Ungaluchaza kanjani uhlelo lokushayela oluzihambelayo oluya ekupheleni?
Incazelo evame kakhulu ukuthi isistimu "yokuphela-kuya-ekupheleni" isistimu efaka ulwazi lwenzwa eluhlaza futhi ikhiphe ngokuqondile okuguquguqukayo okukhathazayo emsebenzini. Isibonelo, ekubonweni kwesithombe, i-CNN ingabizwa ngokuthi "ukuphela-kuya-ekupheleni" uma kuqhathaniswa nesici esivamile + indlela yokuhlukanisa.
Emisebenzini yokushayela ngokuzenzakalelayo, idatha evela kuzinzwa ezihlukahlukene (njengamakhamera, i-LiDAR, i-Radar, noma i-IMU...) iyafakwa, futhi amasiginali okulawula imoto (okufana ne-throttle noma i-engeli yesondo lokuqondisa) aphuma ngokuqondile. Ukuze kucatshangelwe izinkinga zokujwayela amamodeli ezimoto ahlukene, okuphumayo kungaxegiselwa kumzila wokushayela wemoto.
Ngokusekelwe kulesi sisekelo, imiqondo ye-modular yokuphela-kuya-ekupheleni nayo iye yavela, njenge-UniAD, ethuthukisa ukusebenza ngokwethula ukugadwa kwemisebenzi emaphakathi efanele, ngaphezu kwamasiginali wokugcina okukhiphayo noma amaphoyinti endlela. Kodwa-ke, kusukela encazelweni ewumngcingo enjalo, ingqikithi yokuphela ukuya ekupheleni kufanele kube ukudluliselwa okungenakulahlekelwa kolwazi lwezinzwa.
Ake siqale sibuyekeze ukuxhumana phakathi kwamamojula wokuzwa kanye ne-PnC kumasistimu angapheli kuya ekupheleni. Ngokuvamile, sithola izinto ezigunyaziwe (njengezimoto, abantu, njll.) futhi sihlaziye futhi sibikezele izici zabo. Siphinde sifunda ngendawo emile (efana nesakhiwo somgwaqo, imikhawulo yesivinini, amarobhothi, njll.). Ukube besinemininingwane eyengeziwe, besizokwazi nokubona izithiyo zomhlaba wonke. Ngamafuphi, ulwazi olukhishwa yile mibono luhlanganisa imodeli yokubonisa izigcawu zokushayela eziyinkimbinkimbi.
Kodwa-ke, kwezinye izigcawu ezisobala kakhulu, ukufinyezwa kwamanje okucacile akukwazi ukuchaza ngokugcwele izici ezithinta ukuziphatha kokushayela endaweni yesehlakalo, noma imisebenzi okudingeka siyichaze iwubala kakhulu, futhi kunzima ukubala yonke imisebenzi edingekayo. Ngakho-ke, amasistimu okuphela-kuya-ekupheleni ahlinzeka (mhlawumbe ngokungagunci) ukumelwa okuphelele ngethemba lokusebenza ngokuzenzakalelayo nangokungalahleki kuma-PnC ngalolu lwazi. Ngokubona kwami, zonke izinhlelo ezingahlangabezana nale mfuneko zingabizwa ngokuthi ukuphela kokuphela.
Ngokuqondene nezinye izingqinamba, njengokulungiswa okuthile kwezimo zokusebenzisana eziguqukayo, ngikholelwa ukuthi okungenani hhayi ukuphela kuya ekupheleni okungaxazulula lezi zinkinga, futhi ukuphela kuya kwesinye kungase kungabi yisixazululo esingcono kakhulu. Izindlela zendabuko zingaxazulula lezi zinkinga, futhi kunjalo, uma inani ledatha likhulu ngokwanele, ukuphela kuya ekupheleni kungase kunikeze isisombululo esingcono.
Okunye ukungaqondi kahle mayelana nokushayela okuzenzakalelayo kokuphela uye ekupheleni
1. Amasiginali okulawula kanye namaphoyinti endlela kumele aphume ukuze agcine esephethelweni.
Uma uvumelana nomqondo obanzi wokuphela-kuya-ukuphela okukhulunywe ngawo ngenhla, khona-ke le nkinga kulula ukuyiqonda. Kusukela ekupheleni kufanele kugcizelele ukudluliswa okungalahleki kolwazi kunokukhipha ngokuqondile umthamo womsebenzi. Indlela ewumngcingo yokuphela kokuphela izodala izinkinga eziningi ezingadingekile futhi idinga izixazululo eziningi ezicashile zokuqinisekisa ukuphepha.
2.Isistimu yokuphela-kuya-ekupheleni kufanele isekelwe kumamodeli amakhulu noma umbono omsulwa.
Alukho uxhumano oludingekayo phakathi kokushayela okuzenzakalelayo ukusuka ekupheleni ukuya ekupheleni, ukushayela okuzihambelayo kwemodeli enkulu, kanye nokushayela okuzimele okubukwayo kuphela ngoba kuyimiqondo ezimele ngokuphelele; uhlelo oluya ekupheleni aluqhutshwa amamodeli amakhulu, futhi aluqhutshwa umbono omsulwa. kwe.
3.Ekuhambeni kwesikhathi eside, kungenzeka yini ukuthi uhlelo olubalulwe ngenhla oluya ekupheleni ngomqondo omncane lufinyelele ukushayela okuzimele ngaphezu kwezinga le-L3?
Ukusebenza kwalokho okwamanje okubizwa ngokuthi i-pure end-to-end FSD akwanele ukuhlangabezana nokwethembeka nokuzinza okudingekayo ezingeni le-L3. Ukulibeka ngembaba elokuthi uma uhlelo lokuzishayela lufuna ukwamukelwa wumphakathi, okubalulekile wukuthi umphakathi ungakwamukela yini ukuthi kokunye umshini uyawenza amaphutha, abantu bawaxazulule kalula. Lokhu kunzima kakhulu kusistimu ehlanzekile yokuphela-kuya-ekupheleni.
Ngokwesibonelo, kokubili i-Waymo ne-Cruise eNyakatho Melika iye yaba nezingozi eziningi. Kodwa-ke, ingozi yokugcina ka-Cruise ibangele ukulimala okubili, nakuba izingozi ezinjalo zingenakugwemeka futhi zamukeleka kubashayeli abangabantu. Kodwa-ke, ngemva kwale ngozi, uhlelo aluzange luhlulele kahle indawo yengozi nendawo yabalimele futhi behliselwe esimweni sokudonsa, okwenza abalimele bahudulwe isikhathi eside. Lokhu kuziphatha akwamukelekile kunoma yimuphi umshayeli ongumuntu ojwayelekile. Ngeke kwenziwe, futhi imiphumela izoba mibi kakhulu.
Ngaphezu kwalokho, lesi isixwayiso okufanele sicabange ngokucophelela ukuthi singasigwema kanjani lesi simo ngesikhathi sokuthuthukiswa nokusebenza kwezinhlelo zokushayela ezizimele.
4.Ngakho-ke kulesi sikhathi, yiziphi izixazululo ezisebenzayo zesizukulwane esilandelayo sezinhlelo zokushayela ezikhiqizwa ngobuningi?
Ngokuqonda kwami kwamanje, uma usebenzisa imodeli ebizwa ngokuthi i-end-to-end ekushayeleni, ngemva kokukhipha i-trajectory, izobuyisela isisombululo ngokusekelwe ezindleleni zendabuko. Kungenjalo, abahleli abasuselwe ekufundeni kanye nama-algorithms wokuhlela wendabuko akhipha ama-trajectories amaningi ngesikhathi esisodwa bese ekhetha i-trajectory eyodwa ngesikhethi.
Lolu hlobo lwesixazululo se-covert nokukhetha lukhawulela umkhawulo ophezulu wokusebenza kwalesi simiso se-cascade uma lesi sakhiwo sesistimu samukelwa. Uma le ndlela isasekelwe ekufundeni okuhlanzekile kwempendulo, ukwehluleka okungalindelekile kuzokwenzeka futhi umgomo wokuphepha ngeke ufezwe nhlobo.
Uma sicabangela ukukhulisa kabusha noma ukukhetha ukusebenzisa izindlela zokuhlela zendabuko kulo mgudu wokuphumayo, lokhu kulingana nendlela ekhiqizwa indlela eqhutshwa ukufunda; ngakho-ke, kungani singalungiseleli ngokuqondile futhi siseshe lo mzila?
Yiqiniso, abanye abantu bangasho ukuthi ukulungiselelwa okunjalo noma inkinga yokusesha akuyona i-convex, inendawo enkulu yesifunda, futhi akunakwenzeka ukusebenza ngesikhathi sangempela ohlelweni lwemoto. Nginxusa wonke umuntu ukuthi awucabangele ngokucophelela lo mbuzo: Eminyakeni eyishumi edlule, isistimu yokubona bathole okungenani izikhathi eziyikhulu i-dividend yamandla ekhompyutha, kodwa kuthiwani ngemojula yethu ye-PnC?
Uma futhi sivumela imojula ye-PnC ukuthi isebenzise amandla amakhulu ekhompuyutha, kuhlanganiswe nokuthuthuka okuthile kuma-algorithms okuthuthukisa okuthuthukile eminyakeni yamuva, ingabe lesi siphetho sisalungile? Ngalolu hlobo lwenkinga, kufanele sicabangele lokho okulungile ezimisweni zokuqala.
5.Indlela yokuvumelanisa ubudlelwano phakathi kwezindlela eziqhutshwa idatha kanye nezindlela zendabuko?
Ukudlala i-chess kuyisibonelo esifana kakhulu nokushayela ukuzimela. NgoFebhuwari walo nyaka, i-Deepmind ishicilele i-athikili ebizwa ngokuthi "Grandmaster-Level Chess Without Search", edingida ukuthi kungenzeka yini ukusebenzisa kuphela ukusesha okuqhutshwa yidatha futhi ulahle ukusesha kwe-MCTS ku-AlphaGo naku-AlphaZero. Ngokufana nokushayela okuzenzakalelayo, inethiwekhi eyodwa kuphela esetshenziselwa ukukhipha izenzo ngokuqondile, kuyilapho zonke izinyathelo ezilandelayo zishaywa indiva.
I-athikili iphetha ngokuthi, naphezu kwenani elikhulu ledatha namapharamitha wemodeli, imiphumela enengqondo ingatholwa ngaphandle kokusebenzisa usesho. Nokho, kunomehluko omkhulu uma kuqhathaniswa nezindlela ezisebenzisa ukusesha. Lokhu kuwusizo ikakhulukazi ekubhekaneni neminye imidlalo eyinkimbinkimbi.
Ezimweni eziyinkimbinkimbi noma izimo zamakhona ezidinga imidlalo yezinyathelo eziningi, lesi sifaniso sisenza kube nzima ukushiya ngokuphelele ukulungiselelwa okuvamile noma ukusesha ama-algorithms. Ukusebenzisa ngokunengqondo izinzuzo zobuchwepheshe obuhlukahlukene njenge-AlphaZero kuyindlela engcono kakhulu yokuthuthukisa ukusebenza.
6.Indlela yendabuko = isekelwe emthethweni uma kungenjalo?
Kuye kwadingeka ngilungise lo mqondo ngokuphindaphindiwe lapho ngikhuluma nabantu abaningi. Abantu abaningi bakholelwa ukuthi inqobo nje uma kungaqhutshwa idatha kuphela, akusekelwe emithethweni. Isibonelo, ku-chess, ukubamba ngekhanda amafomula namarekhodi e-chess ngerote kusekelwe emthethweni, kodwa njenge-AlphaGo kanye ne-AlphaZero, kunikeza imodeli ikhono lokusebenzisa ingqondo ngokusebenzisa nokwenza kahle nokusesha. Angicabangi ukuthi kungabizwa ngokususelwa kumthetho.
Ngenxa yalokhu, imodeli enkulu ngokwayo okwamanje ayikho, futhi abacwaningi bazama ukunikeza imodeli eqhutshwa ukufunda ngokusebenzisa izindlela ezifana ne-CoT. Nokho, ngokungafani nemisebenzi edinga ukunakwa kwesithombe esishayelwa idatha okumsulwa kanye nezizathu ezingachazeki, sonke isenzo somuntu oshayelayo sinamandla okushayela acacile.
Ngaphansi kwedizayini ye-algorithm ye-architecture efanelekile, i-trajectory yesinqumo kufanele iguquke futhi ithuthukiswe ngendlela efanayo ngaphansi kokuqondisa kwemigomo yesayensi, kunokupeshisha ngenkani nokulungisa amapharamitha ukuze kulungiswe izimo ezihlukene. Uhlelo olunjalo ngokwemvelo alunazo zonke izinhlobo zemithetho engavamile enekhodi eqinile.
Isiphetho
Ngamafuphi, ukuphela ukuya ekupheleni kungase kube umzila wezobuchwepheshe othembisayo, kodwa indlela umqondo osetshenziswa ngayo idinga ucwaningo olwengeziwe. Ngicabanga ukuthi inqwaba yamapharamitha wedatha namamodeli akusona ukuphela kwesixazululo esifanele, futhi uma sifuna ukudlula abanye, kufanele siqhubeke sisebenza kanzima.
Isikhathi sokuthumela: Apr-24-2024