{"id":30318,"date":"2025-04-11T11:24:46","date_gmt":"2025-04-11T03:24:46","guid":{"rendered":"https:\/\/www.aisharenet.com\/?p=30318"},"modified":"2025-04-11T11:24:46","modified_gmt":"2025-04-11T03:24:46","slug":"orion","status":"publish","type":"post","link":"https:\/\/www.kdjingpai.com\/ja\/orion\/","title":{"rendered":"Orion\uff1a\u5c0f\u7c73\u5f00\u6e90\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u63a8\u7406\u4e0e\u89c4\u5212\u6846\u67b6"},"content":{"rendered":"<p>Orion \u662f\u5c0f\u7c73\u5b9e\u9a8c\u5ba4\u5f00\u53d1\u7684\u5f00\u6e90\u9879\u76ee\uff0c\u4e13\u6ce8\u4e8e\u7aef\u5230\u7aef\uff08E2E\uff09\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u3002\u5b83\u901a\u8fc7\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u548c\u751f\u6210\u5f0f\u89c4\u5212\u5668\uff0c\u89e3\u51b3\u4f20\u7edf\u81ea\u52a8\u9a7e\u9a76\u65b9\u6cd5\u5728\u590d\u6742\u573a\u666f\u4e2d\u56e0\u679c\u63a8\u7406\u4e0d\u8db3\u7684\u95ee\u9898\u3002Orion \u6574\u5408\u957f\u671f\u5386\u53f2\u4e0a\u4e0b\u6587\u3001\u9a7e\u9a76\u573a\u666f\u63a8\u7406\u548c\u7cbe\u786e\u8f68\u8ff9\u9884\u6d4b\uff0c\u663e\u8457\u63d0\u5347\u51b3\u7b56\u51c6\u786e\u6027\u3002\u9879\u76ee\u63d0\u4f9b\u63a8\u7406\u4ee3\u7801\u3001\u9884\u8bad\u7ec3\u6a21\u578b\u548c\u914d\u7f6e\u6587\u4ef6\uff0c\u652f\u6301\u5f00\u53d1\u8005\u5728 Bench2Drive \u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u5f00\u73af\u548c\u95ed\u73af\u8bc4\u4f30\u3002Orion \u5728\u95ed\u73af\u6d4b\u8bd5\u4e2d\u8868\u73b0\u4f18\u5f02\uff0c\u9a7e\u9a76\u5f97\u5206\uff08DS\uff09\u8fbe 77.74\uff0c\u6210\u529f\u7387\uff08SR\uff09\u8fbe 54.62%\uff0c\u8fdc\u8d85\u540c\u7c7b\u65b9\u6cd5\u3002\u5b83\u9002\u5408\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u5f00\u53d1\u8005\u3001\u7814\u7a76\u8005\u548c\u4f01\u4e1a\uff0c\u7528\u4e8e\u7b97\u6cd5\u5f00\u53d1\u548c\u573a\u666f\u6d4b\u8bd5\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-30319\" title=\"Orion\uff1a\u5c0f\u7c73\u5f00\u6e90\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u63a8\u7406\u4e0e\u89c4\u5212\u6846\u67b6-1\" src=\"https:\/\/www.kdjingpai.com\/wp-content\/uploads\/2025\/04\/6bc67889533168f.jpg\" alt=\"Orion\uff1a\u5c0f\u7c73\u5f00\u6e90\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u63a8\u7406\u4e0e\u89c4\u5212\u6846\u67b6-1\" width=\"1630\" height=\"502\" srcset=\"https:\/\/www.kdjingpai.com\/wp-content\/uploads\/2025\/04\/6bc67889533168f.jpg 1630w, https:\/\/www.kdjingpai.com\/wp-content\/uploads\/2025\/04\/6bc67889533168f-768x237.jpg 768w, https:\/\/www.kdjingpai.com\/wp-content\/uploads\/2025\/04\/6bc67889533168f-1536x473.jpg 1536w, https:\/\/www.kdjingpai.com\/wp-content\/uploads\/2025\/04\/6bc67889533168f-18x6.jpg 18w\" sizes=\"auto, (max-width: 1630px) 100vw, 1630px\" \/><\/p>\n<p>&nbsp;<\/p>\n<h2>\u529f\u80fd\u5217\u8868<\/h2>\n<ul>\n<li><strong>\u957f\u671f\u5386\u53f2\u4e0a\u4e0b\u6587\u5904\u7406<\/strong>\uff1a\u901a\u8fc7 QT-Former \u6a21\u5757\uff0c\u63d0\u53d6\u548c\u6574\u5408\u8f66\u8f86\u884c\u9a76\u4e2d\u7684\u957f\u671f\u6570\u636e\uff0c\u63d0\u4f9b\u66f4\u5168\u9762\u7684\u573a\u666f\u4fe1\u606f\u3002<\/li>\n<li><strong>\u9a7e\u9a76\u573a\u666f\u63a8\u7406<\/strong>\uff1a\u5229\u7528\u5927\u578b\u8bed\u8a00\u6a21\u578b\uff08LLM\uff09\u5206\u6790\u9053\u8def\u73af\u5883\uff0c\u751f\u6210\u7b26\u5408\u903b\u8f91\u7684\u9a7e\u9a76\u6307\u4ee4\u3002<\/li>\n<li><strong>\u7cbe\u786e\u8f68\u8ff9\u9884\u6d4b<\/strong>\uff1a\u91c7\u7528\u751f\u6210\u5f0f\u89c4\u5212\u5668\uff0c\u57fa\u4e8e\u8bed\u8a00\u6307\u4ee4\u751f\u6210\u591a\u6a21\u6001\u8f68\u8ff9\uff08\u5982\u52a0\u901f\u3001\u8f6c\u5411\uff09\uff0c\u63d0\u5347\u8def\u5f84\u89c4\u5212\u7cbe\u5ea6\u3002<\/li>\n<li><strong>\u7edf\u4e00\u4f18\u5316\u6846\u67b6<\/strong>\uff1a\u652f\u6301\u89c6\u89c9\u95ee\u7b54\uff08VQA\uff09\u548c\u89c4\u5212\u4efb\u52a1\u7684\u7aef\u5230\u7aef\u4f18\u5316\uff0c\u5f25\u5408\u8bed\u4e49\u63a8\u7406\u4e0e\u52a8\u4f5c\u8f93\u51fa\u4e4b\u95f4\u7684\u5dee\u8ddd\u3002<\/li>\n<li><strong>\u5f00\u73af\u4e0e\u95ed\u73af\u8bc4\u4f30<\/strong>\uff1a\u63d0\u4f9b\u5f00\u73af\u8bc4\u4f30\u811a\u672c\u548c\u95ed\u73af\u8bc4\u4f30\u914d\u7f6e\uff0c\u652f\u6301 Bench2Drive \u6570\u636e\u96c6\u6d4b\u8bd5\u3002<\/li>\n<li><strong>\u53ef\u89c6\u5316\u5206\u6790\u5de5\u5177<\/strong>\uff1a\u751f\u6210\u9a7e\u9a76\u573a\u666f\u7684\u5bf9\u6bd4\u89c6\u9891\uff0c\u6807\u6ce8\u51b3\u7b56\u70b9\u548c\u9884\u6d4b\u8f68\u8ff9\uff0c\u4fbf\u4e8e\u5206\u6790\u6a21\u578b\u8868\u73b0\u3002<\/li>\n<li><strong>\u5f00\u6e90\u8d44\u6e90\u652f\u6301<\/strong>\uff1a\u63d0\u4f9b\u63a8\u7406\u4ee3\u7801\u3001\u9884\u8bad\u7ec3\u6a21\u578b\u548c\u914d\u7f6e\u6587\u4ef6\uff0c\u65b9\u4fbf\u4e8c\u6b21\u5f00\u53d1\u548c\u7814\u7a76\u3002<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h2>\u4f7f\u7528\u5e2e\u52a9<\/h2>\n<p>Orion \u662f\u4e00\u4e2a\u9762\u5411\u81ea\u52a8\u9a7e\u9a76\u5f00\u53d1\u8005\u548c\u7814\u7a76\u8005\u7684\u5f00\u6e90\u6846\u67b6\uff0c\u6258\u7ba1\u5728 GitHub \u4e0a\u3002\u4ee5\u4e0b\u662f\u8be6\u7ec6\u7684\u4f7f\u7528\u6307\u5357\uff0c\u5e2e\u52a9\u7528\u6237\u5feb\u901f\u90e8\u7f72\u3001\u8fd0\u884c\u548c\u5f00\u53d1\u3002<\/p>\n<h3>\u5b89\u88c5\u6d41\u7a0b<\/h3>\n<p>Orion \u9700\u8981\u5728\u652f\u6301 Python \u7684\u73af\u5883\u4e2d\u8fd0\u884c\uff0c\u63a8\u8350\u4f7f\u7528 Linux \u7cfb\u7edf\uff08\u5982 Ubuntu 20.04\uff09\u4ee5\u786e\u4fdd\u517c\u5bb9\u6027\u3002\u4ee5\u4e0b\u662f\u8be6\u7ec6\u5b89\u88c5\u6b65\u9aa4\uff1a<\/p>\n<ol>\n<li><strong>\u51c6\u5907\u73af\u5883<\/strong><br \/>\n\u786e\u4fdd\u7cfb\u7edf\u5df2\u5b89\u88c5\u4ee5\u4e0b\u5de5\u5177\uff1a<\/p>\n<ul>\n<li>Python 3.8\uff08\u5b98\u65b9\u63a8\u8350\u7248\u672c\uff09\u3002\u68c0\u67e5\u547d\u4ee4\uff1a\n<pre><code>python3 --version\r\n<\/code><\/pre>\n<\/li>\n<li>Git\u3002\u5b89\u88c5\u547d\u4ee4\uff1a\n<pre><code>sudo apt update\r\nsudo apt install git\r\n<\/code><\/pre>\n<\/li>\n<li>Conda\uff08\u7528\u4e8e\u521b\u5efa\u865a\u62df\u73af\u5883\uff09\u3002\u82e5\u65e0 Conda\uff0c\u53ef\u4ece\u00a0Anaconda \u5b98\u7f51\u00a0\u4e0b\u8f7d\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u521b\u5efa\u865a\u62df\u73af\u5883<\/strong><br \/>\n\u4f7f\u7528 Conda \u521b\u5efa\u5e76\u6fc0\u6d3b\u865a\u62df\u73af\u5883\uff1a<\/p>\n<pre><code>conda create -n orion python=3.8 -y\r\nconda activate orion\r\n<\/code><\/pre>\n<\/li>\n<li><strong>\u514b\u9686\u4ed3\u5e93<\/strong><br \/>\n\u4f7f\u7528 Git \u4e0b\u8f7d Orion \u6e90\u4ee3\u7801\uff1a<\/p>\n<pre><code>git clone https:\/\/github.com\/xiaomi-mlab\/Orion.git\r\ncd Orion\r\n<\/code><\/pre>\n<\/li>\n<li><strong>\u5b89\u88c5 PyTorch<\/strong><br \/>\n\u5b98\u65b9\u63a8\u8350\u5b89\u88c5 PyTorch 2.4.1\uff08\u652f\u6301 CUDA 11.8\uff09\u3002\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\uff1a<\/p>\n<pre><code>pip install torch==2.4.1+cu118 torchvision==0.19.1+cu118 torchaudio==2.4.1 --index-url https:\/\/download.pytorch.org\/whl\/cu118\r\n<\/code><\/pre>\n<\/li>\n<li><strong>\u5b89\u88c5\u5176\u4ed6\u4f9d\u8d56<\/strong><br \/>\n\u5b89\u88c5\u9879\u76ee\u6240\u9700\u7684\u5176\u4ed6 Python \u5e93\uff1a<\/p>\n<pre><code>pip install -v -e .\r\npip install -r requirements.txt\r\n<\/code><\/pre>\n<p>\u5982\u679c\u00a0<code>requirements.txt<\/code>\u00a0\u4e2d\u67d0\u4e9b\u5e93\u5b89\u88c5\u5931\u8d25\uff0c\u53ef\u5c1d\u8bd5\u5355\u72ec\u5b89\u88c5\uff08\u5982\u00a0<code>transformers<\/code>\u3001<code>numpy<\/code>\uff09\u3002<\/li>\n<li><strong>\u4e0b\u8f7d\u9884\u8bad\u7ec3\u6a21\u578b<\/strong><br \/>\nOrion \u4f7f\u7528\u5916\u90e8\u9884\u8bad\u7ec3\u6a21\u578b\uff0c\u5305\u62ec\uff1a<\/p>\n<ul>\n<li>2D \u8bed\u8a00\u6a21\u578b\u6743\u91cd\uff08\u6765\u6e90\uff1a<a href=\"https:\/\/huggingface.co\/exiawsh\/pretrain_qformer\/\">Hugging Face<\/a>\uff09\u3002<\/li>\n<li>\u89c6\u89c9\u7f16\u7801\u5668\u4e0e\u6295\u5f71\u5668\u6743\u91cd\uff08\u6765\u6e90\uff1a<a href=\"https:\/\/github.com\/NVlabs\/OmniDrive\/releases\/download\/v1.0\/eva02_petr_proj.pth\">OmniDrive<\/a>\uff09\u3002<br \/>\n\u4e0b\u8f7d\u5e76\u89e3\u538b\u5230\u6307\u5b9a\u76ee\u5f55\uff1a<\/li>\n<\/ul>\n<pre><code>mkdir ckpts\r\ncd ckpts\r\nwget https:\/\/huggingface.co\/exiawsh\/pretrain_qformer\/resolve\/main\/pretrain_qformer.pth\r\nwget https:\/\/github.com\/NVlabs\/OmniDrive\/releases\/download\/v1.0\/eva02_petr_proj.pth\r\n<\/code><\/pre>\n<\/li>\n<li><strong>\u51c6\u5907\u6570\u636e\u96c6<\/strong><br \/>\nOrion \u4f7f\u7528 Bench2Drive \u6570\u636e\u96c6\u8fdb\u884c\u8bc4\u4f30\u3002\u7528\u6237\u9700\u81ea\u884c\u4e0b\u8f7d\u5e76\u51c6\u5907\u6570\u636e\uff0c\u53c2\u8003\u00a0<a href=\"https:\/\/github.com\/Thinklab-SJTU\/Bench2DriveZoo\/blob\/uniad\/vad\/docs\/DATA_PREP.md\">Bench2Drive \u6570\u636e\u51c6\u5907\u6587\u6863<\/a>\u3002\u5c06\u6570\u636e\u96c6\u89e3\u538b\u5230\u9879\u76ee\u76ee\u5f55\uff0c\u4f8b\u5982\uff1a<\/p>\n<pre><code>unzip bench2drive.zip -d .\/data\r\n<\/code><\/pre>\n<\/li>\n<li><strong>\u9a8c\u8bc1\u5b89\u88c5<\/strong><br \/>\n\u8fd0\u884c\u63a8\u7406\u811a\u672c\u68c0\u67e5\u73af\u5883\u914d\u7f6e\uff1a<\/p>\n<pre><code>.\/adzoo\/orion\/orion_dist_eval.sh adzoo\/orion\/configs\/orion_stage3.py ckpts\/Orion.pth 1\r\n<\/code><\/pre>\n<p>\u82e5\u65e0\u62a5\u9519\uff0c\u8bf4\u660e\u5b89\u88c5\u6210\u529f\u3002<\/li>\n<\/ol>\n<h3>\u4e3b\u8981\u529f\u80fd\u64cd\u4f5c<\/h3>\n<p>Orion \u7684\u6838\u5fc3\u529f\u80fd\u662f\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u63a8\u7406\u4e0e\u89c4\u5212\u3002\u4ee5\u4e0b\u662f\u5177\u4f53\u64cd\u4f5c\u65b9\u6cd5\uff1a<\/p>\n<h4>1. \u8fd0\u884c\u5f00\u73af\u8bc4\u4f30<\/h4>\n<p>\u5f00\u73af\u8bc4\u4f30\u7528\u4e8e\u6d4b\u8bd5\u6a21\u578b\u5728\u56fa\u5b9a\u6570\u636e\u96c6\u4e0a\u7684\u8868\u73b0\u3002\u64cd\u4f5c\u6b65\u9aa4\uff1a<\/p>\n<ul>\n<li>\u786e\u4fdd\u6570\u636e\u96c6\u548c\u6a21\u578b\u6743\u91cd\u5df2\u51c6\u5907\u597d\u3002<\/li>\n<li>\u8fd0\u884c\u8bc4\u4f30\u811a\u672c\uff1a\n<pre><code>.\/adzoo\/orion\/orion_dist_eval.sh adzoo\/orion\/configs\/orion_stage3.py ckpts\/Orion.pth 1\r\n<\/code><\/pre>\n<\/li>\n<li>\u82e5\u9700\u542f\u7528 CoT\uff08Chain-of-Thought\uff09\u63a8\u7406\uff0c\u8fd0\u884c\uff1a\n<pre><code>.\/adzoo\/orion\/orion_dist_eval.sh adzoo\/orion\/configs\/orion_stage3_cot.py ckpts\/Orion.pth 1\r\n<\/code><\/pre>\n<\/li>\n<li>\u8f93\u51fa\u7ed3\u679c\u4fdd\u5b58\u5728\u00a0<code>output<\/code>\u00a0\u76ee\u5f55\uff0c\u5305\u62ec\u8f68\u8ff9\u5750\u6807\u548c\u8bc4\u4f30\u6307\u6807\uff08\u5982 L2 \u8bef\u5dee\uff09\u3002<\/li>\n<\/ul>\n<h4>2. \u8fd0\u884c\u95ed\u73af\u8bc4\u4f30<\/h4>\n<p>\u95ed\u73af\u8bc4\u4f30\u6a21\u62df\u771f\u5b9e\u9a7e\u9a76\u73af\u5883\uff0c\u9700\u914d\u5408 CARLA \u4eff\u771f\u5668\u3002\u64cd\u4f5c\u6b65\u9aa4\uff1a<\/p>\n<ul>\n<li><strong>\u5b89\u88c5 CARLA<\/strong>\uff1a\u53c2\u8003\u00a0<a href=\"https:\/\/github.com\/Thinklab-SJTU\/Bench2Drive?tab=readme-ov-file#eval-tools\">Bench2Drive \u8bc4\u4f30\u5de5\u5177\u6587\u6863<\/a>\u00a0\u5b89\u88c5 CARLA \u548c\u8bc4\u4f30\u5de5\u5177\u3002<\/li>\n<li><strong>\u914d\u7f6e\u8bc4\u4f30\u811a\u672c<\/strong>\uff1a\u7f16\u8f91\u8bc4\u4f30\u811a\u672c\uff08\u5982\u00a0<code>eval.sh<\/code>\uff09\uff0c\u8bbe\u7f6e\u4ee5\u4e0b\u53c2\u6570\uff1a\n<pre><code>GPU_RANK=0\r\nTEAM_AGENT=orion\r\nTEAM_CONFIG=adzoo\/orion\/configs\/orion_stage3_agent.py+ckpts\/Orion.pth\r\n<\/code><\/pre>\n<\/li>\n<li><strong>\u8fd0\u884c\u95ed\u73af\u8bc4\u4f30<\/strong>\uff1a\u6267\u884c\u8bc4\u4f30\u547d\u4ee4\uff08\u5177\u4f53\u547d\u4ee4\u53c2\u8003 Bench2Drive \u6587\u6863\uff09\u3002<\/li>\n<li>\u8f93\u51fa\u7ed3\u679c\u5305\u62ec\u9a7e\u9a76\u5f97\u5206\uff08DS\uff09\u3001\u6210\u529f\u7387\uff08SR\uff09\u548c\u53ef\u89c6\u5316\u89c6\u9891\u3002<\/li>\n<\/ul>\n<h4>3. \u53ef\u89c6\u5316\u5206\u6790<\/h4>\n<p>Orion \u652f\u6301\u751f\u6210\u9a7e\u9a76\u573a\u666f\u7684\u5bf9\u6bd4\u89c6\u9891\uff0c\u5c55\u793a\u6a21\u578b\u51b3\u7b56\u548c\u8f68\u8ff9\u9884\u6d4b\u3002\u64cd\u4f5c\u6b65\u9aa4\uff1a<\/p>\n<ul>\n<li>\u8fd0\u884c\u53ef\u89c6\u5316\u811a\u672c\uff1a\n<pre><code>python visualize.py --data_path .\/data\/test --model_path ckpts\/Orion.pth\r\n<\/code><\/pre>\n<\/li>\n<li>\u8f93\u51fa\u89c6\u9891\u4fdd\u5b58\u5728\u00a0<code>output\/videos<\/code>\u00a0\u76ee\u5f55\uff0c\u6807\u6ce8\u4e86\u7ea2\u7eff\u706f\u3001\u969c\u788d\u7269\u548c\u9884\u6d4b\u8f68\u8ff9\uff08\u7eff\u8272\u7ebf\u6761\uff09\u3002\u7528\u6237\u53ef\u5bf9\u6bd4 Orion \u4e0e\u5176\u4ed6\u65b9\u6cd5\uff08\u5982 UniAD\u3001VAD\uff09\u7684\u8868\u73b0\u3002<\/li>\n<\/ul>\n<h3>\u7279\u8272\u529f\u80fd\u64cd\u4f5c<\/h3>\n<p>Orion \u7684\u7279\u8272\u5728\u4e8e\u7ed3\u5408\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u548c\u751f\u6210\u5f0f\u89c4\u5212\uff0c\u63d0\u4f9b\u5f3a\u5927\u7684\u573a\u666f\u63a8\u7406\u548c\u8f68\u8ff9\u751f\u6210\u80fd\u529b\u3002\u4ee5\u4e0b\u662f\u8be6\u7ec6\u64cd\u4f5c\uff1a<\/p>\n<h4>1. \u573a\u666f\u63a8\u7406\u4e0e\u8bed\u8a00\u6307\u4ee4<\/h4>\n<p>Orion \u7684\u8bed\u8a00\u6a21\u578b\u652f\u6301\u57fa\u4e8e\u6587\u672c\u6307\u4ee4\u8c03\u6574\u9a7e\u9a76\u884c\u4e3a\u3002\u4f8b\u5982\uff0c\u8f93\u5165\u201c\u5728\u4ea4\u53c9\u8def\u53e3\u51cf\u901f\u6162\u884c\u201d\u3002\u64cd\u4f5c\u6b65\u9aa4\uff1a<\/p>\n<ul>\n<li>\u521b\u5efa\u6307\u4ee4\u6587\u4ef6\u00a0<code>commands.txt<\/code>\uff0c\u5199\u5165\u6307\u4ee4\uff1a\n<pre><code>\u5728\u4ea4\u53c9\u8def\u53e3\u51cf\u901f\u6162\u884c\r\n<\/code><\/pre>\n<\/li>\n<li>\u8fd0\u884c\u63a8\u7406\u811a\u672c\u5e76\u6307\u5b9a\u6307\u4ee4\u6587\u4ef6\uff1a\n<pre><code>python inference.py --model_path ckpts\/Orion.pth --command_file commands.txt\r\n<\/code><\/pre>\n<\/li>\n<li>\u8f93\u51fa\u7ed3\u679c\u4f1a\u53cd\u6620\u6307\u4ee4\u5bf9\u8f68\u8ff9\u7684\u8c03\u6574\uff0c\u4fdd\u5b58\u5728\u00a0<code>output\/trajectories<\/code>\u3002<\/li>\n<\/ul>\n<h4>2. \u591a\u6a21\u6001\u8f68\u8ff9\u751f\u6210<\/h4>\n<p>Orion \u7684\u751f\u6210\u5f0f\u89c4\u5212\u5668\u652f\u6301\u591a\u79cd\u8f68\u8ff9\u6a21\u5f0f\uff08\u5982\u52a0\u901f\u3001\u51cf\u901f\u3001\u8f6c\u5411\uff09\u3002\u7528\u6237\u53ef\u901a\u8fc7\u914d\u7f6e\u6587\u4ef6\u8c03\u6574\u751f\u6210\u53c2\u6570\uff1a<\/p>\n<ul>\n<li>\u7f16\u8f91\u00a0<code>configs\/planner.yaml<\/code>\uff1a\n<pre><code>trajectory_mode: multimodal\r\nmax_acceleration: 2.0\r\nmax_steering_angle: 30\r\n<\/code><\/pre>\n<\/li>\n<li>\u8fd0\u884c\u89c4\u5212\u811a\u672c\uff1a\n<pre><code>python planner.py --config configs\/planner.yaml --model_path ckpts\/Orion.pth\r\n<\/code><\/pre>\n<\/li>\n<li>\u8f93\u51fa\u8f68\u8ff9\u4fdd\u5b58\u5728\u00a0<code>output\/trajectories<\/code>\uff0c\u652f\u6301\u591a\u6761\u5019\u9009\u8def\u5f84\u3002<\/li>\n<\/ul>\n<h4>3. \u7aef\u5230\u7aef\u4f18\u5316<\/h4>\n<p>Orion \u652f\u6301\u89c6\u89c9\u95ee\u7b54\uff08VQA\uff09\u548c\u89c4\u5212\u4efb\u52a1\u7684\u7edf\u4e00\u4f18\u5316\u3002\u7528\u6237\u53ef\u901a\u8fc7\u4ee5\u4e0b\u6b65\u9aa4\u6d4b\u8bd5\uff1a<\/p>\n<ul>\n<li>\u914d\u7f6e\u63a8\u7406\u811a\u672c\uff0c\u542f\u7528 VQA \u6a21\u5f0f\uff1a\n<pre><code>python inference.py --model_path ckpts\/Orion.pth --vqa_mode true\r\n<\/code><\/pre>\n<\/li>\n<li>\u8f93\u5165\u6d4b\u8bd5\u95ee\u9898\uff08\u5982\u201c\u524d\u65b9\u662f\u5426\u6709\u884c\u4eba\uff1f\u201d\uff09\uff0c\u6a21\u578b\u4f1a\u8fd4\u56de\u8bed\u4e49\u7b54\u6848\u548c\u5bf9\u5e94\u8f68\u8ff9\u3002<\/li>\n<\/ul>\n<h3>\u6ce8\u610f\u4e8b\u9879<\/h3>\n<ul>\n<li><strong>\u786c\u4ef6\u8981\u6c42<\/strong>\uff1a\u63a8\u7406\u63a8\u8350\u4f7f\u7528 NVIDIA A100\uff0832GB \u663e\u5b58\uff09\u6216\u66f4\u9ad8\u914d\u7f6e GPU\u3002\u8bad\u7ec3\u9700\u66f4\u5927\u663e\u5b58\uff08\u5efa\u8bae 80GB\uff09\u3002<\/li>\n<li><strong>\u6570\u636e\u683c\u5f0f<\/strong>\uff1a\u8f93\u5165\u6570\u636e\u9700\u7b26\u5408 Bench2Drive \u683c\u5f0f\uff08\u5982\u00a0<code>.jpg<\/code>\u3001<code>.pcd<\/code>\uff09\uff0c\u5426\u5219\u9700\u9884\u5904\u7406\u3002<\/li>\n<li><strong>\u6a21\u578b\u6743\u91cd<\/strong>\uff1aOrion \u5b98\u65b9\u6a21\u578b\u5df2\u53d1\u5e03\uff08<a href=\"https:\/\/huggingface.co\/poleyzdk\/Orion\/blob\/main\/Orion.pth\">Hugging Face<\/a>\uff09\uff0c\u4f46\u8bad\u7ec3\u6846\u67b6\u5c1a\u672a\u5f00\u653e\u3002<\/li>\n<li><strong>\u66f4\u65b0\u9891\u7387<\/strong>\uff1a\u5b9a\u671f\u68c0\u67e5 GitHub \u4ed3\u5e93\uff0c\u83b7\u53d6\u6700\u65b0\u4ee3\u7801\u548c\u6587\u6863\u3002<\/li>\n<\/ul>\n<p>\u901a\u8fc7\u4ee5\u4e0a\u6b65\u9aa4\uff0c\u7528\u6237\u53ef\u5feb\u901f\u90e8\u7f72 Orion\uff0c\u8fd0\u884c\u63a8\u7406\u4efb\u52a1\u6216\u8fdb\u884c\u7b97\u6cd5\u5f00\u53d1\u3002<\/p>\n<p>&nbsp;<\/p>\n<h2>\u5e94\u7528\u573a\u666f<\/h2>\n<ol>\n<li><strong>\u81ea\u52a8\u9a7e\u9a76\u7b97\u6cd5\u5f00\u53d1<\/strong><br \/>\n\u5f00\u53d1\u8005\u53ef\u4f7f\u7528 Orion \u6d4b\u8bd5\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7b97\u6cd5\uff0c\u4f18\u5316\u590d\u6742\u573a\u666f\u4e0b\u7684\u51b3\u7b56\u80fd\u529b\u3002\u5f00\u6e90\u4ee3\u7801\u548c\u6a21\u578b\u652f\u6301\u5feb\u901f\u8fed\u4ee3\u3002<\/li>\n<li><strong>\u5b66\u672f\u7814\u7a76<\/strong><br \/>\n\u7814\u7a76\u8005\u53ef\u57fa\u4e8e Orion \u63a2\u7d22\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u5e94\u7528\uff0c\u5206\u6790\u63a8\u7406\u4e0e\u89c4\u5212\u7684\u534f\u540c\u6548\u679c\uff0c\u4ea7\u51fa\u9ad8\u8d28\u91cf\u8bba\u6587\u3002<\/li>\n<li><strong>\u4eff\u771f\u6d4b\u8bd5<\/strong><br \/>\n\u6c7d\u8f66\u5236\u9020\u5546\u53ef\u5c06 Orion \u96c6\u6210\u5230 CARLA \u7b49\u4eff\u771f\u73af\u5883\u4e2d\uff0c\u6d4b\u8bd5\u8f66\u8f86\u5728\u865a\u62df\u573a\u666f\u4e2d\u7684\u8868\u73b0\uff0c\u964d\u4f4e\u9053\u8def\u6d4b\u8bd5\u6210\u672c\u3002<\/li>\n<li><strong>\u6559\u80b2\u4e0e\u57f9\u8bad<\/strong><br \/>\n\u9ad8\u6821\u53ef\u5c06 Orion \u7528\u4f5c\u6559\u5b66\u5de5\u5177\uff0c\u5e2e\u52a9\u5b66\u751f\u7406\u89e3\u81ea\u52a8\u9a7e\u9a76\u539f\u7406\uff0c\u7ed3\u5408\u53ef\u89c6\u5316\u89c6\u9891\u63d0\u5347\u5b9e\u8df5\u80fd\u529b\u3002<\/li>\n<\/ol>\n<p>&nbsp;<\/p>\n<h2>QA<\/h2>\n<ol>\n<li><strong>Orion \u652f\u6301\u54ea\u4e9b\u6570\u636e\u96c6\uff1f<\/strong><br \/>\n\u76ee\u524d\u652f\u6301 Bench2Drive \u6570\u636e\u96c6\uff0c\u672a\u6765\u53ef\u80fd\u652f\u6301\u5176\u4ed6\u6570\u636e\u96c6\uff08\u5982 nuScenes\uff09\u3002\u7528\u6237\u9700\u6309\u5b98\u65b9\u683c\u5f0f\u51c6\u5907\u6570\u636e\u3002<\/li>\n<li><strong>\u5982\u4f55\u89e3\u51b3\u63a8\u7406\u901f\u5ea6\u6162\u7684\u95ee\u9898\uff1f<\/strong><br \/>\nCoT \u63a8\u7406\u8f83\u6162\uff0c\u53ef\u5207\u6362\u81f3\u6807\u51c6\u63a8\u7406\u6a21\u5f0f\uff08<code>orion_stage3.py<\/code>\uff09\u3002\u4f18\u5316 GPU \u6027\u80fd\u6216\u964d\u4f4e\u6a21\u578b\u7cbe\u5ea6\uff08\u5982 fp16\uff09\u4e5f\u53ef\u63d0\u5347\u901f\u5ea6\u3002<\/li>\n<li><strong>\u95ed\u73af\u8bc4\u4f30\u9700\u8981\u54ea\u4e9b\u5de5\u5177\uff1f<\/strong><br \/>\n\u9700\u5b89\u88c5 CARLA \u4eff\u771f\u5668\u548c Bench2Drive \u8bc4\u4f30\u5de5\u5177\uff0c\u5177\u4f53\u914d\u7f6e\u53c2\u8003\u5b98\u65b9\u6587\u6863\u3002<\/li>\n<li><strong>Orion \u662f\u5426\u652f\u6301\u5b9e\u65f6\u9a7e\u9a76\uff1f<\/strong><br \/>\n\u5f53\u524d\u7248\u672c\u4ee5\u79bb\u7ebf\u63a8\u7406\u4e3a\u4e3b\uff0c\u5b9e\u65f6\u5e94\u7528\u9700\u8fdb\u4e00\u6b65\u4f18\u5316\u4ee3\u7801\u548c\u786c\u4ef6\uff0c\u5efa\u8bae\u5173\u6ce8\u5b98\u65b9\u66f4\u65b0\u3002<\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"<p>Orion \u662f\u5c0f\u7c73\u5b9e\u9a8c\u5ba4\u5f00\u53d1\u7684\u5f00\u6e90\u9879\u76ee\uff0c\u4e13\u6ce8\u4e8e\u7aef\u5230\u7aef\uff08E2E\uff09\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u3002\u5b83\u901a\u8fc7\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u548c\u751f\u6210\u5f0f\u89c4\u5212\u5668\uff0c\u89e3\u51b3\u4f20\u7edf\u81ea\u52a8\u9a7e\u9a76\u65b9\u6cd5\u5728\u590d\u6742\u573a\u666f\u4e2d\u56e0\u679c\u63a8\u7406\u4e0d\u8db3\u7684\u95ee\u9898\u3002Orion \u6574\u5408\u957f\u671f\u5386\u53f2\u4e0a\u4e0b\u6587\u3001\u9a7e\u9a76\u573a\u666f\u63a8\u7406\u548c\u7cbe\u786e\u8f68\u8ff9\u9884\u6d4b\uff0c\u663e\u8457\u63d0\u5347&#8230;<\/p>\n","protected":false},"author":1,"featured_media":62238,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[20],"tags":[230],"class_list":["post-30318","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-tool","tag-aikaiyuanxiangmu"],"_links":{"self":[{"href":"https:\/\/www.kdjingpai.com\/ja\/wp-json\/wp\/v2\/posts\/30318","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.kdjingpai.com\/ja\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.kdjingpai.com\/ja\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.kdjingpai.com\/ja\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.kdjingpai.com\/ja\/wp-json\/wp\/v2\/comments?post=30318"}],"version-history":[{"count":0,"href":"https:\/\/www.kdjingpai.com\/ja\/wp-json\/wp\/v2\/posts\/30318\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.kdjingpai.com\/ja\/wp-json\/wp\/v2\/media\/62238"}],"wp:attachment":[{"href":"https:\/\/www.kdjingpai.com\/ja\/wp-json\/wp\/v2\/media?parent=30318"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdjingpai.com\/ja\/wp-json\/wp\/v2\/categories?post=30318"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdjingpai.com\/ja\/wp-json\/wp\/v2\/tags?post=30318"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}