{"id":50721,"date":"2025-08-27T18:45:16","date_gmt":"2025-08-27T10:45:16","guid":{"rendered":"https:\/\/www.kdjingpai.com\/?p=50721"},"modified":"2025-08-27T18:45:16","modified_gmt":"2025-08-27T10:45:16","slug":"spatiallm","status":"publish","type":"post","link":"https:\/\/www.kdjingpai.com\/de\/spatiallm\/","title":{"rendered":"SpatialLM\uff1a\u626b\u4e00\u4e0b\u623f\u95f4\uff0cAI\u81ea\u52a8\u5e2e\u4f60\u753b\u51fa3D\u6a21\u578b"},"content":{"rendered":"<p>SpatialLM\u662f\u4e00\u4e2a\u4e13\u95e8\u4e3a\u5904\u7406\u4e09\u7ef4\uff083D\uff09\u70b9\u4e91\u6570\u636e\u800c\u8bbe\u8ba1\u7684\u5927\u8bed\u8a00\u6a21\u578b\u3002\u5b83\u7684\u6838\u5fc3\u529f\u80fd\u662f\u7406\u89e3\u975e\u7ed3\u6784\u5316\u76843D\u51e0\u4f55\u6570\u636e\uff0c\u5e76\u5c06\u5176\u8f6c\u5316\u4e3a\u7ed3\u6784\u5316\u76843D\u573a\u666f\u8868\u793a\u3002\u8fd9\u4e9b\u7ed3\u6784\u5316\u8f93\u51fa\u5305\u542b\u4e86\u5efa\u7b51\u5143\u7d20\uff08\u5982\u5899\u58c1\u3001\u95e8\u3001\u7a97\uff09\u4ee5\u53ca\u5e26\u65b9\u5411\u7684\u7269\u4f53\u8fb9\u754c\u6846\u53ca\u5176\u8bed\u4e49\u7c7b\u522b\u3002\u4e0e\u8bb8\u591a\u9700\u8981\u7279\u5b9a\u8bbe\u5907\u91c7\u96c6\u6570\u636e\u7684\u65b9\u6cd5\u4e0d\u540c\uff0cSpatialLM\u53ef\u4ee5\u5904\u7406\u6765\u81ea\u591a\u79cd\u6570\u636e\u6e90\u7684\u70b9\u4e91\uff0c\u4f8b\u5982\u5355\u76ee\u89c6\u9891\u5e8f\u5217\u3001RGBD\u56fe\u50cf\u548c\u6fc0\u5149\u96f7\u8fbe\uff08LiDAR\uff09\u4f20\u611f\u5668\u3002\u8be5\u6a21\u578b\u6709\u6548\u5730\u8fde\u63a5\u4e863D\u51e0\u4f55\u6570\u636e\u548c\u7ed3\u6784\u5316\u8868\u5f81\uff0c\u4e3a\u5177\u8eab\u673a\u5668\u4eba\u3001\u81ea\u52a8\u5bfc\u822a\u548c\u5176\u4ed6\u9700\u8981\u590d\u67423D\u573a\u666f\u5206\u6790\u7684\u5e94\u7528\u63d0\u4f9b\u4e86\u9ad8\u5c42\u6b21\u7684\u8bed\u4e49\u7406\u89e3\u80fd\u529b\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-50735\" src=\"https:\/\/www.kdjingpai.com\/wp-content\/uploads\/2025\/08\/18846eff7cfafda-scaled.jpg\" alt=\"\" width=\"2560\" height=\"1167\" srcset=\"https:\/\/www.kdjingpai.com\/wp-content\/uploads\/2025\/08\/18846eff7cfafda-scaled.jpg 2560w, https:\/\/www.kdjingpai.com\/wp-content\/uploads\/2025\/08\/18846eff7cfafda-1536x700.jpg 1536w, https:\/\/www.kdjingpai.com\/wp-content\/uploads\/2025\/08\/18846eff7cfafda-2048x934.jpg 2048w, https:\/\/www.kdjingpai.com\/wp-content\/uploads\/2025\/08\/18846eff7cfafda-18x8.jpg 18w\" sizes=\"auto, (max-width: 2560px) 100vw, 2560px\" \/><\/p>\n<p>&nbsp;<\/p>\n<h2>\u529f\u80fd\u5217\u8868<\/h2>\n<ul>\n<li><strong>\u5904\u74063D\u70b9\u4e91<\/strong>: \u80fd\u591f\u76f4\u63a5\u5c063D\u70b9\u4e91\u4f5c\u4e3a\u8f93\u5165\u8fdb\u884c\u5206\u6790\u548c\u7406\u89e3\u3002<\/li>\n<li><strong>\u751f\u6210\u7ed3\u6784\u5316\u573a\u666f<\/strong>: \u8f93\u51fa\u7ed3\u6784\u5316\u76843D\u573a\u666f\u4fe1\u606f\uff0c\u5305\u62ec\u5efa\u7b51\u5e03\u5c40\u548c\u7269\u4f53\u4f4d\u7f6e\u3002<\/li>\n<li><strong>\u8bc6\u522b\u5efa\u7b51\u5143\u7d20<\/strong>: \u51c6\u786e\u68c0\u6d4b\u5e76\u5efa\u6a21\u5ba4\u5185\u7684\u5899\u58c1\u3001\u95e8\u3001\u7a97\u7b49\u57fa\u672c\u7ed3\u6784\u3002<\/li>\n<li><strong>3D\u7269\u4f53\u68c0\u6d4b<\/strong>: \u8bc6\u522b\u573a\u666f\u4e2d\u7684\u5bb6\u5177\u7b49\u7269\u4f53\uff0c\u5e76\u751f\u6210\u5e26\u6709\u65b9\u5411\u3001\u5c3a\u5bf8\u548c\u8bed\u4e49\u7c7b\u522b\uff08\u4f8b\u5982\u201c\u5e8a\u201d\u3001\u201c\u6905\u5b50\u201d\uff09\u7684\u8fb9\u754c\u6846\u3002<\/li>\n<li><strong>\u591a\u6e90\u6570\u636e\u517c\u5bb9<\/strong>: \u652f\u6301\u5904\u7406\u6765\u81ea\u4e0d\u540c\u8bbe\u5907\uff08\u5982\u666e\u901a\u6444\u50cf\u5934\u3001\u6df1\u5ea6\u76f8\u673a\u3001\u6fc0\u5149\u96f7\u8fbe\uff09\u751f\u6210\u7684\u70b9\u4e91\u6570\u636e\u3002<\/li>\n<li><strong>\u81ea\u5b9a\u4e49\u7c7b\u522b\u68c0\u6d4b<\/strong>: \u7528\u6237\u53ef\u4ee5\u6307\u5b9a\u611f\u5174\u8da3\u7684\u7269\u4f53\u7c7b\u522b\uff0c\u6a21\u578b\u5c06\u53ea\u68c0\u6d4b\u548c\u8f93\u51fa\u8fd9\u4e9b\u7279\u5b9a\u7c7b\u522b\u7684\u7269\u4f53\u3002<\/li>\n<li><strong>\u591a\u79cd\u6a21\u578b\u7248\u672c<\/strong>: \u63d0\u4f9b\u57fa\u4e8eLlama\u548cQwen\u7b49\u4e0d\u540c\u57fa\u7840\u6a21\u578b\u7684\u591a\u4e2a\u7248\u672c\uff0c\u4f8b\u5982<code>SpatialLM1.1-Llama-1B<\/code>\u548c<code>SpatialLM1.1-Qwen-0.5B<\/code>\u3002<\/li>\n<\/ul>\n<h2>\u4f7f\u7528\u5e2e\u52a9<\/h2>\n<p>SpatialLM\u6a21\u578b\u7684\u4f7f\u7528\u6d41\u7a0b\u4e3b\u8981\u5305\u62ec\u73af\u5883\u5b89\u88c5\u3001\u6570\u636e\u51c6\u5907\u548c\u8fd0\u884c\u63a8\u7406\u3002\u4ee5\u4e0b\u662f\u8be6\u7ec6\u7684\u64cd\u4f5c\u6b65\u9aa4\u3002<\/p>\n<h3>\u73af\u5883\u8981\u6c42<\/h3>\n<p>\u5728\u5f00\u59cb\u524d\uff0c\u8bf7\u786e\u4fdd\u4f60\u7684\u7cfb\u7edf\u73af\u5883\u6ee1\u8db3\u4ee5\u4e0b\u8981\u6c42\uff1a<\/p>\n<ul>\n<li><strong>Python<\/strong>: 3.11<\/li>\n<li><strong>Pytorch<\/strong>: 2.4.1<\/li>\n<li><strong>CUDA<\/strong>: 12.4<\/li>\n<\/ul>\n<h3>1. \u5b89\u88c5\u6d41\u7a0b<\/h3>\n<p>\u9996\u5148\uff0c\u514b\u9686\u4ee3\u7801\u4ed3\u5e93\u5e76\u8fdb\u5165\u9879\u76ee\u76ee\u5f55\uff0c\u7136\u540e\u4f7f\u7528Conda\u521b\u5efa\u5e76\u6fc0\u6d3b\u4e00\u4e2a\u72ec\u7acb\u7684Python\u73af\u5883\u3002<\/p>\n<pre><code># \u514b\u9686\u4ed3\u5e93\r\ngit clone https:\/\/github.com\/manycore-research\/SpatialLM.git\r\n# \u8fdb\u5165\u9879\u76ee\u76ee\u5f55\r\ncd SpatialLM\r\n# \u4f7f\u7528Conda\u521b\u5efa\u540d\u4e3a \"spatiallm\" \u7684\u73af\u5883\r\nconda create -n spatiallm python=3.11\r\n# \u6fc0\u6d3b\u73af\u5883\r\nconda activate spatiallm\r\n# \u5b89\u88c5CUDA\u5de5\u5177\u5305\r\nconda install -y -c nvidia\/label\/cuda-12.4.0 cuda-toolkit conda-forge::sparsehash\r\n<\/code><\/pre>\n<p>\u63a5\u4e0b\u6765\uff0c\u4f7f\u7528<code>poetry<\/code>\u5de5\u5177\u5b89\u88c5\u9879\u76ee\u7684\u4f9d\u8d56\u5e93\u3002<\/p>\n<pre><code># \u5b89\u88c5poetry\r\npip install poetry &amp;&amp; poetry config virtualenvs.create false --local\r\n# \u5b89\u88c5\u9879\u76ee\u4e3b\u8981\u4f9d\u8d56\r\npoetry install\r\n<\/code><\/pre>\n<p>\u6839\u636e\u4f60\u4f7f\u7528\u7684SpatialLM\u7248\u672c\uff0c\u8fd8\u9700\u8981\u5b89\u88c5\u989d\u5916\u7684\u7279\u5b9a\u4f9d\u8d56\u5e93\u3002<\/p>\n<p><strong>SpatialLM 1.0 \u7248\u672c\u4f9d\u8d56:<\/strong><\/p>\n<pre><code># \u8be5\u547d\u4ee4\u4f1a\u7f16\u8bd1torchsparse\uff0c\u53ef\u80fd\u9700\u8981\u4e00\u4e9b\u65f6\u95f4\r\n<a href=\"https:\/\/www.kdjingpai.com\/de\/poeai\/\">poe<\/a> install-torchsparse\r\n<\/code><\/pre>\n<p><strong>SpatialLM 1.1 \u7248\u672c\u4f9d\u8d56:<\/strong><\/p>\n<pre><code># \u8be5\u547d\u4ee4\u4f1a\u7f16\u8bd1flash-attn\uff0c\u53ef\u80fd\u9700\u8981\u4e00\u4e9b\u65f6\u95f4\r\npoe install-sonata\r\n<\/code><\/pre>\n<h3>2. \u8fd0\u884c\u63a8\u7406<\/h3>\n<p>\u5728\u8fd0\u884c\u63a8\u7406\u4e4b\u524d\uff0c\u9700\u8981\u51c6\u5907\u597d\u8f93\u5165\u6570\u636e\u3002SpatialLM\u8981\u6c42\u8f93\u5165\u7684\u70b9\u4e91\u6570\u636e\u662f\u8f74\u5bf9\u9f50\u7684\uff0c\u5373Z\u8f74\u4e3a\u5782\u76f4\u5411\u4e0a\u7684\u65b9\u5411\u3002<\/p>\n<p><strong>\u4e0b\u8f7d\u793a\u4f8b\u6570\u636e<\/strong>:<br \/>\n\u9879\u76ee\u63d0\u4f9b\u4e86\u4e00\u4e2a\u6d4b\u8bd5\u6570\u636e\u96c6\uff0c\u4f60\u53ef\u4ee5\u4f7f\u7528<code>huggingface-cli<\/code>\u5de5\u5177\u4e0b\u8f7d\u4e00\u4e2a\u793a\u4f8b\u70b9\u4e91\u6587\u4ef6\u3002<\/p>\n<pre><code>huggingface-cli download manycore-research\/SpatialLM-Testset pcd\/scene0000_00.ply --repo-type dataset --local-dir .\r\n<\/code><\/pre>\n<p><strong>\u6267\u884c\u63a8\u7406\u547d\u4ee4<\/strong>:<br \/>\n\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u5bf9\u4e0b\u8f7d\u7684\u70b9\u4e91\u6587\u4ef6\u8fdb\u884c\u5904\u7406\uff0c\u751f\u6210\u7ed3\u6784\u5316\u573a\u666f\u63cf\u8ff0\u6587\u4ef6\u3002<\/p>\n<pre><code>python inference.py --point_cloud pcd\/scene0000_00.ply --output scene0000_00.txt --model_path manycore-research\/SpatialLM1.1-Qwen-0.5B\r\n```- `point_cloud`: \u6307\u5b9a\u8f93\u5165\u7684\u70b9\u4e91\u6587\u4ef6\u8def\u5f84\u3002\r\n- `output`: \u6307\u5b9a\u8f93\u51fa\u7684\u7ed3\u6784\u5316\u6587\u672c\u6587\u4ef6\u8def\u5f84\u3002\r\n- `model_path`: \u6307\u5b9a\u4f7f\u7528\u7684\u6a21\u578b\uff0c\u53ef\u4ee5\u4eceHugging Face\u9009\u62e9\u4e0d\u540c\u7248\u672c\u3002\r\n### 3. \u6309\u6307\u5b9a\u7c7b\u522b\u68c0\u6d4b\u7269\u4f53\r\nSpatialLM 1.1\u7248\u672c\u652f\u6301\u7528\u6237\u6307\u5b9a\u60f3\u8981\u68c0\u6d4b\u7684\u7269\u4f53\u7c7b\u522b\u3002\u4f8b\u5982\uff0c\u5982\u679c\u4f60\u53ea\u60f3\u5728\u573a\u666f\u4e2d\u68c0\u6d4b\u201c\u5e8a(bed)\u201d\u548c\u201c\u5e8a\u5934\u67dc(nightstand)\u201d\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\uff1a\r\n```bash\r\npython inference.py --point_cloud pcd\/scene0000_00.ply --output scene0000_00.txt --model_path manycore-research\/SpatialLM1.1-Qwen-0.5B --detect_type object --category bed nightstand\r\n<\/code><\/pre>\n<ul>\n<li><code>detect_type object<\/code>: \u5c06\u4efb\u52a1\u7c7b\u578b\u8bbe\u7f6e\u4e3a\u4ec5\u8fdb\u884c3D\u7269\u4f53\u68c0\u6d4b\u3002<\/li>\n<li><code>category bed nightstand<\/code>: \u6307\u5b9a\u53ea\u68c0\u6d4b\u201c\u5e8a\u201d\u548c\u201c\u5e8a\u5934\u67dc\u201d\u8fd9\u4e24\u4e2a\u7c7b\u522b\u3002<\/li>\n<\/ul>\n<h3>4. \u7ed3\u679c\u53ef\u89c6\u5316<\/h3>\n<p>\u4e3a\u4e86\u76f4\u89c2\u5730\u67e5\u770b\u6a21\u578b\u8f93\u51fa\u7684\u6548\u679c\uff0c\u4f60\u53ef\u4ee5\u4f7f\u7528<code>rerun<\/code>\u5de5\u5177\u8fdb\u884c\u53ef\u89c6\u5316\u3002<\/p>\n<p><strong>\u9996\u5148\uff0c\u5c06\u6a21\u578b\u8f93\u51fa\u7684\u6587\u672c\u6587\u4ef6\u8f6c\u6362\u4e3aRerun\u683c\u5f0f<\/strong>:<\/p>\n<pre><code>python visualize.py --point_cloud pcd\/scene0000_00.ply --layout scene0000_00.txt --save scene0000_00.rrd\r\n<\/code><\/pre>\n<ul>\n<li><code>layout<\/code>: \u6307\u5b9a\u63a8\u7406\u6b65\u9aa4\u751f\u6210\u7684<code>.txt<\/code>\u5e03\u5c40\u6587\u4ef6\u3002<\/li>\n<li><code>save<\/code>: \u6307\u5b9a\u8f93\u51fa\u7684<code>.rrd<\/code>\u53ef\u89c6\u5316\u6587\u4ef6\u8def\u5f84\u3002<\/li>\n<\/ul>\n<p><strong>\u7136\u540e\uff0c\u4f7f\u7528rerun\u67e5\u770b\u7ed3\u679c<\/strong>:<\/p>\n<pre><code>rerun scene0000_00.rrd\r\n<\/code><\/pre>\n<p>\u8fd9\u4e2a\u547d\u4ee4\u4f1a\u542f\u52a8\u4e00\u4e2a\u53ef\u89c6\u5316\u7a97\u53e3\uff0c\u5c55\u793a\u539f\u59cb\u70b9\u4e91\u4ee5\u53ca\u6a21\u578b\u9884\u6d4b\u51fa\u7684\u5899\u58c1\u3001\u95e8\u3001\u7a97\u548c\u7269\u4f53\u8fb9\u754c\u6846\u3002<\/p>\n<h2>\u5e94\u7528\u573a\u666f<\/h2>\n<ol>\n<li><strong>\u5177\u8eab\u667a\u80fd\u4e0e\u673a\u5668\u4eba<\/strong><br \/>\n\u673a\u5668\u4eba\u53ef\u4ee5\u5229\u7528SpatialLM\u6765\u7406\u89e3\u5176\u6240\u5904\u7684\u5ba4\u5185\u73af\u5883\u3002\u4f8b\u5982\uff0c\u901a\u8fc7\u5206\u6790\u623f\u95f4\u7684\u70b9\u4e91\uff0c\u673a\u5668\u4eba\u53ef\u4ee5\u8bc6\u522b\u51fa\u54ea\u91cc\u662f\u95e8\u3001\u54ea\u91cc\u662f\u969c\u788d\u7269\u3001\u6c99\u53d1\u548c\u684c\u5b50\u7684\u5177\u4f53\u4f4d\u7f6e\uff0c\u4ece\u800c\u5b9e\u73b0\u66f4\u667a\u80fd\u7684\u8def\u5f84\u89c4\u5212\u548c\u4ea4\u4e92\u4efb\u52a1\u3002<\/li>\n<li><strong>\u81ea\u52a8\u5bfc\u822a\u4e0e\u5efa\u56fe<\/strong><br \/>\n\u5728\u5ba4\u5185\u81ea\u52a8\u5bfc\u822a\u5e94\u7528\u4e2d\uff0c\u4f8b\u5982\u5546\u573a\u6216\u4ed3\u5e93\u91cc\u7684\u670d\u52a1\u673a\u5668\u4eba\uff0cSpatialLM\u53ef\u4ee5\u5e2e\u52a9\u4ece\u4f20\u611f\u5668\u6570\u636e\u4e2d\u5feb\u901f\u6784\u5efa\u51fa\u7ed3\u6784\u5316\u76843D\u5730\u56fe\uff0c\u8fd9\u6bd4\u4f20\u7edf\u7684SLAM\u65b9\u6cd5\u80fd\u63d0\u4f9b\u66f4\u4e30\u5bcc\u7684\u8bed\u4e49\u4fe1\u606f\u3002<\/li>\n<li><strong>\u5efa\u7b51\u3001\u5de5\u7a0b\u4e0e\u65bd\u5de5 (AEC)<\/strong><br \/>\n\u5efa\u7b51\u5e08\u6216\u5de5\u7a0b\u5e08\u53ef\u4ee5\u4f7f\u7528\u4fbf\u643a\u5f0f\u626b\u63cf\u8bbe\u5907\u5feb\u901f\u626b\u63cf\u4e00\u4e2a\u623f\u95f4\uff0c\u7136\u540e\u901a\u8fc7SpatialLM\u81ea\u52a8\u751f\u6210\u8be5\u623f\u95f4\u7684\u7ed3\u6784\u5316\u6a21\u578b\uff0c\u5305\u62ec\u5899\u4f53\u3001\u95e8\u7a97\u4f4d\u7f6e\u7b49\uff0c\u6781\u5927\u5730\u7b80\u5316\u4e86\u5ba4\u5185\u6d4b\u7ed8\u548c\u5efa\u6a21\u6d41\u7a0b\u3002<\/li>\n<li><strong>\u589e\u5f3a\u73b0\u5b9e (AR) \u4e0e\u6e38\u620f<\/strong><br 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