uff0c\u8f66\u9053\u8fde\u63a5\uff0c\u4ea4\u901a\u706f\u7b49)\uff0c\u7531\u4e8e\u81ea\u5173\u6ce8\u548c\u6602\u8d35\u7684\u4f4d\u7f6e\u524d\u9988\u7f51\u7edc\u5bf9\u8f93\u5165\u5e8f\u5217\u957f\u5ea6\u7684\u4e8c\u6b21\u4f9d\u8d56\uff0c\u6807\u51c6Transformer\u5bf9\u5e7f\u6cdb\u7684\u591a\u7ef4\u5e8f\u5217\u8fdb\u884c\u5efa\u6a21\u662f\u5177\u6709\u6311\u6218\u6027\u7684\u3002<\/p>\n<p class=\"js_darkmode__76\">WayFormer[60]\u901a\u8fc7\u5206\u6790\u8f93\u5165\u7684\u878d\u5408\u524d\u3001\u878d\u5408\u540e\u548c\u5206\u5c42\u878d\u5408\u6765\u7f13\u89e3\u8fd9\u4e00\u95ee\u9898\uff0c\u5e76\u5728\u6548\u7387\u548c\u8d28\u91cf\u4e4b\u95f4\u4fdd\u6301\u5e73\u8861\u3002\u8be5\u65b9\u6cd5\u907f\u514d\u4e86\u8bbe\u8ba1\u6a21\u6001\u7279\u5b9a\u6a21\u5757\u7684\u590d\u6742\u8fc7\u7a0b\uff0c\u4f7f\u6a21\u578b\u66f4\u5bb9\u6613\u6269\u5c55\u548c\u6269\u5c55\u3002<\/p>\n<p class=\"js_darkmode__77\">\u6700\u540e\uff0c\u7aef\u5230\u7aef\u6a21\u578b\u88ab\u5e7f\u6cdb\u5730\u5f52\u7c7b\u4e3a\u89c4\u5212\u548c\u51b3\u7b56\u4efb\u52a1\uff0c\u56e0\u4e3a\u7aef\u5230\u7aef\u4efb\u52a1\u7684\u6700\u7ec8\u76ee\u6807\u662f\u8f93\u51fa\u51b3\u7b56\u4fe1\u53f7\u3002\u8fc7\u53bb\u51e0\u5e74\u51fa\u73b0\u4e86\u4e00\u4e9b\u5de5\u4f5c\uff0c\u4f8b\u5982\uff0c<strong>Transferuser[61]\u4f7f\u7528\u591a\u4e2aTransformer\u6a21\u5757\u8fdb\u884c\u6570\u636e\u5904\u7406\u3001\u4e2d\u95f4\u6570\u636e\u878d\u5408\u548c\u7279\u5f81\u56fe\u751f\u6210<\/strong>\u3002\u5728\u6574\u4e2a\u7279\u5f81\u63d0\u53d6\u5668\u4e2d\u5e94\u7528\u4e86\u591a\u4e2a\u5206\u8fa8\u7387(64\u00d764, 32\u00d732, 16\u00d716\u548c8\u00d78)\u7684\u6570\u636e\u878d\u5408\uff0c\u4ece\u800c\u4ece\u56fe\u50cf\u548cLiDAR BEV\u6d41\u4e2d\u8f93\u51fa512\u7ef4\u7279\u5f81\u5411\u91cf\uff0c\u7136\u540e\u901a\u8fc7\u5143\u7d20\u6c42\u548c\u5c06\u5176\u7ec4\u5408\u5728\u4e00\u8d77\u3002\u8be5\u65b9\u6cd5\u8003\u8651\u4e86\u81ea\u9a7e\u8f66\u524d\u65b932\u7c73\u5185\u548c\u4e24\u4fa716\u7c73\u5185\u7684\u4f20\u611f\u533a\u57df\uff0c\u4ece\u800c\u5305\u542b\u4e86\u4e00\u4e2a32m \u00d7 32m\u7684BEV\u7f51\u683c\u3002\u7f51\u683c\u88ab\u5212\u5206\u4e3a0.125m \u00d7 0.125m\u7684\u5757\uff0c\u5f97\u5230256 \u00d7 256\u50cf\u7d20\u7684\u5206\u8fa8\u7387\u3002<\/p>\n<p class=\"js_darkmode__78\"><strong>NEAT[62]\u63d0\u51fa\u4e86\u4e00\u79cd\u5bf9\u573a\u666f\u7684\u8bed\u4e49\u3001\u7a7a\u95f4\u548c\u65f6\u95f4\u7ed3\u6784\u8fdb\u884c\u6709\u6548\u63a8\u7406\u7684\u8868\u793a<\/strong>\u3002\u5b83\u6784\u5efa\u4e86\u4e00\u4e2a\u8fde\u7eed\u51fd\u6570\uff0c\u5c06BEV\u573a\u666f\u5750\u6807\u4e2d\u7684\u4f4d\u7f6e\u6620\u5c04\u5230\u8def\u70b9\u548c\u8bed\u4e49\uff0c\u4f7f\u7528\u4e2d\u95f4\u6ce8\u610f\u6620\u5c04\u8fed\u4ee3\u538b\u7f29\u9ad8\u7ef4\u4e8c\u7ef4\u56fe\u50cf\u7279\u5f81\u4e3a\u7d27\u51d1\u7684\u8868\u793a\u3002<\/p>\n<p class=\"js_darkmode__79\">\u5728Transferuser\u67b6\u6784\u7684\u57fa\u7840\u4e0a\uff0cInteruser[63]\u63d0\u51fa\u4e86\u4e00\u79cd\u5355\u9636\u6bb5\u67b6\u6784\u6765\u878d\u5408\u6765\u81ea\u591a\u6a21\u6001\u591a\u89c6\u56fe\u4f20\u611f\u5668\u7684\u4fe1\u606f\uff0c\u83b7\u5f97\u4e86\u66f4\u597d\u7684\u6027\u80fd\u3002\u8be5\u6846\u67b6\u901a\u8fc7\u5f00\u53d1\u5b89\u5168\u63a7\u5236\u8fc7\u6ee4\u5668\u6765\u7ea6\u675fTransformer\u8f93\u51fa\u64cd\u4f5c\uff0c\u4ece\u800c\u589e\u5f3a\u4e86\u7aef\u5230\u7aef\u6a21\u578b\u7684\u5b89\u5168\u6027\u3002\u6a21\u578b\u7684\u5b89\u5168\u654f\u611f\u8f93\u51fa\u5305\u62ec10\u4e2a\u8def\u70b9\u8def\u5f84\uff0c\u800c\u5b89\u5168\u654f\u611f\u8f93\u51fa\u5305\u62ec\u4ea4\u901a\u89c4\u5219\u4fe1\u606f\u548c\u5177\u67097\u4e2a\u7279\u5f81\u7684\u7269\u4f53\u5bc6\u5ea6\u56fe\uff0c\u5982\u8f66\u8f86\u3001\u884c\u4eba\u548c\u81ea\u884c\u8f66\u3002\u4e9b\u8f93\u51fa\u662f\u901a\u8fc7\u878d\u5408\u591a\u89c6\u56fe\u56fe\u50cf\u8f93\u5165\u548c\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u6570\u636e\u4ea7\u751f\u7684\uff0c\u8be5\u6570\u636e\u8986\u76d6\u4e86\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u524d\u65b928\u7c73\u548c\u4e24\u4fa714\u7c73\u7684\u533a\u57df\u3002\u5206\u6790\u7684\u533a\u57df\u5c3a\u5bf8\u4e3a20m 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3090\u4e0a\u5bf9\u4e3b\u8981\u57fa\u4e8eTransformer\u7684\u6a21\u578b\u8fdb\u884c\u57fa\u51c6\u6d4b\u8bd5\uff0c\u8003\u8651\u8f93\u5165\u5927\u5c0f\u3001\u8fd0\u884c\u65f6\u95f4\u3001\u51c6\u786e\u6027\u548c\u6570\u636e\u96c6\u7b49\u6307\u6807\u3002\u5982\u88682\u6240\u793a\uff0c\u5bf9\u4e8e\u4f7f\u7528Nuscenes\u6570\u636e\u96c6\u76843D\u7269\u4f53\u68c0\u6d4b\u4efb\u52a1[73]\uff0c\u7531\u4e8e\u7ed3\u6784\u76f8\u4f3c\uff0cDETR3D\u548cFUTR3D\u8868\u73b0\u51fa\u76f8\u5f53\u7684\u6027\u80fd\u3002BEVFormer\u901a\u8fc7\u751f\u6210BEV\u7279\u5f81\u548c\u4ece\u8fd9\u4e9b\u7279\u5f81\u67e5\u8be23D\u5bf9\u8c61\u6765\u4f18\u4e8eDETR3D\u3002<\/p>\n<p 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Transformer\u67e5\u8be2\u6bd4\u76ee\u6807\u68c0\u6d4b\u66f4\u5feb\uff0c\u56e0\u4e3a\u5173\u952e\u70b9\u67e5\u8be2\u66f4\u5c11\uff0cCNN\u9aa8\u5e72\u7f51\u66f4\u5c0f\uff0c\u5229\u7528\u4e86\u66f4\u6d45\u7684\u5c42\u7279\u5f81\u3002\u5982\u8868\u5e95\u90e8\u6240\u793a\uff0c\u7aef\u5230\u7aefTransformer\u662f\u4e00\u4e2a\u65b0\u5174\u7684\u7814\u7a76\u9886\u57df\u3002\u7136\u800c\uff0c\u5b83\u4e3b\u8981\u4f9d\u8d56\u4e8eCARLA\u7b49\u975e\u73b0\u5b9e\u6a21\u62df\u5668\u5e73\u53f0\u4e2d\u7684\u6a21\u62df\u6570\u636e[77]\uff0c\u8fd9\u9650\u5236\u4e86\u5b83\u5728\u73b0\u5b9e\u573a\u666f\u548c\u5b9e\u9645\u5b9e\u73b0\u4e2d\u7684\u9002\u7528\u6027\u3002<\/p>\n<h3>3.Transformer\u67b6\u6784\u3001\u7b97\u5b50\u548c\u786c\u4ef6\u52a0\u901f<\/h3>\n<p 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src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/42cb0568080f31b3c4f220eceb15398dc8be97-1.png\" width=\"720\" height=\"402\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/42cb0568080f31b3c4f220eceb15398dc8be97-1.png 720w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/42cb0568080f31b3c4f220eceb15398dc8be97-1-300x168.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/42cb0568080f31b3c4f220eceb15398dc8be97-1-150x84.png 150w\" sizes=\"auto, (max-width: 720px) 100vw, 720px\" \/><\/p>\n<p class=\"js_darkmode__99\">\u56fe5\uff1aResNet\u548cSwinTransformer\u4e2d\u7684\u56fe\u5c42\uff1a(a) 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data-dominant-color=\"e6e6e6\" data-has-transparency=\"false\" style=\"--dominant-color: #e6e6e6;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-16371\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/679767b765ce7491919804a92a9f87a1379ca0-1.png\" width=\"720\" height=\"915\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/679767b765ce7491919804a92a9f87a1379ca0-1.png 720w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/679767b765ce7491919804a92a9f87a1379ca0-1-236x300.png 236w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/679767b765ce7491919804a92a9f87a1379ca0-1-118x150.png 118w\" sizes=\"auto, (max-width: 720px) 100vw, 720px\" \/><\/p>\n<p class=\"js_darkmode__104\">\u56fe7\uff1aTransformer4D\u7f16\u7801\u5668\u7ed3\u6784\uff1aBEVformer\u7f16\u7801\u5668\u7ed3\u6784\u7f16\u7801\u5668\u5c42\uff0c\u4e0eSwinTransformer\u76f8\u540c\uff0cBEVformer\u7f16\u7801\u5668\u5177\u6709\u5c42\u5f52\u4e00\u5316\uff0cFFN\u3002<\/p>\n<p class=\"js_darkmode__105\">\u65f6\u95f4\u81ea\u6211\u6ce8\u610f\u548c\u7a7a\u95f4\u4ea4\u53c9\u6ce8\u610f\u662f\u4e24\u79cd\u590d\u6742\u7684\u6ce8\u610f\u673a\u5236\u3002\u65f6\u95f4\u81ea\u6ce8\u610f\u5bf9\u7531\u524d\u4e00\u4e2aBEV\u7279\u5f81\u548c\u5f53\u524dBEV\u7279\u5f81\u521d\u59cb\u5316\u7684BEV\u67e5\u8be2\u8fdb\u884c\u53d8\u5f62\u6ce8\u610f\uff0c\u5e76\u8fdb\u884c\u81ea\u6211\u4fe1\u606f\u6821\u51c6\u3002\u4e0eSwinTransformer\u4e0d\u540c\u7684\u662f\uff0c\u6709\u4e00\u4e2a\u7f51\u683c\u6837\u672c\u4f1a\u4ece\u76f8\u5173\u4f4d\u7f6e\u6536\u96c6\u7279\u5f81\uff0c\u8fd9\u4e9b\u4f4d\u7f6e\u53ef\u4ee5\u4ece\u7279\u5f81\u548c\u77e9\u9635\u53d8\u6362\u4e2d\u5b66\u4e60\u3002\u7a7a\u95f4\u4ea4\u53c9\u6ce8\u610f\u5c06\u6709\u52a9\u4e8e\u4ece2D\u73af\u7ed5\u76f8\u673a\u7279\u5f81\u4e2d\u67e5\u8be2BEV\u7279\u5f81\uff0c\u5e76\u91c7\u7528\u53ef\u53d8\u5f62\u6ce8\u610f\u673a\u5236\u3002\u8be5\u67e5\u8be2\u662f\u4e00\u4e2a\u591a\u7ea7\u591a\u6444\u50cf\u673a\u67e5\u8be2\uff0c\u56e0\u6b64\u589e\u52a0\u4e862\u4e2a\u6a21\u5757\uff0c\u4e00\u4e2a\u662f\u6444\u50cf\u673a\u63a9\u6a21\u6a21\u5757\uff0c\u5b83\u5c06\u5728BEV\u7a7a\u95f4\u4e2d\u751f\u6210\u6bcf\u4e2a\u6444\u50cf\u673a\u63a9\u6a21\uff0c\u4e00\u4e2a\u662f\u591a\u7ea7\u504f\u79fb\u6a21\u5757\uff0c\u5b83\u5c06\u83b7\u5f974\u7ea7\u53c2\u8003\u70b9\u504f\u79fb\u3002\u9664\u4e86\u56fe\u5c42\u5f52\u4e00\u5316\u3001\u6fc0\u6d3b\u3001Softmax\u3001\u77e9\u9635\u4e58\u6cd5\uff0cBEVFormre\u7f16\u7801\u5668\u8fd8\u6709\u5f88\u591a\u6570\u636e\u91cd\u7ec4\u8fc7\u7a0b\uff0c\u5982\u91cd\u5851\u3001\u5206\u5272\u3001\u8fde\u63a5\u3001\u6392\u5217\u7b49\u3002BEVformer\u7684\u7ed3\u6784\u6bd4SwinTransformer\u66f4\u590d\u6742\uff0c\u52a0\u901f\u4e5f\u66f4\u56f0\u96be\u3002<\/p>\n<p class=\"js_darkmode__106\"><strong>\u65f6\u95f4\u81ea\u5173\u6ce8\u6a21\u5757\u4f7f\u7528\u81ea\u5173\u6ce8\u673a\u5236\u878d\u5408\u5f53\u524d\u548c\u5386\u53f2\u7684BEV\u7279\u5f81\u3002\u7a7a\u95f4\u4ea4\u53c9\u6ce8\u610f\u6a21\u5757\u4e0e\u65f6\u95f4\u4ea4\u53c9\u6ce8\u610f\u6a21\u5757\u6709\u76f8\u4f3c\u4e4b\u5904<\/strong>\uff0c\u4f46\u7531\u4e8e\u6570\u636e\u64cd\u4f5c\u64cd\u4f5c\u8f83\u591a\uff0c\u77e9\u9635\u4e58\u6cd5\u7ef4\u5ea6\u8f83\u5927(512* 256)\uff0c\u591a\u76f8\u673a\u548c\u591a\u5c3a\u5ea6\u7279\u5f81\u7684\u6ce8\u610f\u529b\u50cf\u7d20\u5730\u5740\u68c0\u7d22\u66f4\u4e3a\u590d\u6742\u3002\u81ea\u52a8\u9a7e\u9a76\u4e2d\u611f\u77e5\u4efb\u52a1\u7684\u6a21\u578b\u590d\u6742\u5ea6\u660e\u663e\u9ad8\u4e8eSwinTransformer\u548c\u4f20\u7edfCNN\u9aa8\u5e72\u7f51\uff0c\u5bfc\u81f4\u5bf9\u64cd\u4f5c\u5458\u52a0\u901f\u548c\u7247\u4e0a\u5b58\u50a8\u7684\u9700\u6c42\u589e\u52a0\u3002<\/p>\n<p class=\"js_darkmode__107\">\u6b64\u5916\uff0c\u5728\u56fe6\u4e2d\uff0c\u6211\u4eec\u5c55\u793a\u4e86\u5728\u53ef\u79fb\u690d\u786c\u4ef6\u4e0a\u5b9e\u73b0Transformer\u4f53\u7cfb\u7ed3\u6784\u7684\u64cd\u4f5c\u7b26\u5217\u8868\u793a\u4f8b\u3002\u6574\u4e2a\u8fc7\u7a0b\u5206\u4e3a26\u4e2a\u64cd\u4f5c\u6b65\u9aa4\uff0c\u6bcf\u4e2a\u6b65\u9aa4\u90fd\u6709\u5404\u79cd\u6307\u6807\u62a5\u544a\uff0c\u5982\u64cd\u4f5c\u7c7b\u578b\u3001\u591a\u5934\u6b21\u6570\u3001\u91cd\u590d\u6b21\u6570\u548c\u64cd\u4f5c\u65f6\u95f4(\u4ee5\u5fae\u79d2\u4e3a\u5355\u4f4d)\u3002\u53ef\u4ee5\u770b\u5230\uff0c\u7b2c2-5\u9879(Q\u3001K\u3001V\u548c\u6ce8\u610f\u77e9\u9635\u8ba1\u7b97)\u3001\u7b2c11\u9879(\u6ce8\u610f\u6c42\u89e3\u5934\u77e9\u9635\u8ba1\u7b97)\u3001\u7b2c21\u9879(\u6c42\u89e3ffn\u77e9\u9635\u8ba1\u7b97)\u548c\u7b2c23\u9879(\u7ebf\u6027\u77e9\u9635\u8ba1\u7b97)\u5360\u636e\u4e86\u5927\u90e8\u5206\u64cd\u4f5c\u8ba1\u6570\u3002<\/p>\n<p><img data-dominant-color=\"efefef\" data-has-transparency=\"false\" style=\"--dominant-color: #efefef;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-16372\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/1338349529f4de78fc2381d6c22c5d92afcfe4-1.png\" width=\"720\" height=\"748\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/1338349529f4de78fc2381d6c22c5d92afcfe4-1.png 720w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/1338349529f4de78fc2381d6c22c5d92afcfe4-1-289x300.png 289w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/1338349529f4de78fc2381d6c22c5d92afcfe4-1-144x150.png 144w\" sizes=\"auto, (max-width: 720px) 100vw, 720px\" \/><\/p>\n<p class=\"js_darkmode__108\">\u56fe6\uff1a\u8868\u683c\u5217\u51fa\u4e86\u5c06\u793a\u4f8bTransformer\u6a21\u578b\u90e8\u7f72\u5230\u53ef\u79fb\u690d\u786c\u4ef6\u7684\u4e3b\u8981\u64cd\u4f5c\u7b26\u3002\u53c2\u6570\u7c7b\u522b\uff1a<\/p>\n<p class=\"js_darkmode__109\">N\u8868\u793a\u8f93\u5165\u5e8f\u5217\u957f\u5ea6\uff0c\u4e5f\u79f0token\u957f\u5ea6\uff0c\u8868\u793a\u56fe\u50cf\u4e2d\u7279\u5f81\u6620\u5c04\u7684HxW, C\u8868\u793a\u901a\u9053\u7ef4\u6570\uff0ch\u8868\u793aMulti-head\u88ab\u5206\u5272\u6210h\u4e2ahead, N encode\u8868\u793aencode\u91cd\u590d\u7684\u6b21\u6570\uff0cN decode\u8868\u793adecode\u91cd\u590d\u7684\u6b21\u6570\u3002\u6211\u4eec\u5c06\u8be5\u8fc7\u7a0b\u5206\u4e3a26\u4e2a\u64cd\u4f5c\u5458\u660e\u667a\u7684\u6b65\u9aa4\uff0c\u5e76\u62a5\u544a\u6307\u6807\uff0c\u5305\u62ec\u64cd\u4f5c\u7c7b\u578b\uff0c\u591a\u5934\u6570\u91cf\uff0c\u91cd\u590d\u8ba1\u6570\u548c\u64cd\u4f5c\u5458\u65f6\u95f4(\u5fae\u79d2)\u3002\u53f3\u8fb9\u8f83\u5c0f\u7684\u8868\u663e\u793a\u4e86\u4e3b\u8868\u7684\u6458\u8981\u3002<\/p>\n<h4>3.3 \u7b97\u5b50\u52a0\u901f\u5206\u6790<\/h4>\n<p class=\"js_darkmode__112\">Transformer\u67b6\u6784\u5305\u542b\u5927\u91cf\u7684\u77e9\u9635\u4e58\u6cd5\u7b97\u5b50\u548c\u76f8\u5e94\u7684\u6570\u636e\u627f\u8f7d\u7b97\u5b50\u3001Softmax\u7b97\u5b50\u3001\u6fc0\u6d3b\u51fd\u6570\u3001LN\u7b97\u5b50\u3002<strong>\u91cf\u5316\u6743\u91cd\u548c\u8f93\u5165\u53ef\u4ee5\u901a\u8fc7\u5c06\u6d6e\u70b9\u8fd0\u7b97\u8c03\u4f18\u4e3a\u6574\u6570\u6765\u52a0\u5feb\u63a8\u7406\u901f\u5ea6<\/strong>[81]\uff0c[82]\uff0c[83]\u3002\u6211\u4eec\u8bbe\u8ba1\u4e86\u8fd9\u4e9b\u7b97\u5b50\u7684\u5b9a\u70b9\u786c\u4ef6\u52a0\u901f\u3002<\/p>\n<p><strong>3.3.1 Softmax<\/strong><\/p>\n<p class=\"js_darkmode__114\">Softmax\u51fd\u6570\u5728\u6df1\u5ea6\u5b66\u4e60\u4e2d\u5e94\u7528\u5e7f\u6cdb\uff0c\u7ecf\u5e38\u51fa\u73b0\u5728\u8f93\u51fa\u5c42\u3002\u5148\u524d\u7684\u5de5\u4f5c[84]\uff0c[85]\uff0c[86]\u7814\u7a76\u4e86DNN\u5e94\u7528\u4e2dsoftmax\u7684\u786c\u4ef6\u52a0\u901f\uff0c\u800c\u4e00\u4e9b\u7814\u7a76\u4e5f\u63a2\u7d22\u4e86\u57fa\u4e8evision transformer\u7684softmax\u7684\u91cf\u5316\u548c\u52a0\u901f[87]\uff0c[81]\u3002\u7ed9\u5b9ax = [x0;x1;:::;xN 1]\uff0c\u6807\u51c6\u7684softmax\u6fc0\u6d3b\u53ef\u4ee5\u5b9a\u4e49\u4e3a\uff1a<\/p>\n<p><img data-dominant-color=\"f9f9f9\" data-has-transparency=\"false\" style=\"--dominant-color: #f9f9f9;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-16373\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/680f42e05dab99dffc8422595471aaec3dafd5-1.png\" width=\"1080\" height=\"137\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/680f42e05dab99dffc8422595471aaec3dafd5-1.png 1080w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/680f42e05dab99dffc8422595471aaec3dafd5-1-300x38.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/680f42e05dab99dffc8422595471aaec3dafd5-1-1024x130.png 1024w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/680f42e05dab99dffc8422595471aaec3dafd5-1-150x19.png 150w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/680f42e05dab99dffc8422595471aaec3dafd5-1-768x97.png 768w\" sizes=\"auto, (max-width: 1080px) 100vw, 1080px\" \/><\/p>\n<p class=\"js_darkmode__115\"><strong>\u4e3a\u4e86\u9632\u6b62\u5206\u6bcd\u4e2d\u591a\u9879\u5f0f\u6c42\u548c\u6ea2\u51fa\uff0c\u9700\u8981\u5728\u786c\u4ef6\u52a0\u901f\u65f6\u8fdb\u884c\u6570\u503c\u7a33\u5b9a\u5904\u7406<\/strong>\uff0c\u6211\u4eec\u5b9a\u4e49m = max(x)\uff0c\u5e76\u8fdb\u884c\u4f4e\u7cbe\u5ea6\u5904\u7406\uff0c\u5c06\u5e95\u90e8\u7684e\u66ff\u6362\u4e3a2\uff0c\u5f97\u5230\uff1a<\/p>\n<p><img data-dominant-color=\"f9f9f9\" data-has-transparency=\"false\" style=\"--dominant-color: #f9f9f9;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-16374\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/b1a9638664607681c8753761ded50effe14f8e-1.png\" width=\"1080\" height=\"123\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/b1a9638664607681c8753761ded50effe14f8e-1.png 1080w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/b1a9638664607681c8753761ded50effe14f8e-1-300x34.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/b1a9638664607681c8753761ded50effe14f8e-1-1024x117.png 1024w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/b1a9638664607681c8753761ded50effe14f8e-1-150x17.png 150w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/b1a9638664607681c8753761ded50effe14f8e-1-768x87.png 768w\" sizes=\"auto, (max-width: 1080px) 100vw, 1080px\" \/><\/p>\n<p class=\"js_darkmode__116\">\u5728\u5728\u7ebf\u8fd0\u884c\u8fc7\u7a0b\u4e2d\uff0c\u6211\u4eec<strong>\u91cd\u70b9\u5173\u6ce8\u5e76\u884c\u5316\u548c\u5b58\u50a8\u4f18\u5316\uff0c\u89c2\u5bdf\u5230\u6574\u4e2a\u8fc7\u7a0b\u7684\u65f6\u95f4\u590d\u6742\u5ea6\u4e3a30 (n)\uff0c\u7a7a\u95f4\u590d\u6742\u5ea6\u4e3aS(n + 1)\u3002<\/strong>\u8be5\u65b9\u6cd5\u9700\u8981\u4e09\u4e2a\u5faa\u73af\u5e76\u5b58\u50a8N + 1\u4e2a\u4e2d\u95f4\u7ed3\u679c\u3002\u4e3a\u4e86\u8fdb\u4e00\u6b65\u4f18\u5316\u8fc7\u7a0b\uff0c\u5c06\u5168\u5c40\u6700\u5927\u503c\u66ff\u6362\u4e3a\u5c40\u90e8\u6700\u5927\u503c\uff0c\u4f7f\u8ba1\u7b97\u5206\u4e24\u6b21\u5faa\u73af\u5b8c\u6210[87]\u3002\u8fd9\u5c06\u65f6\u95f4\u590d\u6742\u5ea6\u964d\u4f4e\u523020 (n)\uff0c\u5e76\u51cf\u5c11\u4e86\u4e2d\u95f4\u7ed3\u679c\u7684\u5b58\u50a8\u3002<\/p>\n<p class=\"js_darkmode__117\">\u5728\u5b9a\u70b9\u6d4b\u8bd5\u4e2d\uff0c\u8f93\u5165\u4f7f\u7528\u5e26\u7b26\u53f7\u7684S6.9\u548cS5.2\uff0c\u800c\u8f93\u51fa\u4f7f\u7528\u65e0\u7b26\u53f7\u7684U1.15\u548cU1.7\u3002\u4e2d\u95f4\u7d2f\u79ef\u7ed3\u679c\u2211j=0,N-1:2(xj-M)\uff0c\u4f7f\u7528U10.10\u3002\u8bd5\u9a8c\u7ed3\u679c\u89c1\u8868\u4e09\u3002\u6211\u4eec\u53ef\u4ee5\u770b\u5230<strong>16\u4f4d\u8f93\u5165\u548c\u8f93\u51fa\u7684\u7cbe\u5ea6\u5927\u7ea6\u662f1%\u3002\u7136\u800c\uff0c8\u4f4d\u8f93\u5165\u7684\u7cbe\u5ea6\u660e\u663e\u8f83\u4f4e\uff0c8\u4f4d\u8f93\u51fa\u5bfc\u81f4\u5927\u91cf\u91cf\u5316\u8bef\u5dee<\/strong>\u3002\u56e0\u6b64\uff0c\u4f5c\u8005\u5efa\u8bae\u4f7f\u752816\u4f4d\u91cf\u5316\u8f93\u5165\u548c\u8f93\u51fa\uff0c\u4ee5\u786e\u4fddSoftmax\u529f\u80fd\u786c\u4ef6\u52a0\u901f\u7684\u51c6\u786e\u6027\u3002<\/p>\n<p><strong>3.3.2 \u5c42\u5f52\u4e00\u5316<\/strong><\/p>\n<p class=\"js_darkmode__119\">\u5c42\u5f52\u4e00\u5316(LN)[88]\u3001[89]\u4e0e\u6279\u5f52\u4e00\u5316\u7684\u4e0d\u540c\u4e4b\u5904\u5728\u4e8e\uff0c\u5b83\u662f\u8de8\u901a\u9053\u800c\u4e0d\u662f\u6279\u91cf\u8fdb\u884c\u5f52\u4e00\u5316\u7684\uff0c\u89e3\u51b3\u4e86Transformer\u6a21\u578b\u5728\u901a\u9053\u65b9\u5411\u4e0a\u7684\u5927\u91cf\u8ba1\u7b97\u3002<strong>\u5f52\u4e00\u5316\u6280\u672f\u6709\u6548\u5730\u7f13\u89e3\u4e86Transformer\u6a21\u578b\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u7684\u68af\u5ea6\u6d88\u5931\u548c\u7206\u70b8\u95ee\u9898<\/strong>\u3002\u6b64\u5916\uff0c\u5c42\u5f52\u4e00\u5316\u6d89\u53ca\u9664\u6cd5\u3001\u5e73\u65b9\u3001\u5e73\u65b9\u6839\u7b49\u64cd\u4f5c\uff0c\u5c42\u5f52\u4e00\u5316\u7684\u66ff\u6362\u4ee5\u53caInteger Transformer\u4e2d\u7684\u6ce8\u610f\u5b8c\u5168\u652f\u6301INT8\u63a8\u7406[90]\u3002<\/p>\n<p class=\"js_darkmode__120\">\u5c42\u5f52\u4e00\u5316\u7684\u539f\u59cb\u8ba1\u7b97\u516c\u5f0f[91]\u4e3a\uff1a<\/p>\n<p><img data-dominant-color=\"fcfcfc\" data-has-transparency=\"false\" style=\"--dominant-color: #fcfcfc;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-16375\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/f6ff803003aa1ea4dc6743afb755f5b9c9b3d3-1.png\" width=\"1080\" height=\"316\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/f6ff803003aa1ea4dc6743afb755f5b9c9b3d3-1.png 1080w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/f6ff803003aa1ea4dc6743afb755f5b9c9b3d3-1-300x88.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/f6ff803003aa1ea4dc6743afb755f5b9c9b3d3-1-1024x300.png 1024w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/f6ff803003aa1ea4dc6743afb755f5b9c9b3d3-1-150x44.png 150w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/f6ff803003aa1ea4dc6743afb755f5b9c9b3d3-1-768x225.png 768w\" sizes=\"auto, (max-width: 1080px) 100vw, 1080px\" \/><\/p>\n<p class=\"js_darkmode__121\">\u6839\u636e\u91cf\u5316\u516c\u5f0f\uff1a<\/p>\n<p><img data-dominant-color=\"fcfcfc\" data-has-transparency=\"false\" style=\"--dominant-color: #fcfcfc;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-16376\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/968c39b16db0a9ee4647539ca098f5d48f9010-1.png\" width=\"1080\" height=\"95\" alt=\"\u56fe\u7247\" title=\"\u56fe\u7247\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/968c39b16db0a9ee4647539ca098f5d48f9010-1.png 1080w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/968c39b16db0a9ee4647539ca098f5d48f9010-1-300x26.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/968c39b16db0a9ee4647539ca098f5d48f9010-1-1024x90.png 1024w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/968c39b16db0a9ee4647539ca098f5d48f9010-1-150x13.png 150w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/968c39b16db0a9ee4647539ca098f5d48f9010-1-768x68.png 768w\" sizes=\"auto, (max-width: 1080px) 100vw, 1080px\" \/><\/p>\n<p class=\"js_darkmode__122\">\u5f0f\u4e2d\uff0cXQ\u4e3a\u91cf\u5316\u7684\u5b9a\u70b9\u6fc0\u6d3b\u503c\uff0cS\u4e3a\u6bd4\u4f8b\u56e0\u5b50\uff0czp\u4e3a\u8f93\u5165\u96f6\u70b9\u3002b\u548cy\u662f\u8f93\u5165\u53c2\u6570(\u6d6e\u70b9\u6570)\u3002<\/p>\n<p class=\"js_darkmode__123\">\u63a8\u5bfc\u540e\uff0c\u5c42\u5f52\u4e00\u5316\u8ba1\u7b97\u516c\u5f0f\u4e3a\uff1a<\/p>\n<p><img data-dominant-color=\"fbfbfb\" data-has-transparency=\"false\" style=\"--dominant-color: #fbfbfb;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-16377\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/84ae84a34f788c1f4c1765d22fbe38c6ccc89c-1.png\" width=\"1080\" height=\"158\" alt=\"\u56fe\u7247\" title=\"\u56fe\u7247\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/84ae84a34f788c1f4c1765d22fbe38c6ccc89c-1.png 1080w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/84ae84a34f788c1f4c1765d22fbe38c6ccc89c-1-300x44.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/84ae84a34f788c1f4c1765d22fbe38c6ccc89c-1-1024x150.png 1024w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/84ae84a34f788c1f4c1765d22fbe38c6ccc89c-1-150x22.png 150w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/84ae84a34f788c1f4c1765d22fbe38c6ccc89c-1-768x112.png 768w\" sizes=\"auto, (max-width: 1080px) 100vw, 1080px\" \/><\/p>\n<p class=\"js_darkmode__124\">\u9488\u5bf9\u7ed9\u5b9a\u7684\u516c\u5f0f\uff0c\u8bbe\u8ba1\u5e76\u6d4b\u8bd5\u4e86\u4e00\u4e2a<strong>\u5b9a\u70b9\u786c\u4ef6\u52a0\u901f\u5668<\/strong>\u3002\u6d4b\u8bd5\u4f7f\u75288\u4f4dU8\u548cS7\u8f93\u5165\uff0c16\u4f4dS8:7\u8f93\u51fa\uff0c\u4ee5\u53ca\u5177\u6709\u4e0d\u540c\u91cf\u5316\u7cbe\u5ea6\u7684\u4e2d\u95f4\u7ed3\u679c\u3002\u5747\u503c\u91c7\u7528S8:7\uff0c\u6807\u51c6\u5dee\u91c7\u7528U8:6\u3002\u6211\u4eec\u5728\u4e24\u4e2a\u4e0d\u540c\u7684\u6d4b\u8bd5\u6570\u636e\u96c6(\u79f0\u4e3acase1\u548ccase2)\u4e0a\u8bc4\u4f30\u4e86\u6027\u80fd\uff0c\u5e76\u5728\u8868iii(\u7b2c4\u5230\u7b2c5\u884c)\u4e2d\u62a5\u544a\u4e86\u7ed3\u679c\u3002\u6d4b\u8bd5\u7ed3\u679c\u663e\u793aS7\u548cU8\u7684\u8f93\u51fa\u7ed3\u679c\u76f8\u5f53\u3002\u6700\u5927\u9519\u8bef\u7387\u4e3b\u8981\u53d1\u751f\u5728\u5e8f\u5217\u7684\u6700\u5c0f\u503c\u5904\u3002\u867d\u7136\u7edd\u5bf9\u8bef\u5dee\u503c\u4fdd\u6301\u8f83\u5c0f\uff0c\u4f46\u7531\u4e8eGolden\u76f8\u5bf9\u8f83\u5c0f\uff0c\u8bef\u5dee\u767e\u5206\u6bd4\u663e\u5f97\u8f83\u5927\u4ef7\u503c\u3002\u5355\u72ec\u5730\u8bc4\u4f30\u5c42\u89c4\u8303\u5316\u64cd\u4f5c\u7b26\u8868\u660e\uff0c\u4f7f\u75288\u4f4d\u8f93\u5165\u53ef\u80fd\u4f1a\u5e26\u6765\u4e00\u4e9b\u98ce\u9669\u3002\u4f46\u662f\uff0c\u5fc5\u987b\u7efc\u5408\u8bc4\u4f30\u5bf9\u6574\u4e2a\u6a21\u578b\u7684\u5f71\u54cd\uff0c\u4ee5\u786e\u5b9a\u5176\u6574\u4f53\u6548\u679c\u3002<\/p>\n<p><strong>3.3.3 \u6fc0\u6d3b\u51fd\u6570<\/strong><\/p>\n<p class=\"js_darkmode__127\">\u6fc0\u6d3b\u51fd\u6570\u8c03\u8282\u795e\u7ecf\u7f51\u7edc\u4e2d\u795e\u7ecf\u5143\u4e4b\u95f4\u7684\u4fe1\u53f7\u4f20\u9012\uff0c\u5305\u62ec\u7ebf\u6027\u51fd\u6570(\u5982x = f(x))\u548c\u975e\u7ebf\u6027\u51fd\u6570(\u5982Sigmoid, Tanh, Relu)\u3002\u975e\u7ebf\u6027\u51fd\u6570\u5bf9\u4e8e\u89e3\u51b3\u590d\u6742\u95ee\u9898\u81f3\u5173\u91cd\u8981\uff0c\u56e0\u4e3a\u5355\u72ec\u7684\u7ebf\u6027\u51fd\u6570\u53ea\u4f1a\u4ea7\u751f\u8f93\u5165\u7684\u7ebf\u6027\u7ec4\u5408\u3002\u56e0\u6b64\uff0c\u795e\u7ecf\u7f51\u7edc\u91c7\u7528\u975e\u7ebf\u6027\u51fd\u6570\u6765\u66f4\u6709\u6548\u5730\u5efa\u6a21\u548c\u89e3\u51b3\u590d\u6742\u7684\u975e\u7ebf\u6027\u95ee\u9898\u3002\u672c\u7814\u7a76\u5f00\u53d1\u4e86\u5404\u79cd\u6fc0\u6d3b\u51fd\u6570\u7684\u4e0d\u52a8\u70b9\u8868\u793a\uff0c\u5982GELU[92]\u3001Relu[93]\u3001Leaky Relu[94]\u3001ELU[95]\u3001SELU[96]\u3001Sigmoid[97]\u548cTanh\u3002GELU\u4f5c\u4e3a\u8ba8\u8bba\u6fc0\u6d3b\u51fd\u6570\u7684<strong>\u786c\u4ef6\u5b9a\u70b9\u8bbe\u8ba1<\/strong>\u7684\u4e00\u4e2a\u8bf4\u660e\u6027\u793a\u4f8b\u3002<\/p>\n<p class=\"js_darkmode__128\">\u539fGELU\u8ba1\u7b97\u516c\u5f0f[98]\u5b9a\u4e49\u4e3a\uff1a<\/p>\n<p><img data-dominant-color=\"f9f9f9\" data-has-transparency=\"false\" style=\"--dominant-color: #f9f9f9;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-16378\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/6228fba78be07ea7ac7841505406c2dd118eea-1.png\" width=\"1080\" height=\"160\" alt=\"\u56fe\u7247\" title=\"\u56fe\u7247\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/6228fba78be07ea7ac7841505406c2dd118eea-1.png 1080w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/6228fba78be07ea7ac7841505406c2dd118eea-1-300x44.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/6228fba78be07ea7ac7841505406c2dd118eea-1-1024x152.png 1024w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/6228fba78be07ea7ac7841505406c2dd118eea-1-150x22.png 150w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/6228fba78be07ea7ac7841505406c2dd118eea-1-768x114.png 768w\" sizes=\"auto, (max-width: 1080px) 100vw, 1080px\" \/><\/p>\n<p class=\"js_darkmode__129\">\u540c\u6837\uff0c\u5229\u7528\u9006\u91cf\u5316\u516c\u5f0f\uff0c\u6211\u4eec\u53ef\u4ee5\u5c06GELU\u7684\u8ba1\u7b97\u8f6c\u5316\u4e3a\uff1a<\/p>\n<p><img data-dominant-color=\"f8f8f9\" data-has-transparency=\"false\" style=\"--dominant-color: #f8f8f9;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-16379\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/d6a3f0791642259adfe951e4c22e3480f02e64-1.png\" width=\"1080\" height=\"107\" alt=\"\u56fe\u7247\" title=\"\u56fe\u7247\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/d6a3f0791642259adfe951e4c22e3480f02e64-1.png 1080w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/d6a3f0791642259adfe951e4c22e3480f02e64-1-300x30.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/d6a3f0791642259adfe951e4c22e3480f02e64-1-1024x101.png 1024w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/d6a3f0791642259adfe951e4c22e3480f02e64-1-150x15.png 150w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/d6a3f0791642259adfe951e4c22e3480f02e64-1-768x76.png 768w\" sizes=\"auto, (max-width: 1080px) 100vw, 1080px\" \/><\/p>\n<p class=\"js_darkmode__130\">\u6309\u7167\u4e0eSoftmax\u7c7b\u4f3c\u7684\u65b9\u5f0f\uff0c\u6211\u4eec\u5bf9\u5206\u6bcd\u6267\u884c\u4f4e\u7cbe\u5ea6\u66ff\u6362\uff0c\u5c06\u4ee5e\u4e3a\u5e95\u6539\u4e3a\u4ee52\u4e3a\u5e95\uff0c\u6211\u4eec\u6709:\u7ecf\u8fc7\u4e00\u4e9b\u63a8\u5bfc\uff0c\u6211\u4eec\u53ef\u4ee5\u5f97\u5230GELU\u7684\u8fd1\u4f3c\u516c\u5f0f\uff1a<\/p>\n<p><img data-dominant-color=\"fafafa\" data-has-transparency=\"false\" style=\"--dominant-color: #fafafa;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-16380\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/0596701513a70372dee472afa72a05783aaa9c-1.png\" width=\"720\" height=\"217\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/0596701513a70372dee472afa72a05783aaa9c-1.png 720w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/0596701513a70372dee472afa72a05783aaa9c-1-300x90.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/0596701513a70372dee472afa72a05783aaa9c-1-150x45.png 150w\" sizes=\"auto, (max-width: 720px) 100vw, 720px\" \/><\/p>\n<p class=\"js_darkmode__131\">\u6211\u4eec<strong>\u57fa\u4e8e\u8fd1\u4f3c\u516c\u5f0f\u5f00\u53d1\u4e86GELU\u51fd\u6570\u7684\u5b9a\u70b9\u5b9e\u73b0<\/strong>\u3002\u6211\u4eec\u5bf9\u5b9e\u73b0\u8fdb\u884c\u4e86\u6d4b\u8bd5\uff0c\u4f7f\u7528\u5e26\u7b7e\u540d\u7684S6:9\u548cS3:4\u4f5c\u4e3a\u8f93\u5165\uff0c\u4f7f\u7528\u5e26\u7b7e\u540d\u7684S5:10\u548cS3:4\u4f5c\u4e3a\u8f93\u51fa\u3002<\/p>\n<p 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class=\"js_darkmode__134\">\u88683\uff1a\u5bf9Softmax\u3001\u5c42\u5f52\u4e00\u5316(LN)\u548cGELU\u64cd\u4f5c\u7b26\u91c7\u7528\u4e0d\u540c\u91cf\u5316\u7684\u5b9a\u70b9\uff0c\u5206\u522b\u91c7\u75288\u4f4d\u548c16\u4f4d\u7684\u4f4d\u5bbdI\/O\u7ec4\u5408\u3002\u5206\u6790\u4e0e32\u4f4dfp32 I\/O\u7ed3\u679c\u76f8\u6bd4\u7684\u5e73\u5747\u8bef\u5dee\u548c\u6700\u5927\u8bef\u5dee\u3002<\/p>\n<p><strong>3.3.4 \u77e9\u9635\u4e58\u6cd5<\/strong><\/p>\n<p class=\"js_darkmode__137\">\u77e9\u9635\u4e58\u6cd5\u662fTransformer\u7684\u91cd\u8981\u7ec4\u6210\u90e8\u5206\uff0c\u5360\u5176\u8ba1\u7b97\u8d1f\u8377\u768480%\u4ee5\u4e0a\u3002\u6211\u4eec\u5206\u6790\u4e86\u5404\u79cd\u516c\u5f00\u53ef\u7528\u7684\u611f\u77e5\u7b97\u6cd5\u6a21\u578b\uff0c\u53d1\u73b0\u8fd9\u4e2a\u6bd4\u4f8b\u5f88\u9ad8[99]\u3001[100]\u3001[101]\u3001[102]\u3001[103]\u3001[104]\u3001[105]\u3001[106]\u3002<\/p>\n<p class=\"js_darkmode__138\">\u5728Transformer\u4e2d\uff0c<strong>\u4e58\u6cd5\u7d2f\u52a0\u8fd0\u7b97\u53d1\u751f\u5728\u901a\u9053\u65b9\u5411\u4e0a\uff0c\u6bcf\u4e2a\u901a\u9053\u90fd\u9700\u8981\u5b8c\u6210<\/strong>\u3002\u901a\u9053\u957f\u5ea6\u53ef\u4ee5\u8fbe\u5230256\uff0c\u9700\u8981\u5728\u8bbe\u8ba1\u65f6\u8003\u8651\u5b9a\u70b9\u8ba1\u7b97\u548c\u6ea2\u51fa\u95ee\u9898\u3002\u6211\u4eec\u7684\u7535\u8def\u8bbe\u8ba1\u9002\u7528\u4e8eINT4\u3001INT8\u548cINT16\u7684\u5b9a\u70b9\u7b97\u6cd5\uff0c\u4f7f\u7528INT4\u4e58\u6cd5\u7d2f\u52a0\u4f5c\u4e3a\u57fa\u672c\u5355\u5143\u3002\u901a\u8fc7\u4f7f\u7528\u79fb\u4f4d\u64cd\u4f5c\uff0c\u6211\u4eec\u4e3aINT8\u4f7f\u75282\u4e2aINT4\u5355\u5143\uff0c\u4e3aINT16\u5b9e\u73b0\u4f7f\u75284\u4e2aINT4\u5355\u5143\u3002\u6b64\u5916\uff0c<strong>\u6211\u4eec\u5b9e\u73b0FP8\uff0c\u5305\u62ecE4M3\u548cE5M2\u683c\u5f0f\u7684\u4e58\u6cd5\u7d2f\u52a0\u64cd\u4f5c\uff0c\u4f7f\u75282\u4e2aINT4\u5355\u5143\u548c\u65c1\u8def\u8bbe\u8ba1<\/strong>\u3002FP8\u662f\u4e00\u79cdIEEE\u6d6e\u70b9\u683c\u5f0f\uff0c\u5df2\u7ecf\u8bc1\u660e\u4e86\u4e0e16\u4f4d\u7cbe\u5ea6\u76f8\u5f53\u7684\u8bad\u7ec3\u7cbe\u5ea6\uff0c\u540c\u65f6\u4e3aTransformer\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u5e94\u7528\u63d0\u4f9b\u4e86\u663e\u7740\u7684\u52a0\u901f\u3002\u4e2d\u95f4\u7ed3\u679c\u91c7\u7528FP16\/FP32\u6216Int32\u683c\u5f0f\uff0c\u90e8\u5206\u548c\u4f7f\u7528\u7ed3\u5408\u6bd4\u4f8b\u56e0\u5b50\u7684Float\u683c\u5f0f\u3002<\/p>\n<p class=\"js_darkmode__139\"><strong>\u77e9\u9635\u4e58\u6cd5\u52a0\u901f\u4e0d\u4ec5\u9700\u8981\u5b9a\u70b9\u8bbe\u8ba1\uff0c\u8fd8\u9700\u8981\u7cbe\u786e\u7684\u91cf\u5316\u8bbe\u8ba1<\/strong>\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u6211\u4eec\u5c1d\u8bd5\u5c06\u91cf\u5316\u8bbe\u8ba1\u526a\u88c1\u4e3a\u7279\u5b9a\u7684\u6570\u636e\u548c\u6a21\u578b\uff0c\u4f5c\u4e3a\u5b83\u4eec\u5bf9\u5e94\u7684\u91cf\u5316\u503c\u8303\u56f4\u548c\u8303\u56f4\u4e0d\u540c\u3002\u8fd9\u79cd\u65b9\u6cd5\u6709\u52a9\u4e8e\u9632\u6b62\u6ea2\u51fa\uff0c\u8fd9\u79cd\u6ea2\u51fa\u5f88\u5bb9\u6613\u7531\u4e8e\u4e58-\u7d2f\u52a0\u64cd\u4f5c\u7684\u5927\u7ef4\u5ea6\u800c\u53d1\u751f\u3002<\/p>\n<p><strong>3.3.5 \u7ae0\u8282\u5c0f\u7ed3<\/strong><\/p>\n<p 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class=\"js_darkmode__143\">\u7814\u7a76\u4e86\u6a21\u578b\u538b\u7f29\u65b9\u6cd5\uff0c\u5982\u526a\u679d\u548c\u77e5\u8bc6\u84b8\u998f\u3002<strong>\u4fee\u526a\u6d89\u53ca\u4ece\u8bad\u7ec3\u826f\u597d\u7684\u6a21\u578b\u4e2d\u5220\u9664\u4e0d\u91cd\u8981\u7684\u53c2\u6570<\/strong>\u6216\u8fde\u63a5[109]\uff0c[110]\uff0c[111]\uff0c\u5404\u79cd\u65b9\u6cd5\u4fa7\u91cd\u4e8e\u591a\u5934\u81ea\u6ce8\u610f(MHSA)\uff0c\u901a\u9053\uff0ctoken\u6216\u6574\u4e2aTransformer\u7ed3\u6784[112]\uff0c[113]\uff0c[114]\uff0c[115]\uff0c[116]\u3002<strong>\u77e5\u8bc6\u84b8\u998f\u5c06\u77e5\u8bc6\u4ece\u5927\u7684\u6559\u5e08\u6a21\u578b\u8f6c\u79fb\u5230\u5c0f\u7684\u5b66\u751f\u6a21\u578b<\/strong>[117]\uff0c[118]\uff0c[119]\u3002<strong>\u5c06\u6a21\u578b\u91cf\u5316\u4e0e\u77e5\u8bc6\u84b8\u998f\u76f8\u7ed3\u5408\u53ef\u4ee5\u51cf\u5c11\u5185\u5b58\u5f00\u9500\uff0c\u63d0\u9ad8\u6027\u80fd<\/strong>[120]\uff0c[121]\uff0c[122]\u3002VisionTransformer\u84b8\u998f\u6280\u672f\u68c0\u67e5\u4e86\u7279\u5f81\u56fe\u548c\u6ce8\u610f\u529b\uff0c\u5176\u4e2d**\u7279\u5f81\u56fe\u84b8\u998f\u5c06\u5730\u56fe\u5212\u5206\u4e3a\u5c0f\u5757\uff0c\u5e76\u4f7f\u7528\u7528\u4e8e\u77e5\u8bc6\u8f6c\u79fb\u7684\u989d\u5916\u84b8\u998f\u4ee4\u724c\u8fdb\u884c\u6ce8\u610f\u529b\u84b8\u998f[**123]\uff0c[124]\uff0c[122]\u3002<\/p>\n<p class=\"js_darkmode__144\">\u5bf9Transformer\u786c\u4ef6\u52a0\u901f\u7684\u7814\u7a76\u4e3b\u8981\u96c6\u4e2d\u5728NLP\u6a21\u578b\uff0c\u5982BERT\u548c\u89c6\u89c9Transformer\u6a21\u578b\uff0c\u5982ViT\u3002Transformer\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u5e94\u7528\u57282022\u5e74\u8fc5\u901f\u53d1\u5c55\uff0c\u8fd9\u5bfc\u81f4\u4eba\u4eec\u5bf9\u5176\u5b9e\u65bd\u7684\u5174\u8da3\u589e\u52a0\u3002\u7136\u800c\uff0c\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76Transformer\u6a21\u578b\u7684\u786c\u4ef6\u52a0\u901f\u4ecd\u5904\u4e8e\u8d77\u6b65\u9636\u6bb5\u3002<\/p>\n<p 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class=\"js_darkmode__147\">\u57fa\u4e8eTransformer\u7684\u6df1\u5ea6\u5b66\u4e60\u65b9\u6cd5\u5df2\u7ecf\u663e\u793a\u51fa\u6539\u5584\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u6f5c\u529b\uff0c\u4f46\u5b83\u4eec\u9762\u4e34\u7740\u6536\u96c6\u9ad8\u8d28\u91cf\u8bad\u7ec3\u6570\u636e\u3001\u786e\u4fdd\u5b89\u5168\u6027\u548c\u63d0\u4f9b\u53ef\u89e3\u91ca\u6027\u7b49\u6311\u6218\u3002\u591a\u6a21\u6001\u878d\u5408\u548c\u53ef\u89e3\u91ca\u6027\u662f\u8be5\u9886\u57df\u7684\u53d1\u5c55\u8d8b\u52bf\uff0c\u800c\u57fa\u4e8eTransformer\u7684\u6a21\u578b\u5df2\u7ecf\u6210\u529f\u5730\u5b8c\u6210\u4e86\u611f\u77e5\u548c\u9884\u6d4b\u4efb\u52a1\u3002\u524d\u666f\u5305\u62ec\u4f18\u5316\u5b9e\u65f6\u5904\u7406\u548c\u5f00\u53d1\u7aef\u5230\u7aef\u5b66\u4e60\u6a21\u578b\u3002\u7136\u800c\uff0c\u5e94\u5bf9\u6311\u6218\u548c\u5229\u7528\u8d8b\u52bf\u548c\u524d\u666f\u9700\u8981\u6301\u7eed\u7684\u7814\u7a76\u5de5\u4f5c\u3002<\/p>\n<p class=\"js_darkmode__148\">Transformer\u6a21\u578b\u4ece\u6700\u521d\u76843D\u969c\u788d\u7269\u611f\u77e5\u4efb\u52a1\u53d1\u5c55\u5230\u73b0\u5728\u7684\u5404\u79cd\u611f\u77e5\u4efb\u52a1\u3002\u672a\u6765\u7684\u81ea\u52a8\u9a7e\u9a76\u9700\u8981\u66f4\u9ad8\u7684\u7cfb\u7edf\u5b89\u5168\u6027\u548c\u786e\u5b9a\u6027\uff0c\u5355\u6a21\u6001\u89c6\u89c9\u611f\u77e5\u5728\u8fb9\u9645\u589e\u76ca\u65b9\u9762\u5df2\u7ecf\u8fbe\u5230\u9971\u548c\u3002<strong>\u4e3a\u4e86\u63d0\u9ad8\u8fb9\u9645\u589e\u76ca\uff0c\u9700\u8981\u591a\u6a21\u6001\u878d\u5408\uff0c\u8fd9\u5bf9\u9ad8\u7ea7\u81ea\u52a8\u9a7e\u9a76\u81f3\u5173\u91cd\u8981\u3002\u4e3a\u4e86\u6ee1\u8db3\u8fd9\u4e00\u9700\u6c42\uff0c\u672a\u6765\u53ef\u80fd\u4f1a\u4ea7\u751f\u66f4\u5927\u5c3a\u5bf8\u3001\u591a\u6a21\u6001\u3001\u591a\u4efb\u52a1\u30014D\u65f6\u7a7a\u8f93\u5165\u8f93\u51fa\u7684Transformer\u6a21\u578b<\/strong>\u3002\u8fd9\u5bf9\u6a21\u578b\u8bad\u7ec3\u548c\u52a0\u901f\u63d0\u51fa\u4e86\u65b0\u7684\u6311\u6218\uff0c\u9700\u8981\u5728\u7b97\u6cd5\u8bbe\u8ba1\u3001\u786c\u4ef6\u67b6\u6784\u548c\u7cfb\u7edf\u96c6\u6210\u65b9\u9762\u53d6\u5f97\u8fdb\u5c55\u3002<\/p>\n<p class=\"js_darkmode__149\">\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u8ddf\u8e2a\u3001\u89c4\u5212\u548c\u51b3\u7b56\u4efb\u52a1\u4e5f\u5f00\u59cb\u4ece\u4f20\u7edf\u7684DNN\u6a21\u578b\u8fc7\u6e21\u5230\u57fa\u4e8eTransformer\u7684\u6a21\u578b\u3002<strong>\u8003\u8651\u5230Transformer\u6a21\u578b\u65e5\u76ca\u590d\u6742\uff0c\u8fd9\u53ef\u80fd\u9700\u8981\u66f4\u597d\u7684\u786c\u4ef6\u52a0\u901f\u65b9\u6848\u6765\u63d0\u9ad8\u786c\u4ef6\u90e8\u7f72\u4e2d\u7684\u6a21\u578b\u63a8\u7406\u6548\u7387\u3002\u4e00\u79cd\u6709\u5e0c\u671b\u7684\u65b9\u6cd5\u662f\u5c06\u591a\u4e2a\u7ea7\u522b\u548c\u7c7b\u578b\u7684Transformer\u6a21\u578b\u7ea7\u8054\u5230\u7aef\u5230\u7aef\u7cfb\u7edf\u4e2d<\/strong>\u3002\u7136\u800c\uff0c\u8fd9\u5728\u52a0\u901f\u6574\u4e2a\u7cfb\u5217\u6a21\u578b\u65b9\u9762\u63d0\u51fa\u4e86\u4e00\u4e2a\u6311\u6218\uff0c\u56e0\u4e3a\u6bcf\u4e2a\u6a21\u578b\u53ef\u80fd\u6709\u72ec\u7279\u7684\u786c\u4ef6\u8981\u6c42\u3002<\/p>\n<p class=\"js_darkmode__150\">\u5728\u57fa\u4e8e\u611f\u77e5\u7684\u6a21\u578b\u4e2d\uff0c\u4e3b\u8981\u8f93\u5165\u662f\u56fe\u50cf\u6216\u96f7\u8fbe\u6570\u636e\uff0c\u901a\u8fc7CNN\u5bf9\u5176\u8fdb\u884c\u5904\u7406\u4ee5\u63d0\u53d6\u7279\u5f81\u3002\u7136\u540e\u5c06\u8fd9\u4e9b\u7279\u5f81\u8f93\u5165\u5230BEV\u611f\u77e5Transformer\u6a21\u578b\u4e2d\uff0c\u7528\u4e8e\u4eceBEV\u89d2\u5ea6\u68c0\u6d4b\u969c\u788d\u7269\u548c\u9759\u6001\u5730\u9762\u6807\u8bb0\u3002\u5c06BEV\u611f\u77e5\u7ed3\u679c\u4e0e\u9ad8\u7cbe\u5ea6\u5730\u56fe\u7ed3\u5408\uff0c\u8fdb\u4e00\u6b65\u7f16\u7801\u4e3a\u7f51\u683c\u683c\u5f0f\uff0c\u8f93\u5165\u5230\u7c7b\u4f3cNLP\u7684Transformer\u6a21\u578b\u4e2d\uff0c\u5b8c\u6210\u9884\u6d4b\u548c\u89c4\u5212\u4efb\u52a1\u3002<\/p>\n<p class=\"js_darkmode__151\">\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u4e2d\u7684Transformer\u6a21\u578b\u9664\u4e86\u5177\u6709\u57fa\u672c\u6a21\u578b\u7684\u6fc0\u6d3b\u51fd\u6570\u3001LN\u3001Softmax\u548c\u5927\u77e9\u9635\u4e58\u6cd5\u52a0\u901f\u5ea6\u5916\uff0c\u8fd8\u5177\u6709\u4e00\u4e2a\u7279\u6b8a\u7684Deformable Attention\u7b97\u5b50\u3002<strong>\u5176\u53ef\u5b66\u4e60\u7684\u4f4d\u7f6e\u53c2\u6570\u5bfc\u81f4\u6bcf\u6b21\u67e5\u8be2\u76f8\u5173\u6570\u636e\u5b58\u5728\u4e00\u5b9a\u7684\u4e0d\u89c4\u5219\u6027\uff0c\u589e\u52a0\u4e86\u56fe\u50cf\u6570\u636e\u5bf9\u786c\u4ef6\u7684\u7f13\u5b58\u538b\u529b\uff0c\u4f7f\u5e76\u884c\u52a0\u901f\u53d8\u5f97\u56f0\u96be\u3002\u9664\u4e86\u4f18\u5316\u8f6f\u4ef6\u7f16\u8bd1\u5668\u8c03\u5ea6\u5916\uff0c\u8fd8\u9700\u8981\u9488\u5bf9\u8fd9\u4e9b\u6a21\u578b\u4e13\u95e8\u8bbe\u8ba1\u786c\u4ef6<\/strong>\u3002<\/p>\n<p class=\"js_darkmode__152\">Transformer\u6a21\u578b\u7684\u6df7\u5408\u7cbe\u5ea6\u91cf\u5316\u662f\u52a0\u901f\u6a21\u578b\u7684\u91cd\u8981\u4efb\u52a1\uff0c\u5b83\u76f4\u63a5\u5f71\u54cd\u5230\u8ba1\u7b97\u80fd\u529b\u548c\u5b58\u50a8\u80fd\u529b\uff0c\u662f\u672a\u6765\u7684\u4e3b\u8981\u7814\u7a76\u65b9\u5411\u4e4b\u4e00\u3002<strong>\u9ad8\u6bd4\u7279\u91cf\u5316\u4fdd\u8bc1\u4e86\u9ad8\u7cbe\u5ea6\uff0c\u4f46\u9700\u8981\u66f4\u591a\u7684\u5185\u5b58\u548c\u8ba1\u7b97\u8d44\u6e90\uff0c\u800c\u4f4e\u6bd4\u7279\u91cf\u5316\u7cbe\u5ea6\u8f83\u4f4e\uff0c\u4f46\u51cf\u5c11\u4e86\u5185\u5b58\u548c\u8ba1\u7b97\u9700\u6c42\u3002<\/strong><\/p>\n<p class=\"js_darkmode__153\"><strong>\u56fa\u5b9a\u4f4d\u91cf\u5316\u65e0\u6cd5\u5728\u7cbe\u5ea6\u548c\u8ba1\u7b97\u80fd\u529b\u4e4b\u95f4\u5b9e\u73b0\u7ec6\u7c92\u5ea6\u7684\u6743\u8861\uff0c\u56e0\u6b64\u9700\u8981\u4f7f\u7528\u6df7\u5408\u7cbe\u5ea6\u91cf\u5316(MPQ)\u6765\u5b9e\u73b0\u6709\u6548\u7684\u6a21\u578b\u538b\u7f29<\/strong>\u3002MPQ\u91c7\u7528\u4e86\u5404\u79cd\u91cf\u5316\u6bd4\u7279\u5bbd\u5ea6\uff0c\u5305\u62ec8\u4f4d\u300116\u4f4d\u300132\u4f4d\uff0c\u751a\u81f34\u4f4d\u548c2\u4f4d\u3002\u9664\u4e86\u6210\u719f\u7684\u7ebf\u6027\u91cf\u5316\u65b9\u6cd5\u5916\uff0c\u8fd8\u8003\u8651\u4e86<strong>\u57fa\u4e8eFP8\u7684\u5bf9\u6570\u91cf\u5316\u7b49\u66ff\u4ee3\u65b9\u6cd5\uff0c\u5176\u4e2d\u57fa\u4e8eFP8\u7684\u91cf\u5316\u548c\u52a0\u901f\u662f\u4e00\u4e2a\u7a81\u51fa\u7684\u7814\u7a76\u9886\u57df\u3002<\/strong><\/p>\n<p class=\"js_darkmode__154\">Transformer\u7684\u6ce8\u610f\u673a\u5236\u5728\u5c06\u4e00\u4e2a\u7a7a\u95f4\u5e8f\u5217\u8f6c\u6362\u4e3a\u53e6\u4e00\u4e2a\u7a7a\u95f4\u5e8f\u5217\u65b9\u9762\u5177\u6709\u4f18\u52bf\uff0c\u6211\u4eec\u77e5\u9053\u77e9\u9635\u4e58\u6cd5\u53ef\u4ee5\u5c06\u4e00\u4e2a\u5411\u91cf\u4ece\u4e00\u4e2a\u7a7a\u95f4\u53d8\u6362\u5230\u53e6\u4e00\u4e2a\u7a7a\u95f4\uff0c\u5927\u77e9\u9635\u53ef\u4ee5\u8fdb\u884c\u591a\u7ef4\u7a7a\u95f4\u53d8\u6362\uff0c\u8fd9\u4e9b\u77e9\u9635\u4e2d\u7684\u53c2\u6570\u662f\u53ef\u5b66\u4e60\u7684\u3002\u7ecf\u8fc7\u7a7a\u95f4\u53d8\u6362\u540e\uff0c\u4fe1\u606f\u5173\u7cfb\u67e5\u8be2\u53d8\u5f97\u66f4\u52a0\u5bb9\u6613\u3002<\/p>\n<p 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