Uyichaza njani inkqubo yokuqhubela phambili yokuphela ukuya ekupheleni?
Inkcazo eqhelekileyo yeyokuba "isiphelo-so-ekupheleni" inkqubo yinkqubo efaka ulwazi lwenzwa ekrwada kwaye ivelise ngokuthe ngqo izinto eziguquguqukayo ezixhalabisayo kumsebenzi. Umzekelo, ekuqatshelweni komfanekiso, i-CNN inokubizwa ngokuba "isiphelo-ukuya-ekupheleni" xa kuthelekiswa nenkqubo yemveli + yohlela.
Kwimisebenzi yokuqhuba ngokuzimeleyo, idatha evela kwii-sensors ezahlukeneyo (ezifana neekhamera, i-LiDAR, i-Radar, okanye i-IMU ...) igalelo, kunye neempawu zokulawula isithuthi (ezifana ne-throttle okanye i-angle yokulawula isondo) ziphuma ngokuthe ngqo. Ukuqwalasela imiba yohlengahlengiso kwiimodeli zezithuthi ezahlukeneyo, isiphumo sinokunyenyiswa kwindlela yokuqhuba isithuthi.
Ngokusekwe kwesi siseko, iikhonsepthi zokuphela kwemodyuli ziye zavela, njenge-UniAD, ephucula ukusebenza ngokuzisa ulongamelo lwemisebenzi ephakathi efanelekileyo, ukongeza kwiimpawu zokugqibela zokulawula iziphumo okanye iindlela. Nangona kunjalo, ukusuka kwinkcazo emxinwa enjalo, ingundoqo yokuphela ukuya ekupheleni kufuneka ibe yilahleko yokuhanjiswa kolwazi lweemvakalelo.
Makhe siqale sihlolisise i-interfaces phakathi kokuva kunye neemodyuli ze-PnC kwiinkqubo ezingapheliyo. Ngokuqhelekileyo, sibona izinto ezimhlophe (ezifana neemoto, abantu, njl.) kwaye sihlalutye kwaye siqikelele iimpawu zabo. Sikwafunda malunga nemeko-bume engatshintshiyo (efana nolwakhiwo lwendlela, imilinganiselo yesantya, iirobhothi, njl. njl.). Ukuba besineenkcukacha ezithe chatha, besiya kufumanisa imiqobo yehlabathi jikelele. Ngamafutshane, ulwazi oluphuma kwezi mbono lwenza imodeli yokubonisa iindawo zokuqhuba ezintsonkothileyo.
Nangona kunjalo, kweminye imiboniso ecacileyo, ukutsalwa okucacileyo kwangoku akukwazi ukuchaza ngokupheleleyo izinto ezichaphazela ukuziphatha kokuqhuba kwindawo yesehlakalo, okanye imisebenzi ekufuneka siyichaze incinci kakhulu, kwaye kunzima ukuyibala yonke imisebenzi efunekayo. Ngoko ke, iisistim zokugqibela zibonelela (mhlawumbi ngokungafihlisiyo) ukumelwa okubanzi kunye nethemba lokusebenza ngokuzenzekelayo nangelahleko kwi-PnCs ngolu lwazi. Ngokombono wam, zonke iinkqubo ezinokuhlangabezana nale mfuneko zingabizwa ngokuba ziphela ngokubanzi.
Ngokumalunga neminye imiba, efana nokulungiswa kweemeko zokusebenzisana okuguquguqukayo, ndiyakholelwa ukuba ubuncinci ayisiyiyo kuphela isiphelo esinokusombulula ezi ngxaki, kwaye ukuphela kokuphela akunakuba sesona sisombululo. Iindlela zemveli zinokusombulula ezi ngxaki, kwaye ke, xa inani ledatha likhulu ngokwaneleyo, ukuphela kokuphela kunokubonelela ngesisombululo esingcono.
Ezinye ukungaqondi malunga nokuphela-to-ekupheleni ukuqhuba ezizimeleyo
1. Imiqondiso yokulawula kunye neendawo zendlela kufuneka ziphuhliswe ukuze zibe sekupheleni ukuya ekupheleni.
Ukuba uyavumelana nombono obanzi wesiphelo ukuya ekupheleni oxoxwe ngasentla, ke le ngxaki kulula ukuyiqonda. Ukuphela ukuya ekupheleni kufuneka kugxininise ukugqithiswa kolwazi olungenalahleko kunokuvelisa ngokuthe ngqo umthamo womsebenzi. Indlela emxinwa yokuphela kokuphela iya kubangela inkathazo eninzi engadingekile kwaye ifuna izisombululo ezininzi ezifihlakeleyo zokuqinisekisa ukhuseleko.
2.Inkqubo yokuphela kokuphela kufuneka isekelwe kwiimodeli ezinkulu okanye umbono ococekileyo.
Akukho nxibelelwano luyimfuneko phakathi kokuphela-ukuya-ekupheleni kokuqhuba okuzimelayo, imodeli enkulu yokuqhuba ngokuzimela, kunye nokuqhuba okubonakalayo okubonakalayo okuzimeleyo kuba ziingqikelelo ezizimeleyo ngokupheleleyo; inkqubo yokuphela ukuya ekupheleni ayiqhutywa yimifuziselo emikhulu, kwaye ayiqhutywa ngumbono ococekileyo. ye.
3.Ekuhambeni kwexesha, ngaba kunokwenzeka ukuba le nkqubo ikhankanywe ngasentla yokuphela-kwindlela emxinwa ukuphumeza ukuqhuba ngokuzimeleyo ngaphezu kwenqanaba le-L3?
Ukusebenza kwento ngoku ebizwa ngokuba yi-FSD ecocekileyo yokuphela ukuya ekupheleni ayikude ngokwaneleyo ukuhlangabezana nokuthembeka kunye nokuzinza okufunekayo kwinqanaba le-L3. Ukulibeka ngokuthe kratya, ukuba inkqubo yokuziqhuba ifuna ukwamkelwa luluntu, eyona nto iphambili kukuba uluntu lungayamkela na into yokuba, kwezinye iimeko, lo matshini uya kuzenza iimpazamo, yaye abantu banokuzicombulula ngokulula. Oku kunzima ngakumbi kwinkqubo ecocekileyo yokuphela ukuya ekupheleni.
Ngokomzekelo, zombini iWaymo neCruise kuMntla Merika ziye zaba neengozi ezininzi. Nangona kunjalo, ingozi yokugqibela kaCruise ibangele ukulimala kabini, nangona iingozi ezinjalo zingenakuphepheka kwaye zamkelekile kubaqhubi babantu. Nangona kunjalo, emva kwale ngozi, inkqubo ayijonganga kakuhle indawo yengozi kunye nendawo abonzakeleyo kunye nokwehliswa kwindlela yokutsala, ebangela ukuba abonzakeleyo batsalwe ixesha elide. Oku kuziphatha akwamkelekanga kuye nawuphi na umqhubi womntu oqhelekileyo. Ayiyi kwenziwa, kwaye iziphumo ziya kuba zimbi kakhulu.
Ngaphaya koko, oku kukuphaphama ekufuneka siqwalasele ngononophelo indlela yokuphepha le meko ngexesha lophuhliso kunye nokusebenza kweenkqubo zokuqhuba ezizimeleyo.
4.Ngoko ke ngalo mzuzu, zeziphi izisombululo ezisebenzayo kwisizukulwana esilandelayo seenkqubo zokuqhuba ezincediswa ngobuninzi?
Ngokokuqonda kwam ngoku, xa usebenzisa imodeli ebizwa ngokuba yi-end-to-end ekuqhubeni, emva kokukhupha i-trajectory, iya kubuyisela isisombululo esisekelwe kwiindlela zendabuko. Kungenjalo, abacwangcisi abasekelwe ekufundeni kunye ne-algorithms yokucwangcisa i-trajectory yemveli ikhupha iitrajectories ezininzi ngaxeshanye kwaye ukhethe i-trajectory enye ngomkhethi.
Olu hlobo lwesisombululo esisithekileyo kunye nokhetho lunciphisa umda ophezulu wokusebenza kwale nkqubo ye-cascade ukuba le nkqubo yolwakhiwo iyamkelwa. Ukuba le ndlela isasekelwe kwimpendulo ecocekileyo yokufunda, ukungaphumeleli okungalindelekanga kuya kwenzeka kwaye injongo yokukhusela ayiyi kufezekiswa nonke.
Ukuba sicinga ukulungiswa kwakhona okanye ukukhetha ukusebenzisa iindlela zokucwangcisa zendabuko kule mveliso yesiphumo, oku kufana nomzila oveliswa yindlela eqhutywa kufunda; ke ngoko, kutheni singanyusi ngokuthe ngqo kwaye sikhangele le ndlela yokulandelela?
Ngokuqinisekileyo, abanye abantu banokuthi ukulungelelaniswa okunjalo okanye ingxaki yokukhangela ayikho i-convex, inendawo enkulu yelizwe, kwaye akunakwenzeka ukuba iqhube ngexesha langempela kwinkqubo yemoto. Ndicenga wonke umntu ukuba awuthathele ingqalelo lo mbuzo: Kule minyaka ilishumi idlulileyo, inkqubo yokubona ifumene ubuncinci ngokuphindwe kalikhulu kwi-computing power dividend, kodwa kuthekani ngemodyuli yethu yePnC?
Ukuba sikwavumela imodyuli yePnC ukuba isebenzise amandla amakhulu ekhompyuter, idityaniswe nenkqubela phambili kwi-algorithms yokuphucula okuphambili kwiminyaka yakutshanje, ngaba esi sigqibo sisachanekile? Ngolu hlobo lwengxaki, kufuneka siqwalasele oko kuchanekileyo kwimigaqo yokuqala.
5.Indlela yokudibanisa ubudlelwane phakathi kwedatha eqhutywa kunye neendlela zendabuko?
Ukudlala ichess ngumzekelo ofana kakhulu nokuzimela. NgoFebruwari walo nyaka, i-Deepmind yapapasha inqaku elibizwa ngokuba yi- "Grandmaster-Level Chess Ngaphandle kokuKhangela", lixoxa ukuba kunokwenzeka na ukusebenzisa kuphela idatha eqhutywayo kwaye ulahle ukukhangela kwe-MCTS kwi-AlphaGo kunye ne-AlphaZero. Ngokufana nokuqhuba ngokuzimeleyo, inethiwekhi enye kuphela isetyenziselwa ukwenza imveliso ngokuthe ngqo, ngelixa onke amanyathelo alandelayo angahoywa.
Eli nqaku liqukumbela ngelithi, nangona inani elininzi ledatha kunye neeparamitha zemodeli, iziphumo ezifanelekileyo zinokufumaneka ngaphandle kokusebenzisa uphendlo. Nangona kunjalo, kukho ukungafani okuphawulekayo xa kuthelekiswa neendlela zokusebenzisa uphando. Oku kuluncedo ngakumbi ekujonganeni neminye imidlalo enzima yokuphela.
Kwiimeko ezinzima okanye iimeko zekona ezifuna imidlalo yamanyathelo amaninzi, lo mzekeliso usenza kube nzima ukulahla ngokupheleleyo ukulungiswa kwendabuko okanye ukukhangela i-algorithms. Ukusebenzisa ngokunengqiqo izibonelelo zeetekhnoloji ezahlukeneyo ezifana neAlphaZero yeyona ndlela ilungileyo yokuphucula ukusebenza.
6.Indlela yesiNtu = isekelwe kumgaqo ukuba akunjalo?
Kuye kwafuneka ndilungise le ngcamango ngokuphindaphindiweyo ngelixa ndithetha nabantu abaninzi. Abantu abaninzi bakholelwa ukuba okoko nje ingaqhutywanga datha, ayisekelwanga kumgaqo. Umzekelo, kwichess, ukukhumbula iifomula kunye neerekhodi zechess ngerote kusekelwe kumgaqo, kodwa njengeAlphaGo kunye neAlphaZero, inika imodeli amandla okuba nengqiqo ngokulungiselela kunye nokukhangela. Andiqondi ukuba inokubizwa ngokuba isekelwe kumthetho.
Ngenxa yoko, imodeli enkulu ngokwayo ayikho ngoku, kwaye abaphandi bazama ukubonelela ngemodeli eqhutywa kufunda ngokusebenzisa iindlela ezifana ne-CoT. Nangona kunjalo, ngokungafaniyo nemisebenzi efuna ukuqondwa komfanekiso ococekileyo wedatha kunye nezizathu ezingenakuchazwa, isenzo ngasinye somntu oqhubayo sinamandla okuqhuba acacileyo.
Ngaphantsi koyilo olufanelekileyo lwe-algorithm yoyilo, i-trajectory yesigqibo kufuneka iguquke kwaye iphuculwe ngokufanayo phantsi kwesikhokelo seenjongo zesayensi, kunokuba ubambe ngenkani kunye nokulungelelanisa iiparamitha ukulungisa iimeko ezahlukeneyo. Inkqubo enjalo ngokwemvelo ayinazo zonke iintlobo zemithetho engaqhelekanga enzima.
Ukuqukumbela
Ngamafutshane, ukuphela kokuphela kunokuba yindlela yobugcisa ethembisayo, kodwa indlela esetyenziswa ngayo ingcamango ifuna uphando olongezelelweyo. Ndicinga ukuba iqela ledatha kunye neeparameters zemodeli ayisosisombululo esichanekileyo, kwaye ukuba sifuna ukudlula abanye, kufuneka siqhubeke sisebenza nzima.
Ixesha lokuposa: Apr-24-2024