{"id":16458,"date":"2023-11-10T09:51:31","date_gmt":"2023-11-10T01:51:31","guid":{"rendered":"https:\/\/aif.amtbbs.org\/?p=16458"},"modified":"2023-11-10T10:58:06","modified_gmt":"2023-11-10T02:58:06","slug":"unipad%ef%bc%9a%e9%80%9a%e7%94%a8%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e9%a2%84%e8%ae%ad%e7%bb%83%e6%a8%a1%e5%bc%8f%ef%bc%81%e5%90%84%e7%b1%bb%e6%84%9f%e7%9f%a5%e4%bb%bb%e5%8a%a1%e9%83%bd%e5%8f%af","status":"publish","type":"post","link":"https:\/\/aif.amtbbs.org\/index.php\/2023\/11\/10\/16458\/","title":{"rendered":"UniPAD\uff1a\u901a\u7528\u81ea\u52a8\u9a7e\u9a76\u9884\u8bad\u7ec3\u6a21\u5f0f\uff01\u5404\u7c7b\u611f\u77e5\u4efb\u52a1\u90fd\u53ef\u652f\u6301"},"content":{"rendered":"<div class=\"article-desc\">UniPAD \u662f\u4e00\u79cd\u57fa\u4e8e MAE \u548c 3D rendering \u7684\u81ea\u76d1\u7763\u5b66\u4e60\u65b9\u6cd5\uff0c\u53ef\u4ee5\u8bad\u7ec3\u4e00\u4e2a\u6027\u80fd\u4f18\u79c0\u7684\u57fa\u5ea7\u6a21\u578b\uff0c\u7ee7\u800c\u53ef\u4ee5\u5728\u8be5\u6a21\u578b\u4e0a\u5fae\u8c03\u8bad\u7ec3\u4e0b\u6e38\u8bf8\u5982\u6df1\u5ea6\u4f30\u8ba1\u3001\u76ee\u6807\u68c0\u6d4b\u3001\u5206\u5272\u7b49\u8bf8\u591a\u4efb\u52a1\u3002<\/div>\n<div id=\"postspictures\" class=\"article-content\">\n<div id=\"container\" class=\"container am-engine\" data-v-0719ea8d=\"\" data-element=\"root\">\n<p>\u672c\u6587\u7ecf\u81ea\u52a8\u9a7e\u9a76\u4e4b\u5fc3\u516c\u4f17\u53f7\u6388\u6743\u8f6c\u8f7d\uff0c\u8f6c\u8f7d\u8bf7\u8054\u7cfb\u51fa\u5904\u3002<\/p>\n<p>\u6700\u8fd1\uff0c\u65b0\u8bba\u6587\u63a8\u9648\u51fa\u65b0\u7684\u901f\u5ea6\u7740\u5b9e\u592a\u5feb\u6709\u70b9\u8bfb\u4e0d\u8fc7\u6765\u7684\u611f\u89c9\u3002\u53ef\u4ee5\u770b\u5230\u7684\u662f\uff0c\u8bed\u8a00\u89c6\u89c9\u591a\u6a21\u6001\u5927\u6a21\u578b\u878d\u5408\u5df2\u7ecf\u662f\u4e1a\u754c\u5171\u8bc6\u4e86\uff0cUniPad \u8fd9\u7bc7\u6587\u7ae0\u5c31\u6bd4\u8f83\u6709\u4ee3\u8868\u6027\uff0c\u591a\u6a21\u6001\u7684\u8f93\u5165\uff0c\u7c7b\u4e16\u754c\u6a21\u578b\u7684\u9884\u8bad\u7ec3\u57fa\u5ea7\u6a21\u578b\uff0c\u540c\u65f6\u53c8\u65b9\u4fbf\u6269\u5c55\u5230\u591a\u4e2a\u4f20\u7edf\u89c6\u89c9\u5e94\u7528\u3002\u5e76\u4e14\u8fd8\u89e3\u51b3\u4e86\u5c06\u5927\u8bed\u8a00\u6a21\u578b\u7684\u9884\u8bad\u7ec3\u65b9\u6cd5\u7528\u5230 3D \u573a\u666f\u7684\u95ee\u9898\uff0c\u6240\u4ee5\u7ed9\u7edf\u4e00\u7684\u611f\u77e5\u57fa\u5ea7\u5927\u6a21\u578b\u63d0\u4f9b\u4e86\u53ef\u80fd\u3002<\/p>\n<p class=\"js_darkmode__15\">UniPAD \u662f\u4e00\u79cd\u57fa\u4e8e MAE \u548c 3D rendering \u7684\u81ea\u76d1\u7763\u5b66\u4e60\u65b9\u6cd5\uff0c\u53ef\u4ee5\u8bad\u7ec3\u4e00\u4e2a\u6027\u80fd\u4f18\u79c0\u7684\u57fa\u5ea7\u6a21\u578b\uff0c\u7ee7\u800c\u53ef\u4ee5\u5728\u8be5\u6a21\u578b\u4e0a\u5fae\u8c03\u8bad\u7ec3\u4e0b\u6e38\u8bf8\u5982\u6df1\u5ea6\u4f30\u8ba1\u3001\u76ee\u6807\u68c0\u6d4b\u3001\u5206\u5272\u7b49\u8bf8\u591a\u4efb\u52a1\u3002\u56e0\u4e3a\u8be5\u5de5\u4f5c\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u7edf\u4e00\u7684 3D \u7a7a\u95f4\u8868\u793a\u65b9\u6cd5\uff0c\u4f7f\u5f97\u5b83\u53ef\u4ee5\u8f7b\u677e\u5730\u878d\u5165\u5230 2D \u548c 3D \u6846\u67b6\u4e2d\uff0c\u4f53\u73b0\u4e86\u8f83\u5927\u7684\u7075\u6d3b\u6027\uff0c\u8fd9\u662f\u5f88\u7b26\u5408\u57fa\u5ea7\u6a21\u578b\u5e94\u8be5\u7684\u5b9a\u4f4d\u7684\u3002<\/p>\n<h4>\u9605\u8bfb\u65f6\u7684\u601d\u8003\u4e0e\u7591\u95ee\u70b9\uff1a<\/h4>\n<p class=\"js_darkmode__18\">\u63a9\u7801\u81ea\u7f16\u7801\u6280\u672f \u548c 3D \u53ef\u5fae\u5206\u6e32\u67d3\u6280\u672f\u7684\u5173\u7cfb\u662f\u4ec0\u4e48\uff1f\u7b80\u5355\u8bf4\uff1a\u63a9\u7801\u81ea\u7f16\u7801\u662f\u4e3a\u4e86\u5229\u7528 Autoencoder \u7684\u81ea\u76d1\u7763\u8bad\u7ec3\u80fd\u529b\uff0c\u6e32\u67d3\u6280\u672f\u662f\u4e3a\u4e86\u751f\u6210\u56fe\u7247\u540e\u548c\u539f\u59cb\u56fe\u7247\u4e4b\u95f4\u8fdb\u884c\u635f\u5931\u51fd\u6570\u8ba1\u7b97\u5e76\u8fdb\u884c\u76d1\u7763\u8bad\u7ec3\u3002\u6240\u4ee5\u903b\u8f91\u8fd8\u662f\u5f88\u6e05\u6670\u7684\u3002<\/p>\n<p class=\"js_darkmode__19\">\u8fd9\u7bc7\u6587\u7ae0\u5728\u4f7f\u7528\u57fa\u5ea7\u6a21\u578b\u9884\u8bad\u7ec3\u7684\u65b9\u6cd5\uff0c\u518d\u5fae\u8c03\u4e0b\u6e38\u7684\u68c0\u6d4b\u65b9\u6cd5\u548c\u5206\u5272\u65b9\u6cd5\u3002\u8fd9\u4e2a\u65b9\u6cd5\u4e5f\u53ef\u4ee5\u5e2e\u52a9\u7406\u89e3\u5f53\u4e0b\u7684\u5927\u6a21\u578b\u4e0e\u4e0b\u6e38\u4efb\u52a1\u7684\u914d\u5408\u65b9\u6cd5\u3002<\/p>\n<p class=\"js_darkmode__20\">\u770b\u8d77\u6765\u662f\u6ca1\u6709\u7ed3\u5408\u65f6\u5e8f\u4fe1\u606f\u7684\u3002\u6bd5\u7adf\u7eaf\u89c6\u89c9 50.2 \u7684 NuScenes NDS \u76ee\u524d\u5728\u5e26\u65f6\u5e8f\u7684\u68c0\u6d4b\u65b9\u6cd5\uff08StreamPETR\u3001Sparse4D \u7b49\uff09\u6bd4\u8f83\u4e2d\u8fd8\u662f\u5f31\u4e86\u4e00\u4e9b\u3002\u6240\u4ee5 4D \u7684 MAE \u65b9\u6cd5\uff0c\u4e5f\u662f\u503c\u5f97\u4e00\u8bd5\u7684\uff0c\u5176\u5b9e GAIA-1 \u5df2\u7ecf\u63d0\u5230\u4e86\u7c7b\u4f3c\u7684\u601d\u8def\u3002<\/p>\n<p class=\"js_darkmode__21\">\u8fd0\u7b97\u91cf\u4e0e\u5185\u5b58\u4f7f\u7528\u91cf\u5982\u4f55\uff1f<\/p>\n<h4>\u5177\u4f53\u65b9\u6cd5\uff1a<\/h4>\n<p class=\"js_darkmode__24\">UniPAD \u9690\u5f0f\u5730\u7f16\u7801\u4e86 3D \u7a7a\u95f4\u4fe1\u606f\uff0c\u8fd9\u91cc\u4e3b\u8981\u53d7\u5230\u4e86\u63a9\u7801\u81ea\u7f16\u7801\uff08MAE\u3001VoxelMAE \u7b49\uff09\u7684\u542f\u53d1\uff0c\u672c\u6587\u5229\u7528\u4e86\u751f\u6210\u5f0f\u7684 mask \u6765\u5b8c\u6210\u4f53\u7d20\u7279\u5f81\u7684\u52a0\u5f3a\uff0c\u7528\u6765\u91cd\u5efa\u573a\u666f\u4e2d\u8fde\u7eed\u7684 3D \u5f62\u72b6\u7ed3\u6784\u4ee5\u53ca\u5b83\u4eec\u5728 2D \u5e73\u9762\u4e0a\u7684\u590d\u6742\u5916\u89c2\u7279\u5f81\u3002<\/p>\n<p class=\"js_darkmode__25\">\u5728\u6211\u4eec\u7684\u5b9e\u9a8c\u4e2d\uff0cUniPAD\u7684\u4f18\u8d8a\u6027\u5f97\u5230\u4e86\u5145\u5206\u4f53\u73b0\u3002\u76f8\u8f83\u4e8e\u4f20\u7edf\u7684\u6fc0\u5149\u96f7\u8fbe\u3001\u6444\u50cf\u5934\uff0c\u4ee5\u53ca\u6fc0\u5149\u96f7\u8fbe-\u6444\u50cf\u5934\u878d\u5408\u57fa\u7ebf\uff0cUniPAD \u5206\u522b\u63d0\u9ad8\u4e86 9.1\u30017.7 \u548c 6.9 \u7684 NDS \u3002\u503c\u5f97\u4e00\u63d0\u7684\u662f\uff0c\u5728nuScenes\u9a8c\u8bc1\u96c6\u4e0a\uff0c\u6211\u4eec\u7684\u9884\u8bad\u7ec3\u6d41\u7a0b\u4e3a3D\u76ee\u6807\u68c0\u6d4b\u5b9e\u73b0\u4e8673.2\u7684NDS\uff0c\u5e76\u57283D\u8bed\u4e49\u5206\u5272\u4efb\u52a1\u4e0a\u53d6\u5f97\u4e8679.4\u7684 mIoU \u5206\u6570\uff0c\u4e0e\u4e4b\u524d\u7684\u65b9\u6cd5\u76f8\u6bd4\uff0c\u53d6\u5f97\u4e86\u6700\u597d\u7684\u6210\u7ee9\u3002<\/p>\n<h4>\u6574\u4f53\u67b6\u6784\uff1a<\/h4>\n<p><img data-dominant-color=\"e5e5e5\" data-has-transparency=\"false\" style=\"--dominant-color: #e5e5e5;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-16466\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/f1f3b8e7332827f7f02685d08ed2f413f8c247-1.png\" width=\"720\" height=\"375\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/f1f3b8e7332827f7f02685d08ed2f413f8c247-1.png 720w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/f1f3b8e7332827f7f02685d08ed2f413f8c247-1-300x156.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/f1f3b8e7332827f7f02685d08ed2f413f8c247-1-150x78.png 150w\" sizes=\"auto, (max-width: 720px) 100vw, 720px\" \/><\/p>\n<p class=\"js_darkmode__29\">\u6574\u4f53\u67b6\u6784\u3002\u8be5\u6846\u67b6 LiDar \u548c\u591a\u955c\u5934\u56fe\u7247\u4f5c\u4e3a\u8f93\u5165\uff0c\u8fd9\u4e9b\u591a\u6a21\u6001\u6570\u636e\u4f1a\u901a\u8fc7\u63a9\u853d\u751f\u6210\u5668\uff08Mask Generator\uff09\u88ab\u586b\u5145\u4e3a\u96f6\u3002\u88ab\u63a9\u7801\u906e\u853d\u7684 embedding \u4f1a\u88ab\u8f6c\u6362\u5230\u4f53\u7d20\u7a7a\u95f4\uff0c\u5728\u8fd9\u6837\u7684 3D \u7a7a\u95f4\u4e2d\u901a\u8fc7\u6e32\u67d3\u6280\u672f\u751f\u6210RGB\u6216\u6df1\u5ea6\u9884\u6d4b\u7ed3\u679c\u3002\u8fd9\u65f6\u6ca1\u6709\u88ab\u63a9\u7801\u906e\u853d\u7684\u539f\u59cb\u56fe\u50cf\u5c31\u53ef\u4ee5\u505a\u4e3a\u751f\u6210\u6570\u636e\u8fdb\u884c\u76d1\u7763\u5b66\u4e60\u4e86\u3002<\/p>\n<h4>Mask Generator<\/h4>\n<p class=\"js_darkmode__32\">\u8fd9\u91cc\u7684 Masked AutoEncoder \u7684 mask \u662f\u901a\u8fc7 Mask Generator \u6765\u751f\u6210\u7684\u3002\u53ef\u4ee5\u7406\u89e3\u4e3a\u901a\u8fc7\u6570\u636e\u589e\u91cf\u7684\u65b9\u5f0f\u6765\u63d0\u9ad8\u4e86\u8bad\u7ec3\u96be\u5ea6\uff0c\u4ee5\u5bc4\u5e0c\u671b\u4e8e\u589e\u5f3a\u6a21\u578b\u7684\u8868\u793a\u80fd\u529b\u548c\u6cdb\u5316\u80fd\u529b\u3002\u5f15\u5165\u4e86\u4e00\u4e2a Mask \u751f\u6210\u5668\uff0c\u901a\u8fc7\u6709\u9009\u62e9\u6027\u5730\u906e\u6321\u67d0\u4e9b\u533a\u57df\uff0c\u540c\u65f6\u8fd8\u533a\u5206\u4e86\u70b9\u4e91\u6570\u636e\u548c\u56fe\u50cf\u6570\u636e\u3002\u5728\u70b9\u4e91\u6570\u636e\u4e2d\uff0c\u91c7\u7528\u4e86\u5206\u5757\u906e\u7f69\uff08block-wise masking\uff09\u7684\u7b56\u7565\uff1b\u5bf9\u4e8e\u56fe\u50cf\uff0c\u91c7\u7528\u4e86\u7a00\u758f\u5377\u79ef\uff08sparse convolution\uff09\u7684\u65b9\u6cd5\uff0c\u53ea\u5728\u53ef\u89c1\u533a\u57df\u8fdb\u884c\u8ba1\u7b97\u3002\u5f53\u8f93\u5165\u6570\u636e\u88ab mask \u6389\u540e\uff0c\u540e\u7eed\u7684\u7f16\u7801\u7279\u5f81\u5728\u5bf9\u5e94\u7684\u88ab mask \u533a\u57df\u4f1a\u88ab\u8bbe\u7f6e\u4e3a 0\uff0c\u4ece\u800c\u5728\u6a21\u578b\u7684\u5904\u7406\u4e2d\u88ab\u5ffd\u7565\uff0c\u540c\u65f6\u4e5f\u4e3a\u540e\u7eed\u7684\u76d1\u7763\u5b66\u4e60\u63d0\u4f9b\u4e86\u53ef\u4ee5\u7528\u6765\u9884\u6d4b\u76ee\u6807\u4ee5\u53ca\u5176\u5bf9\u5e94\u7684 groundtruth \u3002<\/p>\n<h4>\u7edf\u4e00\u7684\u8868\u793a\u5f62\u5f0f<\/h4>\n<p class=\"js_darkmode__35\">\u4e3a\u4e86\u4f7f\u9884\u8bad\u7ec3\u65b9\u6cd5\u9002\u7528\u4e8e\u5404\u79cd\u4e0d\u540c\u7684\u6570\u636e\u6a21\u6001\uff0c\u5bfb\u627e\u4e00\u4e2a\u7edf\u4e00\u7684\u8868\u793a\u5f62\u5f0f\u5c31\u5f88\u91cd\u8981\u3002\u8fc7\u5f80 BEV \u548c OCC \u7b49\u65b9\u6cd5\u90fd\u5728\u5bfb\u627e\u4e00\u4e2a\u7edf\u4e00\u7684\u6807\u8bc6\u5f62\u5f0f\uff0c\u5c063D\u70b9\u6295\u5f71\u5230\u56fe\u50cf\u5e73\u9762\u4e2d\u4f1a\u5bfc\u81f4\u6df1\u5ea6\u4fe1\u606f\u7684\u4e22\u5931\uff0c\u800c\u5c06\u5b83\u4eec\u5408\u5e76\u5230 BEV \u9e1f\u77b0\u56fe\u4e2d\u5219\u4f1a\u9057\u6f0f\u4e0e\u9ad8\u5ea6\u76f8\u5173\u7684\u7ec6\u8282\u3002\u6240\u4ee5\u672c\u6587\u63d0\u51fa\u5c06\u4e24\u79cd\u6a21\u6001\u90fd\u8f6c\u6362\u4e3a3D\u4f53\u79ef\u7a7a\u95f4\uff0c\u4e5f\u5c31\u662f\u7c7b\u4f3c OCC \u7c7b\u4f3c\u7684 3D \u4f53\u7d20\u7a7a\u95f4\u3002<\/p>\n<h4>\u6e32\u67d3\u65b9\u6cd5\uff1a<\/h4>\n<p class=\"js_darkmode__38\">\u53ef\u5fae\u5206\u6e32\u67d3\u6280\u672f\u5e94\u8be5\u662f\u4f5c\u8005\u8ba4\u4e3a\u8bba\u6587\u6700\u5927\u7684\u4eae\u70b9\u4e86\uff0c\u672c\u6587\u901a\u8fc7\u7c7b\u4f3c NERF \u7684\u91c7\u6837\u5c04\u7ebf\u7a7f\u8fc7\u591a\u89c6\u56fe\u56fe\u50cf\u6216\u70b9\u4e91\uff0c\u901a\u8fc7\u795e\u7ecf\u7f51\u7edc\u7ed3\u6784\u9884\u6d4b\u6bcf\u4e2a 3D \u70b9\u7684\u989c\u8272\u6216\u6df1\u5ea6\uff0c\u6700\u540e\u518d\u901a\u8fc7\u5c04\u7ebf\u7a7f\u8fc7\u7684\u8def\u5f84\u83b7\u53d6 2D \u7684\u6620\u5c04\u3002\u8fd9\u6837\u53ef\u4ee5\u66f4\u597d\u5730\u5229\u7528\u56fe\u50cf\u4e2d\u7684\u51e0\u4f55\u6216\u7eb9\u7406\u7ebf\u7d22\uff0c\u63d0\u9ad8\u6a21\u578b\u7684\u5b66\u4e60\u80fd\u529b\u548c\u5e94\u7528\u8303\u56f4\u3002<\/p>\n<p class=\"js_darkmode__39\">\u6211\u4eec\u5c06\u573a\u666f\u8868\u793a\u4e3a SDF\uff08implicit signed distance function field\uff09\uff0c\u5f53\u8f93\u5165\u662f\u91c7\u6837\u70b9\u7684 3D \u5750\u6807 P\uff08\u6cbf\u5c04\u7ebf\u7684\u76f8\u5e94\u6df1\u5ea6 D\uff09\u4e0e F\uff08the feature embedding can be extracted from the volumetric representation by trilinear interpolation\uff09\u65f6\uff0cSDF \u53ef\u4ee5\u770b\u505a\u4e00\u4e2a MLP \uff0c\u6765\u9884\u6d4b\u91c7\u6837\u70b9\u7684 SDF \u503c\u3002\u8fd9\u91cc F \u53ef\u4ee5\u7406\u89e3\u4e3a P \u70b9\u6240\u5728\u7684 encode \u7f16\u7801\u3002\u7ee7\u800c\u5f97\u5230\u8f93\u51fa\uff1aN\uff08condition the color field on the surface normal\uff09\u548c H\uff08geometry feature vector\uff09\uff0c\u8fd9\u65f6\u5c31\u53ef\u4ee5\u901a\u8fc7\u4e00\u4e2a\u4ee5 P\u3001D\u3001F\u3001N\u3001H \u4e3a\u8f93\u5165\u7684 MLP \u83b7\u53d6\u5230 3D \u91c7\u6837\u70b9\u7684 RGB \u503c\u548c\u6df1\u5ea6\u503c\uff0c\u518d\u901a\u8fc7\u5c04\u7ebf\u53e0\u52a0 3D \u91c7\u6837\u70b9\u5230 2D \u7a7a\u95f4\u5c31\u5f97\u5230\u4e86\u6e32\u67d3\u7ed3\u679c\u3002\u800c\u8fd9\u91cc\u5c04\u7ebf Ray \u7684\u91c7\u7528\u65b9\u6cd5\uff0c\u548c Nerf \u7684\u65b9\u6cd5\u57fa\u672c\u76f8\u540c\u3002<\/p>\n<p class=\"js_darkmode__40\">\u6e32\u67d3\u65b9\u6cd5\u8fd8\u9700\u8981\u8fdb\u884c\u5185\u5b58\u5f00\u652f\u7684\u4f18\u5316\u5de5\u4f5c\uff0c\u8fd9\u91cc\u5148\u6309\u4e0b\u4e0d\u8868\u3002\u4e0d\u8fc7\u8fd9\u4e2a\u95ee\u9898\u662f\u4e2a\u6bd4\u8f83\u5173\u952e\u7684\u843d\u5730\u95ee\u9898\u3002<\/p>\n<p class=\"js_darkmode__41\">Mask \u4e0e\u6e32\u67d3\u65b9\u6cd5\u7684\u672c\u8d28\u662f\u8bad\u7ec3\u4e00\u4e2a pretrain \u6a21\u578b\uff0cpretrain \u662f\u53ef\u4ee5\u6ca1\u6709\u540e\u7eed\u5206\u652f\u7684\u5c31\u53ef\u4ee5\u6839\u636e\u9884\u6d4b mask \u6765\u5b8c\u6210\u8bad\u7ec3\u3002pretrain \u7684\u540e\u7eed\u5de5\u4f5c\u4f1a\u5206\u522b\u901a\u8fc7\u4e0d\u540c\u7684\u5206\u652f\u4ea7\u751f rgb \u548c depth \u9884\u6d4b\uff0c\u4e5f\u5c31\u662f\u540e\u7eed\u53ef\u4ee5\u518d\u901a\u8fc7 det\/seg \u7b49\u4efb\u52a1\u7ed3\u5408\u7684\u65f6\u5019\u53bb\u5fae\u8c03\uff0c\u4e5f\u5c31\u5b9e\u73b0\u4e86\u4e00\u79cd\u5373\u63d2\u5373\u7528\u7684\u80fd\u529b\u3002<\/p>\n<h4>Loss \u635f\u5931\u51fd\u6570\uff1a<\/h4>\n<p class=\"js_darkmode__44\">Loss \u51fd\u6570\u5e76\u4e0d\u590d\u6742\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-16467\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/91170a31734e13bf6be83904b1ea92208e09ab-1.png\" width=\"720\" height=\"162\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/91170a31734e13bf6be83904b1ea92208e09ab-1.png 720w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/91170a31734e13bf6be83904b1ea92208e09ab-1-300x68.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/91170a31734e13bf6be83904b1ea92208e09ab-1-150x34.png 150w\" sizes=\"auto, (max-width: 720px) 100vw, 720px\" \/><\/p>\n<h4>\u5b9e\u9a8c\u7ed3\u679c\uff1a<\/h4>\n<p><img data-dominant-color=\"e1e6e1\" data-has-transparency=\"false\" style=\"--dominant-color: #e1e6e1;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-16468\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/313244628adf0083070617f208eba70e045277-1.png\" width=\"720\" height=\"697\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/313244628adf0083070617f208eba70e045277-1.png 720w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/313244628adf0083070617f208eba70e045277-1-300x290.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/313244628adf0083070617f208eba70e045277-1-150x145.png 150w\" sizes=\"auto, (max-width: 720px) 100vw, 720px\" \/><\/p>\n<p><img data-dominant-color=\"e5e6e6\" data-has-transparency=\"false\" style=\"--dominant-color: #e5e6e6;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-16469\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/17f12623637c2192931354ac49b900f4544995-1.png\" width=\"720\" height=\"494\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/17f12623637c2192931354ac49b900f4544995-1.png 720w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/17f12623637c2192931354ac49b900f4544995-1-300x206.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/17f12623637c2192931354ac49b900f4544995-1-150x103.png 150w\" sizes=\"auto, (max-width: 720px) 100vw, 720px\" \/><\/p>\n<h4>\u548c\u8fd1\u671f\u5176\u4ed6\u5de5\u4f5c\u5bf9\u6bd4\uff1a<\/h4>\n<p class=\"js_darkmode__52\">\u5176\u5b9e GAIA-1 \u5df2\u7ecf\u5728\u7528\u65f6\u5e8f\u4e0a\u7684 Mask AutoEncoder \u601d\u8def\uff0c\u53ea\u4e0d\u8fc7\u4f5c\u4e3a\u76d1\u7763\u6570\u636e\u7684\u662f\u4e0d\u540c\u65f6\u523b\u7684\u4e00\u6574\u5e27\u6570\u636e\uff0c\u4f46\u662f UniPAD \u5219\u662f\u5728 3D \u7a7a\u95f4\u4e2d\u53bb\u968f\u673a\u62a0\u51fa\u4e00\u90e8\u5206 mask \u6765\u76d1\u7763\u9884\u6d4b\u3002\u5012\u662f\u86ee\u671f\u5f85\u80fd\u770b\u5230\u4e24\u8005\u7ed3\u5408\u7684\u65b9\u6cd5\u7684\u3002<\/p>\n<p class=\"js_darkmode__53\">\u53e6\u5916\uff0cUniPAD \u5b8c\u5168\u53ef\u4ee5\u770b\u6210\u662f\u4e00\u79cd\u591a\u6a21\u6001\u5927\u6a21\u578b\u7684\u5c1d\u8bd5\uff0c\u4e5f\u53ef\u4ee5\u770b\u505a\u662f\u4e00\u79cd\u4e16\u754c\u6a21\u578b\u3002\u867d\u7136\u6587\u7ae0\u4e2d\u6ca1\u6709\u975e\u5e38\u5f3a\u8c03\u8fd9\u4e9b\u3002<\/p>\n<h4>\u603b\u7ed3\uff1a<\/h4>\n<p class=\"js_darkmode__56\">\u672c\u6587\u5e94\u8be5\u7b97\u662f 3D \u9886\u57df\u8f83\u4e3a\u65b0\u9896\u7684 Masked Autoencoder \u65b9\u6cd5\u4e86\u3002\u56e0\u4e3a MAE \u65b9\u6cd5\u662f\u7528\u5728\u4e86\u57fa\u5ea7\u6a21\u578b\u9884\u8bad\u7ec3\u9636\u6bb5\uff0c\u6240\u4ee5\u652f\u6301\u4e86\u591a\u4e2a\u4e0d\u540c\u6a21\u6001\u7684\u4fe1\u606f\uff0c\u6240\u4ee5\u81ea\u7136\u800c\u7136\u7684\u53ef\u4ee5\u6269\u5c55\u5230\u5fae\u8c03\u4e0b\u6e38\u5f88\u591a\u4efb\u52a1\uff0c\u8fd9\u548c LLM \u7684\u8bbe\u8ba1\u601d\u8def\u975e\u5e38\u7684\u63a5\u8fd1\uff0c\u90fd\u6ce8\u91cd\u4e8e\u5728\u9884\u8bad\u7ec3\u9636\u6bb5\u6355\u6349\u591a\u6a21\u6001\u4fe1\u606f\uff0c\u4e3a\u5404\u79cd\u4efb\u52a1\u63d0\u4f9b\u7edf\u4e00\u7684\u57fa\u7840\u3002\u8fd9\u79cd\u65b9\u6cd5\u4e3a3D\u9886\u57df\u7684\u7814\u7a76\u63d0\u4f9b\u4e86\u65b0\u7684\u601d\u8def\u548c\u53ef\u80fd\u6027\u3002<\/p>\n<p class=\"js_darkmode__57\">\u8be5\u65b9\u6cd5\u4e0d\u4ec5\u57283D\u9886\u57df\u5177\u6709\u6f5c\u529b\uff0c\u8fd8\u53ef\u4ee5\u6269\u5c55\u5230 4D \u65f6\u5e8f\u9886\u57df\uff0c\u4ee5\u53ca\u4f18\u5316\u5176\u5185\u5b58\u4e0e\u8ba1\u7b97\u91cf\u7b49\u65b9\u9762\u8fd8\u53ef\u4ee5\u4ea7\u751f\u5f88\u591a\u65b0\u7684\u5de5\u4f5c\uff0c\u4e3a\u672a\u6765\u7684\u7814\u7a76\u63d0\u4f9b\u4e86\u65b0\u7684\u601d\u8def\u548c\u53ef\u80fd\u6027\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-16470\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2023\/11\/379f1230213e7c7861b9409b82d208b6afe11e-1.bmp\" width=\"129\" height=\"129\" \/><\/p>\n<p>\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin.qq.com\/s\/e_reCS-Lwr-KVF80z56_ow<\/p>\n<p>\u6587\u7ae0\u6765\u81ea\uff1a51CTO<\/p>\n<\/div>\n<\/div>\n<div class=\"pvc_clear\"><\/div>\n<p id=\"pvc_stats_16458\" class=\"pvc_stats total_only  \" data-element-id=\"16458\" style=\"\"><i class=\"pvc-stats-icon medium\" aria-hidden=\"true\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" version=\"1.0\" viewBox=\"0 0 502 315\" preserveAspectRatio=\"xMidYMid meet\"><g transform=\"translate(0,332) scale(0.1,-0.1)\" fill=\"\" stroke=\"none\"><path d=\"M2394 3279 l-29 -30 -3 -207 c-2 -182 0 -211 15 -242 39 -76 157 -76 196 0 15 31 17 60 15 243 l-3 209 -33 29 c-26 23 -41 29 -80 29 -41 0 -53 -5 -78 -31z\"\/><path d=\"M3085 3251 c-45 -19 -58 -50 -96 -229 -47 -217 -49 -260 -13 -295 52 -53 146 -42 177 20 16 31 87 366 87 410 0 70 -86 122 -155 94z\"\/><path d=\"M1751 3234 c-13 -9 -29 -31 -37 -50 -12 -29 -10 -49 21 -204 19 -94 39 -189 45 -210 14 -50 54 -80 110 -80 34 0 48 6 76 34 21 21 34 44 34 59 0 14 -18 113 -40 219 -37 178 -43 195 -70 221 -36 32 -101 37 -139 11z\"\/><path d=\"M1163 3073 c-36 -7 -73 -59 -73 -102 0 -56 133 -378 171 -413 34 -32 83 -37 129 -13 70 36 67 87 -16 290 -86 209 -89 214 -129 231 -35 14 -42 15 -82 7z\"\/><path d=\"M3689 3066 c-15 -9 -33 -30 -42 -48 -48 -103 -147 -355 -147 -375 0 -98 131 -148 192 -74 13 15 57 108 97 206 80 196 84 226 37 273 -30 30 -99 39 -137 18z\"\/><path d=\"M583 2784 c-38 -19 -67 -74 -58 -113 9 -42 211 -354 242 -373 16 -10 45 -18 66 -18 51 0 107 52 107 100 0 39 -1 41 -124 234 -80 126 -108 162 -133 173 -41 17 -61 16 -100 -3z\"\/><path d=\"M4250 2784 c-14 -9 -74 -91 -133 -183 -95 -150 -107 -173 -107 -213 0 -55 33 -94 87 -104 67 -13 90 8 211 198 130 202 137 225 78 284 -27 27 -42 34 -72 34 -22 0 -50 -8 -64 -16z\"\/><path d=\"M2275 2693 c-553 -48 -1095 -270 -1585 -649 -135 -104 -459 -423 -483 -476 -23 -49 -22 -139 2 -186 73 -142 361 -457 571 -626 285 -228 642 -407 990 -497 242 -63 336 -73 660 -74 310 0 370 5 595 52 535 111 1045 392 1455 803 122 121 250 273 275 326 19 41 19 137 0 174 -41 79 -309 363 -465 492 -447 370 -946 591 -1479 653 -113 14 -422 18 -536 8z m395 -428 c171 -34 330 -124 456 -258 112 -119 167 -219 211 -378 27 -96 24 -300 -5 -401 -72 -255 -236 -447 -474 -557 -132 -62 -201 -76 -368 -76 -167 0 -236 14 -368 76 -213 98 -373 271 -451 485 -162 444 86 934 547 1084 153 49 292 57 452 25z m909 -232 c222 -123 408 -262 593 -441 76 -74 138 -139 138 -144 0 -16 -233 -242 -330 -319 -155 -123 -309 -223 -461 -299 l-81 -41 32 46 c18 26 49 83 70 128 143 306 141 649 -6 957 -25 52 -61 116 -79 142 l-34 47 45 -20 c26 -10 76 -36 113 -56z m-2057 25 c-40 -58 -105 -190 -130 -263 -110 -324 -59 -707 132 -981 25 -35 42 -64 37 -64 -19 0 -241 119 -326 174 -188 122 -406 314 -532 468 l-58 71 108 103 c185 178 428 349 672 473 66 33 121 60 123 61 2 0 -10 -19 -26 -42z\"\/><path d=\"M2375 1950 c-198 -44 -350 -190 -395 -379 -18 -76 -8 -221 19 -290 114 -284 457 -406 731 -260 98 52 188 154 231 260 27 69 37 214 19 290 -38 163 -166 304 -326 360 -67 23 -215 33 -279 19z\"\/><\/g><\/svg><\/i> <img loading=\"lazy\" decoding=\"async\" width=\"16\" height=\"16\" alt=\"Loading\" src=\"https:\/\/aif.amtbbs.org\/wp-content\/plugins\/page-views-count\/ajax-loader-2x.gif\" border=0 \/><\/p>\n<div class=\"pvc_clear\"><\/div>\n","protected":false},"excerpt":{"rendered":"<p>UniPAD \u662f\u4e00\u79cd\u57fa\u4e8e MAE \u548c 3D rendering \u7684\u81ea\u76d1\u7763\u5b66\u4e60\u65b9\u6cd5\uff0c\u53ef\u4ee5\u8bad\u7ec3\u4e00\u4e2a\u6027\u80fd\u4f18\u79c0\u7684\u57fa\u5ea7\u6a21 [&hellip;]<\/p>\n<div class=\"pvc_clear\"><\/div>\n<p id=\"pvc_stats_16458\" class=\"pvc_stats total_only  \" data-element-id=\"16458\" style=\"\"><i class=\"pvc-stats-icon medium\" aria-hidden=\"true\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" version=\"1.0\" viewBox=\"0 0 502 315\" preserveAspectRatio=\"xMidYMid meet\"><g transform=\"translate(0,332) scale(0.1,-0.1)\" fill=\"\" stroke=\"none\"><path d=\"M2394 3279 l-29 -30 -3 -207 c-2 -182 0 -211 15 -242 39 -76 157 -76 196 0 15 31 17 60 15 243 l-3 209 -33 29 c-26 23 -41 29 -80 29 -41 0 -53 -5 -78 -31z\"\/><path d=\"M3085 3251 c-45 -19 -58 -50 -96 -229 -47 -217 -49 -260 -13 -295 52 -53 146 -42 177 20 16 31 87 366 87 410 0 70 -86 122 -155 94z\"\/><path d=\"M1751 3234 c-13 -9 -29 -31 -37 -50 -12 -29 -10 -49 21 -204 19 -94 39 -189 45 -210 14 -50 54 -80 110 -80 34 0 48 6 76 34 21 21 34 44 34 59 0 14 -18 113 -40 219 -37 178 -43 195 -70 221 -36 32 -101 37 -139 11z\"\/><path d=\"M1163 3073 c-36 -7 -73 -59 -73 -102 0 -56 133 -378 171 -413 34 -32 83 -37 129 -13 70 36 67 87 -16 290 -86 209 -89 214 -129 231 -35 14 -42 15 -82 7z\"\/><path d=\"M3689 3066 c-15 -9 -33 -30 -42 -48 -48 -103 -147 -355 -147 -375 0 -98 131 -148 192 -74 13 15 57 108 97 206 80 196 84 226 37 273 -30 30 -99 39 -137 18z\"\/><path d=\"M583 2784 c-38 -19 -67 -74 -58 -113 9 -42 211 -354 242 -373 16 -10 45 -18 66 -18 51 0 107 52 107 100 0 39 -1 41 -124 234 -80 126 -108 162 -133 173 -41 17 -61 16 -100 -3z\"\/><path d=\"M4250 2784 c-14 -9 -74 -91 -133 -183 -95 -150 -107 -173 -107 -213 0 -55 33 -94 87 -104 67 -13 90 8 211 198 130 202 137 225 78 284 -27 27 -42 34 -72 34 -22 0 -50 -8 -64 -16z\"\/><path d=\"M2275 2693 c-553 -48 -1095 -270 -1585 -649 -135 -104 -459 -423 -483 -476 -23 -49 -22 -139 2 -186 73 -142 361 -457 571 -626 285 -228 642 -407 990 -497 242 -63 336 -73 660 -74 310 0 370 5 595 52 535 111 1045 392 1455 803 122 121 250 273 275 326 19 41 19 137 0 174 -41 79 -309 363 -465 492 -447 370 -946 591 -1479 653 -113 14 -422 18 -536 8z m395 -428 c171 -34 330 -124 456 -258 112 -119 167 -219 211 -378 27 -96 24 -300 -5 -401 -72 -255 -236 -447 -474 -557 -132 -62 -201 -76 -368 -76 -167 0 -236 14 -368 76 -213 98 -373 271 -451 485 -162 444 86 934 547 1084 153 49 292 57 452 25z m909 -232 c222 -123 408 -262 593 -441 76 -74 138 -139 138 -144 0 -16 -233 -242 -330 -319 -155 -123 -309 -223 -461 -299 l-81 -41 32 46 c18 26 49 83 70 128 143 306 141 649 -6 957 -25 52 -61 116 -79 142 l-34 47 45 -20 c26 -10 76 -36 113 -56z m-2057 25 c-40 -58 -105 -190 -130 -263 -110 -324 -59 -707 132 -981 25 -35 42 -64 37 -64 -19 0 -241 119 -326 174 -188 122 -406 314 -532 468 l-58 71 108 103 c185 178 428 349 672 473 66 33 121 60 123 61 2 0 -10 -19 -26 -42z\"\/><path d=\"M2375 1950 c-198 -44 -350 -190 -395 -379 -18 -76 -8 -221 19 -290 114 -284 457 -406 731 -260 98 52 188 154 231 260 27 69 37 214 19 290 -38 163 -166 304 -326 360 -67 23 -215 33 -279 19z\"\/><\/g><\/svg><\/i> <img loading=\"lazy\" decoding=\"async\" width=\"16\" height=\"16\" alt=\"Loading\" src=\"https:\/\/aif.amtbbs.org\/wp-content\/plugins\/page-views-count\/ajax-loader-2x.gif\" border=0 \/><\/p>\n<div class=\"pvc_clear\"><\/div>\n","protected":false},"author":56,"featured_media":16459,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,23,80],"tags":[914],"class_list":["post-16458","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-ai","category-23","category-80","tag-914"],"_links":{"self":[{"href":"https:\/\/aif.amtbbs.org\/index.php\/wp-json\/wp\/v2\/posts\/16458","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/aif.amtbbs.org\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/aif.amtbbs.org\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/aif.amtbbs.org\/index.php\/wp-json\/wp\/v2\/users\/56"}],"replies":[{"embeddable":true,"href":"https:\/\/aif.amtbbs.org\/index.php\/wp-json\/wp\/v2\/comments?post=16458"}],"version-history":[{"count":3,"href":"https:\/\/aif.amtbbs.org\/index.php\/wp-json\/wp\/v2\/posts\/16458\/revisions"}],"predecessor-version":[{"id":16471,"href":"https:\/\/aif.amtbbs.org\/index.php\/wp-json\/wp\/v2\/posts\/16458\/revisions\/16471"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/aif.amtbbs.org\/index.php\/wp-json\/wp\/v2\/media\/16459"}],"wp:attachment":[{"href":"https:\/\/aif.amtbbs.org\/index.php\/wp-json\/wp\/v2\/media?parent=16458"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/aif.amtbbs.org\/index.php\/wp-json\/wp\/v2\/categories?post=16458"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/aif.amtbbs.org\/index.php\/wp-json\/wp\/v2\/tags?post=16458"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}