{"id":100229,"date":"2026-09-04T07:48:59","date_gmt":"2026-09-03T23:48:59","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/100229.html"},"modified":"2026-09-04T07:48:59","modified_gmt":"2026-09-03T23:48:59","slug":"%e9%9d%a2%e5%90%91%e9%80%bb%e8%be%91%e6%80%9d%e7%bb%b4%e7%9a%84%e7%a8%8b%e5%ba%8f%e8%ae%be%e8%ae%a1%e6%96%b9%e6%b3%95-%e4%be%9d%e6%89%98%e4%b8%96%e7%95%8c%e6%a8%a1%e5%9e%8b%e7%9a%84","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/100229.html","title":{"rendered":"\u9762\u5411\u903b\u8f91\u601d\u7ef4\u7684\u7a0b\u5e8f\u8bbe\u8ba1\u65b9\u6cd5\u2014\u2014\u4f9d\u6258\u4e16\u754c\u6a21\u578b\u7684\u7c7b\u8111\u5927\u6a21\u578b\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u8bbe\u8ba1"},"content":{"rendered":"

\u9762\u5411\u903b\u8f91\u601d\u7ef4\u7684\u7a0b\u5e8f\u8bbe\u8ba1\u65b9\u6cd5\u2014\u2014\u4f9d\u6258\u4e16\u754c\u6a21\u578b\u7684\u7c7b\u8111\u5927\u6a21\u578b\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u8bbe\u8ba1<\/h2>\n

\u51af\u80e4\u6e05<\/p>\n

（\u6cb3\u5357 \u4e09\u95e8\u5ce1 472000）
\n\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

\u6458\u8981：\u5927\u8bed\u8a00\u6a21\u578b（LLM）\u4ee5\u6587\u672c\u4e3a\u552f\u4e00\u611f\u77e5\u5165\u53e3，\u5176"\u611f\u77e5"\u5c40\u9650\u4e8e\u8bed\u8a00\u7b26\u53f7\u7a7a\u95f4，\u7f3a\u4e4f\u5bf9\u7269\u7406\u4e16\u754c\u7684\u591a\u6a21\u6001\u611f\u77e5\u4e0e\u7ed3\u6784\u5316\u7406\u89e3\u2014\u2014LLM"\u77e5\u9053"\u676f\u5b50\u662f\u5706\u67f1\u5f62，\u5374"\u770b\u4e0d\u5230"\u9762\u524d\u7684\u676f\u5b50\u3001"\u6478\u4e0d\u5230"\u676f\u58c1\u7684\u6e29\u5ea6\u3002\u7c7b\u8111\u5927\u6a21\u578b\u4ee5\u4e94\u5b50\u7f51+\u5168\u5c40\u5de5\u4f5c\u7a7a\u95f4（GWS）\u4e3a\u8ba4\u77e5\u67b6\u6784，\u5176\u4e2d\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u627f\u62c5\u591a\u6a21\u6001\u4e16\u754c\u72b6\u6001\u7f16\u7801\u804c\u80fd，\u4f46\u5728\u65e2\u6709\u8bbe\u8ba1\u4e2d\u4ec5\u4ee5"\u591a\u6a21\u6001\u7f16\u7801\u5668+VLM"\u4f5c\u6982\u8981\u63cf\u8ff0，\u7f3a\u4e4f\u5bf9\u611f\u77e5\u901a\u9053\u3001\u878d\u5408\u673a\u5236\u3001\u8bed\u4e49\u5316\u8f93\u51fa\u4e0e\u5c42\u95f4\u63a5\u53e3\u7684\u7cfb\u7edf\u8bbe\u8ba1[16-17]\u3002\u672c\u6587\u57fa\u4e8e\u9762\u5411\u903b\u8f91\u601d\u7ef4\u7684\u7a0b\u5e8f\u8bbe\u8ba1\u65b9\u6cd5（LOPD）\u4e03\u5c42\u8ba4\u77e5\u5206\u6790\u5c42\u6b21\u6a21\u578b\u4e0e\u300a\u8111\u7684\u8bbe\u8ba1\u300b\u53cc\u8111\u67b6\u6784，\u63d0\u51fa\u4f9d\u6258\u4e16\u754c\u6a21\u578b\u7684\u7c7b\u8111\u5927\u6a21\u578b\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u521d\u6b65\u8bbe\u8ba1：\u4ee5"\u611f\u77e5\u95e8\u6237（L3）"\u4e3a\u7ec4\u7ec7\u9aa8\u67b6，\u8bbe\u8ba1\u89c6\u89c9\u3001\u542c\u89c9\u3001\u89e6\u89c9\u4e0e\u5185\u611f\u56db\u5927\u611f\u77e5\u901a\u9053，\u5404\u901a\u9053\u7ecf"\u5e95\u5c42\u7279\u5f81\u63d0\u53d6\u2192\u4e2d\u5c42\u8bed\u4e49\u89e3\u6790\u2192\u9ad8\u5c42\u60c5\u5883\u7406\u89e3"\u4e09\u7ea7\u5904\u7406\u6d41\u6c34\u7ebf，\u8f93\u51fa\u7ed3\u6784\u5316\u4e16\u754c\u72b6\u6001\u8868\u793a\u2014\u2014\u5bf9\u8c61（\u5c5e\u6027\u3001\u4f4d\u7f6e）\u3001\u5173\u7cfb（\u7a7a\u95f4\u3001\u56e0\u679c）\u3001\u4e8b\u4ef6（\u65f6\u5e8f\u3001\u72b6\u6001\u8f6c\u79fb）\u4e09\u5143\u8bed\u4e49[3,16-17]\u3002\u591a\u6a21\u6001\u878d\u5408\u91c7\u7528"\u7279\u5f81\u7ea7+\u8bed\u4e49\u7ea7+\u51b3\u7b56\u7ea7"\u4e09\u7ea7\u878d\u5408\u67b6\u6784，\u4ee5\u4e0d\u786e\u5b9a\u6027\u5efa\u6a21（\u7f6e\u4fe1\u5ea6\u4f20\u64ad）\u4fdd\u8bc1\u611f\u77e5\u9c81\u68d2\u6027[8-10,12]\u3002\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u4e0e\u4e16\u754c\u6a21\u578b\u5b50\u7f51\u6784\u6210"\u611f\u77e5-\u9884\u6d4b"\u95ed\u73af：\u611f\u77e5\u8f93\u51fa\u5f53\u524d\u72b6\u6001sts_t<\/span><\/span>s<\/span><\/span>t<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u4f9b\u4e16\u754c\u6a21\u578b\u63a8\u6f14，\u4e16\u754c\u6a21\u578b\u7684\u9884\u6d4b\u5148\u9a8c\u53cd\u5411\u8c03\u5236\u611f\u77e5（\u9884\u6d4b\u7f16\u7801\u673a\u5236）\u2014\u2014\u201c\u611f\u77e5\u4e0d\u662f\u88ab\u52a8\u63a5\u6536，\u800c\u662f\u7528\u9884\u6d4b\u68c0\u9a8c\u8f93\u5165\u201d[3,4,17]\u3002\u672c\u6587\u8fdb\u4e00\u6b65\u7ed9\u51fa\u611f\u77e5-\u8ba4\u77e5\u8026\u5408\u8bbe\u8ba1（\u611f\u77e5\u7ed3\u679c\u7ecfGWS\u5e7f\u64ad，\u8c03\u5236\u8ba4\u77e5\u63a8\u7406\u3001\u60c5\u611f\u8bc4\u4f30\u4e0e\u53cd\u601d\u673a\u5236\u7684\u8f93\u5165）\u3001\u611f\u77e5\u8d28\u91cf\u4e94\u7ef4\u8bc4\u4f30\u4f53\u7cfb，\u4ee5\u53ca\u4e0e\u5177\u8eab\u673a\u5668\u4eba\u3001\u667a\u80fd\u9a7e\u9a76\u7b49\u573a\u666f\u7684\u8854\u63a5，\u4e3a\u7c7b\u8111\u5927\u6a21\u578b\u4ece"\u8bed\u8a00\u611f\u77e5"\u8d70\u5411"\u4e16\u754c\u611f\u77e5"\u63d0\u4f9b\u67b6\u6784\u53c2\u8003[16-19]\u3002<\/p>\n

\u5173\u952e\u8bcd：\u7c7b\u8111\u5927\u6a21\u578b；\u611f\u77e5\u7406\u89e3\u5b50\u7f51；\u591a\u6a21\u6001\u611f\u77e5；\u89c6\u89c9\u611f\u77e5；\u542c\u89c9\u611f\u77e5；\u89e6\u89c9\u611f\u77e5；\u4e16\u754c\u6a21\u578b；\u9884\u6d4b\u7f16\u7801；\u8bed\u4e49\u5316\u4e16\u754c\u72b6\u6001；\u611f\u77e5\u95e8\u6237；\u9762\u5411\u903b\u8f91\u601d\u7ef4\u7a0b\u5e8f\u8bbe\u8ba1；\u4e03\u5c42\u8ba4\u77e5\u6a21\u578b<\/p>\n

\u4e2d\u56fe\u5206\u7c7b\u53f7：TP18；TP391\u3000\u3000\u6587\u732e\u6807\u5fd7\u7801：A<\/p>\n

\n

1 \u5f15\u8a00<\/h3>\n

1.1 \u5927\u8bed\u8a00\u6a21\u578b\u7684\u611f\u77e5\u5c40\u9650<\/h4>\n

\u5927\u8bed\u8a00\u6a21\u578b（LLM）\u5728\u8fc7\u53bb\u6570\u5e74\u95f4\u53d6\u5f97\u663e\u8457\u8fdb\u5c55：ChatGPT\u6380\u8d77\u5bf9\u8bdd\u5f0fAI\u6d6a\u6f6e，GPT-4\u3001Claude\u3001Qwen\u7b49\u6a21\u578b\u5728\u8bed\u8a00\u7406\u89e3\u3001\u4ee3\u7801\u751f\u6210\u4e0e\u77e5\u8bc6\u95ee\u7b54\u7b49\u9886\u57df\u8868\u73b0\u7a81\u51fa[1]\u3002Transformer\u67b6\u6784\u4ee5\u81ea\u6ce8\u610f\u529b\u673a\u5236\u6355\u6349\u957f\u7a0b\u4f9d\u8d56，\u6210\u4e3a\u73b0\u4ee3\u5927\u6a21\u578b\u7684\u57fa\u77f3[1]\u3002\u7136\u800c，LLM\u7684"\u611f\u77e5"\u5b58\u5728\u6839\u672c\u5c40\u9650：\u5b83\u4ee5\u6587\u672c\u4e3a\u552f\u4e00\u5165\u53e3，\u5c06\u4e00\u5207\u4fe1\u606f\u7f16\u7801\u4e3atoken\u5e8f\u5217\u2014\u2014\u56fe\u50cf\u88ab"\u7ffb\u8bd1"\u6210\u6587\u5b57\u63cf\u8ff0\u3001\u8bed\u97f3\u88ab"\u8f6c\u5f55"\u6210\u6587\u672c\u3001\u89e6\u89c9\u6570\u636e\u6839\u672c\u65e0\u6cd5\u8fdb\u5165[1,17]\u3002\u8fd9\u79cd"\u8bed\u8a00\u4e2d\u5fc3\u4e3b\u4e49"\u7684\u611f\u77e5\u5e26\u6765\u4e09\u4e2a\u95ee\u9898：\u5176\u4e00，\u4fe1\u606f\u635f\u5931\u2014\u2014\u4ece\u56fe\u50cf\u5230\u6587\u672c\u7684\u8f6c\u6362\u4e22\u5931\u4e86\u7a7a\u95f4\u7ec6\u8282\u3001\u989c\u8272\u68af\u5ea6\u4e0e\u52a8\u6001\u4fe1\u606f；\u5176\u4e8c，\u63a5\u5730\u7f3a\u5931\u2014\u2014LLM\u5b66\u4e60\u7684\u662f\u6587\u672c\u7edf\u8ba1\u5171\u73b0，\u800c\u975e\u7269\u7406\u4e16\u754c\u7684\u76f4\u63a5\u89c2\u6d4b，\u7f3a\u4e4f"\u63a5\u5730"（grounding）[4,17]；\u5176\u4e09，\u611f\u77e5-\u884c\u52a8\u65ad\u88c2\u2014\u2014LLM\u65e0\u6cd5\u76f4\u63a5\u611f\u77e5\u73af\u5883\u72b6\u6001，\u4e5f\u65e0\u6cd5\u5c06\u611f\u77e5\u7ed3\u679c\u8f6c\u5316\u4e3a\u7269\u7406\u884c\u52a8[5-6,19]\u3002\u4ea7\u4e1a\u754c\u5bf9\u8fd9\u4e00\u95ee\u9898\u5df2\u6709\u6e05\u9192\u8ba4\u8bc6：\u7269\u7406AI（Physical AI）\u88ab\u8ba4\u4e3a\u662fAI\u7684\u4e0b\u4e00\u7ad9，\u5176\u6838\u5fc3\u662f\u8ba9\u6a21\u578b\u7406\u89e3\u5e76\u9884\u6d4b\u771f\u5b9e\u4e16\u754c\u72b6\u6001，\u800c\u8fd9\u9996\u5148\u4f9d\u8d56\u591a\u6a21\u6001\u611f\u77e5\u7684\u7a81\u7834[22]\u3002\u674e\u98de\u98de\u63d0\u51fa\u7684"\u4e16\u754c\u6a21\u578b"\u529f\u80fd\u5206\u7c7b\u5b66\u4ea6\u5c06\u611f\u77e5（\u4e16\u754c\u7684"\u662f\u4ec0\u4e48"）\u4f5c\u4e3a\u4e16\u754c\u6a21\u578b\u4e09\u5927\u529f\u80fd\u4e4b\u9996[25]\u3002<\/p>\n

\u591a\u6a21\u6001\u5927\u6a21\u578b（\u5982GPT-4V\u3001Qwen-VL）\u90e8\u5206\u7f13\u89e3\u4e86\u524d\u4e24\u4e2a\u95ee\u9898：\u89c6\u89c9\u7f16\u7801\u5668\u5c06\u56fe\u50cf\u6620\u5c04\u5230\u8bed\u8a00\u6a21\u578b\u7684\u8bed\u4e49\u7a7a\u95f4，\u5b9e\u73b0\u4e86"\u770b\u56fe\u8bf4\u8bdd"[11]\u3002\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c（VLA）\u6a21\u578b\u8fdb\u4e00\u6b65\u5c06\u611f\u77e5\u4e0e\u884c\u52a8\u7edf\u4e00\u2014\u2014\u4eceRT-2\u5230OpenVLA，VLA\u5728\u673a\u5668\u4eba\u64cd\u4f5c\u4e2d\u5c55\u793a\u4e86"\u611f\u77e5-\u8bed\u8a00-\u52a8\u4f5c"\u7aef\u5230\u7aef\u6620\u5c04\u7684\u80fd\u529b[5-6]\u3002VLA\u7efc\u8ff0\u7814\u7a76\u6307\u51fa，VLA\u7684\u6838\u5fc3\u4f18\u52bf\u662f"\u7edf\u4e00\u8bed\u4e49\u7a7a\u95f4"（\u89c6\u89c9\u3001\u8bed\u8a00\u3001\u52a8\u4f5c\u5171\u4eab\u8868\u793a），\u4f46\u5c40\u9650\u662f\u611f\u77e5\u76ee\u6807\u4ecd\u670d\u52a1\u4e8e"\u52a8\u4f5c\u751f\u6210"\u800c\u975e"\u4e16\u754c\u72b6\u6001\u6784\u5efa"[5-6]\u3002\u8fd9\u4e00\u5c40\u9650\u6b63\u662f\u672c\u6587\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u8981\u7a81\u7834\u7684\u65b9\u5411：\u611f\u77e5\u5e94\u4ea7\u51fa"\u53ef\u4f9b\u63a8\u6f14\u7684\u4e16\u754c\u72b6\u6001"，\u800c\u975e\u4ec5"\u53ef\u4f9b\u6a21\u4eff\u7684\u52a8\u4f5c"（\u8be6\u89c1\u7b2c3\u7ae0）[5-6,17]\u3002\u4f46\u591a\u6a21\u6001LLM\u7684\u611f\u77e5\u4ecd\u4ee5"\u751f\u6210\u6587\u672c\u63cf\u8ff0"\u4e3a\u76ee\u6807，\u800c\u975e"\u6784\u5efa\u4e16\u754c\u72b6\u6001\u8868\u793a"\u2014\u2014\u5b83\u8f93\u51fa\u7684\u662f"\u63cf\u8ff0"，\u4e0d\u662f"\u72b6\u6001"[5,17]\u3002\u5bf9\u9700\u8981\u4e0e\u4e16\u754c\u4ea4\u4e92\u7684\u7c7b\u8111\u5927\u6a21\u578b\u800c\u8a00，\u611f\u77e5\u7684\u76ee\u6807\u662f：\u5c06\u591a\u6a21\u6001\u8f93\u5165\u8f6c\u5316\u4e3a\u53ef\u4f9b\u4e16\u754c\u6a21\u578b\u63a8\u6f14\u3001\u8ba4\u77e5\u63a8\u7406\u51b3\u7b56\u3001\u60c5\u611f\u8bc4\u4f30\u5224\u65ad\u7684\u7ed3\u6784\u5316\u4e16\u754c\u72b6\u6001[16-17]\u3002<\/p>\n

1.2 \u7c7b\u8111\u611f\u77e5\u7684\u542f\u793a\u4e0e\u9700\u6c42<\/h4>\n

\u751f\u7269\u611f\u77e5\u4e3a\u5de5\u7a0b\u611f\u77e5\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u542f\u793a[3,16]：\u4eba\u7c7b\u611f\u77e5\u662f\u4e3b\u52a8\u7684\u2014\u2014\u773c\u775b\u7684\u6ce8\u89c6\u70b9\u79fb\u52a8（saccade）\u3001\u5934\u90e8\u7684\u8f6c\u52a8\u3001\u624b\u7684\u89e6\u6478，\u90fd\u662f"\u4e3b\u52a8\u611f\u77e5"（active perception）\u800c\u975e\u88ab\u52a8\u63a5\u6536；\u4eba\u7c7b\u611f\u77e5\u662f\u9884\u6d4b\u6027\u7684\u2014\u2014\u5927\u8111\u6301\u7eed\u9884\u6d4b\u611f\u5b98\u8f93\u5165，\u4ec5\u5bf9\u9884\u6d4b\u8bef\u5dee（prediction error）\u8fdb\u884c\u7cbe\u7ec6\u52a0\u5de5（\u9884\u6d4b\u7f16\u7801\u7406\u8bba）[3]；\u4eba\u7c7b\u611f\u77e5\u662f\u591a\u6a21\u6001\u878d\u5408\u7684\u2014\u2014\u89c6\u89c9\u3001\u542c\u89c9\u3001\u89e6\u89c9\u3001\u672c\u4f53\u611f\u89c9\u534f\u540c\u6784\u5efa\u7edf\u4e00\u7684\u8eab\u4f53-\u4e16\u754c\u8868\u5f81[10,16]\u3002\u7c7b\u8111\u7814\u7a76（\u5982BriLLM\u7684SiFu\u975e\u8868\u5f81\u5b66\u4e60\u673a\u5236）\u4ea6\u63d0\u793a：\u5927\u8111\u7684\u611f\u77e5\u7ec4\u7ec7\u65b9\u5f0f\u662f"\u4fe1\u53f7\u6d41"\u5f0f\u7684\u2014\u2014\u4fe1\u606f\u5728\u5927\u8111\u4e2d\u4ee5\u591a\u8def\u5e76\u884c\u3001\u4ea4\u53c9\u878d\u5408\u7684\u65b9\u5f0f\u6d41\u52a8，\u800c\u975e\u5355\u4e00\u4e32\u884c\u5904\u7406[24]\u3002\u8fd9\u4e00\u542f\u793a\u652f\u6301\u672c\u6587"\u591a\u901a\u9053\u5e76\u884c+\u7edf\u4e00\u878d\u5408"\u7684\u611f\u77e5\u67b6\u6784\u8bbe\u8ba1[17,24]\u3002<\/p>\n

LOPD\u4e03\u5c42\u8ba4\u77e5\u6a21\u578b\u5c06\u611f\u77e5\u7ec4\u7ec7\u4e3a"\u611f\u77e5\u95e8\u6237"（L3）\u2014\u2014\u5bf9\u5916\u4e94\u611f（\u89c6\/\u542c\/\u55c5\/\u5473\/\u89e6，\u542b\u89e6\u89c9\u4e9a\u901a\u9053\u62c6\u5206）\u4e0e\u5185\u611f\u4e09\u901a\u9053（\u672c\u4f53\u611f\u89c9\/\u524d\u5ead\u611f\u89c9\/\u5185\u611f\u53d7）[16,18]\u3002\u611f\u77e5\u95e8\u6237\u662fL2\u80a2\u4f53\u5c42（\u4f20\u611f\u5668）\u4e0eL4\u795e\u7ecf\u5c42（\u5927\u8111）\u4e4b\u95f4\u7684\u63a5\u53e3：\u5b83\u5c06\u7269\u7406\u4fe1\u53f7\u8f6c\u5316\u4e3a\u8ba4\u77e5\u53ef\u7528\u7684\u4e16\u754c\u72b6\u6001[16-18]\u3002<\/p>\n

\u672c\u6587\u805a\u7126\u7c7b\u8111\u5927\u6a21\u578b\u5927\u8111\u4e94\u5b50\u7f51\u4e2d\u7684\u611f\u77e5\u7406\u89e3\u5b50\u7f51，\u5c06\u5176\u4ece"\u591a\u6a21\u6001\u7f16\u7801\u5668"\u5347\u7ef4\u4e3a\u5b8c\u6574\u7684\u611f\u77e5\u8ba4\u77e5\u5b50\u7cfb\u7edf：\u4ee5\u611f\u77e5\u95e8\u6237\u4e3a\u7ec4\u7ec7\u9aa8\u67b6，\u4ee5"\u5bf9\u8c61-\u5173\u7cfb-\u4e8b\u4ef6"\u4e09\u5143\u8bed\u4e49\u4e3a\u8f93\u51fa\u8868\u5f81，\u4ee5\u9884\u6d4b\u7f16\u7801\u4e3a\u5de5\u4f5c\u673a\u5236，\u4ee5\u4e16\u754c\u6a21\u578b\u4e3a\u9884\u6d4b\u5148\u9a8c\u6765\u6e90，\u6784\u5efa"\u611f\u77e5-\u9884\u6d4b-\u9a8c\u8bc1"\u95ed\u73af[16-17]\u3002\u4e0e\u7cfb\u5217\u8bba\u6587\u7684\u5173\u7cfb：\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u662f\u300a\u7c7b\u8111\u5927\u6a21\u578b\u5927\u8111\u90e8\u5206\u521d\u6b65\u8bbe\u8ba1\u300b\u4e2d\u4e94\u5b50\u7f51\u67b6\u6784\u7684\u611f\u77e5\u4fa7\u6df1\u5316\u4e13\u8bba[17]；\u5176\u611f\u77e5\u95e8\u6237\u8bbe\u8ba1\u6e90\u81ea\u300a\u8111\u7684\u8bbe\u8ba1\u300b\u7684L3\u611f\u77e5\u95e8\u6237\u7ae0\u8282[16]；\u5176\u8f93\u51fa\u4e0e\u4e16\u754c\u6a21\u578b\u5b50\u7f51\u3001\u8ba4\u77e5\u63a8\u7406\u5b50\u7f51\u3001\u60c5\u611f\u8bc4\u4f30\u5b50\u7f51\u3001\u53cd\u601d\u673a\u5236\u7684\u63a5\u53e3\u6784\u6210\u5927\u8111\u8ba4\u77e5\u95ed\u73af\u7684\u8f93\u5165\u4fa7[16-17,20]\u3002<\/p>\n

1.3 \u672c\u6587\u7684\u5b9a\u4f4d\u4e0e\u8d21\u732e<\/h4>\n

\u672c\u6587\u5c06\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u4f5c\u4e3a\u7c7b\u8111\u5927\u6a21\u578b"\u4f9d\u6258\u4e16\u754c\u6a21\u578b"\u8bbe\u8ba1\u7684\u611f\u77e5\u4fa7\u652f\u6491：\u611f\u77e5\u63d0\u4f9b\u4e16\u754c\u6a21\u578b\u7684\u5f53\u524d\u72b6\u6001\u8f93\u5165，\u4e16\u754c\u6a21\u578b\u63d0\u4f9b\u611f\u77e5\u7684\u9884\u6d4b\u5148\u9a8c\u2014\u2014\u4e8c\u8005\u6784\u6210\u53cc\u5411\u8026\u5408[4,17]\u3002<\/p>\n

\u672c\u6587\u7684\u5177\u4f53\u8d21\u732e\u5305\u62ec：\u2460\u63d0\u51fa\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u7684\u603b\u4f53\u67b6\u6784（\u56db\u7ea7\u5904\u7406\u6d41\u6c34\u7ebf+\u4e09\u7ea7\u878d\u5408+\u9884\u6d4b\u7f16\u7801\u95ed\u73af）；\u2461\u8bbe\u8ba1\u89c6\u89c9\u3001\u542c\u89c9\u3001\u89e6\u89c9\u4e0e\u5185\u611f\u56db\u5927\u611f\u77e5\u901a\u9053；\u2462\u7ed9\u51fa"\u5bf9\u8c61-\u5173\u7cfb-\u4e8b\u4ef6"\u4e09\u5143\u8bed\u4e49\u5316\u7684\u4e16\u754c\u72b6\u6001\u8868\u793a\u4e0e\u4e0d\u786e\u5b9a\u6027\u5efa\u6a21；\u2463\u8bbe\u8ba1\u611f\u77e5-\u4e16\u754c\u6a21\u578b\u53cc\u5411\u8026\u5408\u4e0e\u611f\u77e5-\u8ba4\u77e5\u63a5\u53e3；\u2464\u5efa\u7acb\u611f\u77e5\u8d28\u91cf\u4e94\u7ef4\u8bc4\u4f30\u4f53\u7cfb\u3002<\/p>\n

1.4 \u8bba\u6587\u7ed3\u6784<\/h4>\n

\u5168\u6587\u517110\u7ae0：\u7b2c2\u7ae0\u9610\u8ff0\u611f\u77e5\u7684\u7406\u8bba\u57fa\u7840（\u751f\u7269\u611f\u77e5\u3001\u9884\u6d4b\u7f16\u7801\u3001\u591a\u6a21\u6001\u611f\u77e5\u3001\u611f\u77e5\u95e8\u6237）；\u7b2c3\u7ae0\u7ed9\u51fa\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u603b\u4f53\u67b6\u6784；\u7b2c4\u7ae0\u8bbe\u8ba1\u89c6\u89c9\u611f\u77e5\u901a\u9053；\u7b2c5\u7ae0\u8bbe\u8ba1\u542c\u89c9\u611f\u77e5\u901a\u9053；\u7b2c6\u7ae0\u8bbe\u8ba1\u89e6\u89c9\u4e0e\u5185\u611f\u611f\u77e5\u901a\u9053；\u7b2c7\u7ae0\u8bbe\u8ba1\u591a\u6a21\u6001\u878d\u5408\u4e0e\u8bed\u4e49\u5316\u611f\u77e5；\u7b2c8\u7ae0\u8bbe\u8ba1\u611f\u77e5-\u8ba4\u77e5\u8026\u5408；\u7b2c9\u7ae0\u7ed9\u51fa\u8bc4\u4f30\u4e0e\u5e94\u7528；\u7b2c10\u7ae0\u603b\u7ed3\u5c55\u671b\u3002\u5404\u7ae0\u7684\u5199\u4f5c\u903b\u8f91：\u7406\u8bba\u57fa\u7840（\u7b2c2\u7ae0）\u56de\u7b54"\u611f\u77e5\u4e3a\u4ec0\u4e48\u8fd9\u6837\u8bbe\u8ba1"，\u67b6\u6784\u4e0e\u901a\u9053（\u7b2c3-7\u7ae0）\u56de\u7b54"\u611f\u77e5\u600e\u4e48\u8bbe\u8ba1"，\u8026\u5408（\u7b2c8\u7ae0）\u56de\u7b54"\u611f\u77e5\u5982\u4f55\u670d\u52a1\u8ba4\u77e5"，\u8bc4\u4f30\u4e0e\u5e94\u7528（\u7b2c9\u7ae0）\u56de\u7b54"\u611f\u77e5\u5982\u4f55\u9a8c\u8bc1\u4e0e\u843d\u5730"\u2014\u2014\u6784\u6210"\u4e3a\u4ec0\u4e48-\u662f\u4ec0\u4e48-\u600e\u4e48\u7528-\u600e\u4e48\u9a8c"\u7684\u5b8c\u6574\u8bba\u8ff0\u94fe[16-17]\u3002<\/p>\n

2 \u611f\u77e5\u7684\u7406\u8bba\u57fa\u7840<\/h3>\n

2.1 \u751f\u7269\u611f\u77e5\u7684\u539f\u7406<\/h4>\n

\u751f\u7269\u611f\u77e5\u7cfb\u7edf\u63d0\u4f9b\u4e86\u5de5\u7a0b\u611f\u77e5\u7684\u8bbe\u8ba1\u84dd\u672c[3,10,16]\u3002\u5176\u6838\u5fc3\u539f\u7406\u53ef\u5f52\u7eb3\u4e3a\u56db\u6761：<\/p>\n

\u5206\u5c42\u5904\u7406：\u611f\u89c9\u4fe1\u53f7\u6cbf\u76ae\u5c42\u5c42\u7ea7\u9010\u7ea7\u62bd\u8c61\u2014\u2014\u89c6\u89c9\u4ece\u89c6\u7f51\u819c\u7684\u50cf\u7d20\u7ea7\u7279\u5f81（\u8fb9\u7f18\u3001\u65b9\u5411）\u7ecfV1-V5\u9010\u7ea7\u63d0\u53d6（\u5f62\u72b6\u3001\u989c\u8272\u3001\u8fd0\u52a8\u3001\u5bf9\u8c61），\u5230\u989e\u53f6\u7684\u8bed\u4e49\u7ea7\u8bc6\u522b（\u9762\u5b54\u3001\u573a\u666f）[3,10]\u3002\u5206\u5c42\u5904\u7406\u7684\u5de5\u7a0b\u6620\u5c04：\u6df1\u5ea6\u7f51\u7edc\u7684\u5c42\u7ea7\u7ed3\u6784\u5929\u7136\u5bf9\u5e94\u611f\u77e5\u7684\u5206\u5c42\u62bd\u8c61\u2014\u2014\u5e95\u5c42\u5377\u79ef\u6355\u6349\u8fb9\u7f18\u7eb9\u7406，\u4e2d\u5c42\u6355\u6349\u90e8\u4ef6\u5f62\u72b6，\u9ad8\u5c42\u6355\u6349\u5bf9\u8c61\u8bed\u4e49[2,11]\u3002\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u7684\u56db\u7ea7\u6d41\u6c34\u7ebf\u5373\u5206\u5c42\u5904\u7406\u7684\u5de5\u7a0b\u5316：\u7279\u5f81\u63d0\u53d6\u5bf9\u5e94\u5e95\u5c42\u3001\u8bed\u4e49\u89e3\u6790\u5bf9\u5e94\u4e2d\u5c42\u3001\u60c5\u5883\u7406\u89e3\u5bf9\u5e94\u9ad8\u5c42[17]\u3002\u5206\u5c42\u5904\u7406\u4f7f\u611f\u77e5\u4ece"\u7279\u5f81"\u8d70\u5411"\u8bed\u4e49"\u3002<\/p>\n

\u4e3b\u52a8\u611f\u77e5：\u611f\u77e5\u5668\u5b98\u4e3b\u52a8\u91c7\u6837\u73af\u5883\u2014\u2014\u773c\u775b\u7684\u626b\u89c6\u3001\u8033\u6735\u7684\u671d\u5411\u3001\u624b\u7684\u89e6\u6478，\u90fd\u662f\u4e3b\u52a8\u83b7\u53d6\u4fe1\u606f\u7684\u52a8\u4f5c[10,16]\u3002\u4e3b\u52a8\u611f\u77e5\u7684\u5de5\u7a0b\u4ef7\u503c：\u88ab\u52a8\u611f\u77e5\u53d7\u9650\u4e8e"\u4f20\u611f\u5668\u6307\u5411\u54ea\u91cc"（\u6444\u50cf\u5934\u671d\u5411\u56fa\u5b9a\u533a\u57df），\u4e3b\u52a8\u611f\u77e5\u901a\u8fc7"\u611f\u77e5\u52a8\u4f5c"（\u79fb\u52a8\u4e91\u53f0\u3001\u8c03\u6574\u671d\u5411\u3001\u89e6\u89c9\u63a2\u67e5）\u6269\u5927\u611f\u77e5\u8986\u76d6\u4e0e\u7cbe\u5ea6[10,17]\u3002\u4e3b\u52a8\u611f\u77e5\u63d0\u793a\u5de5\u7a0b\u611f\u77e5\u5e94\u4e0e\u884c\u52a8\u8026\u5408（\u611f\u77e5\u9a71\u52a8\u884c\u52a8\u3001\u884c\u52a8\u5f15\u5bfc\u611f\u77e5）[16,19]\u3002<\/p>\n

\u9884\u6d4b\u7f16\u7801：\u5927\u8111\u6301\u7eed\u81ea\u4e0a\u800c\u4e0b\u5730\u9884\u6d4b\u611f\u5b98\u8f93\u5165，\u81ea\u4e0b\u800c\u4e0a\u7684\u8bef\u5dee\u4fe1\u53f7\u4ec5\u5728\u9884\u6d4b\u5931\u8d25\u65f6\u4f20\u64ad[3]\u3002Rao\u4e0eBallard\u7684\u7ecf\u5178\u5de5\u4f5c\u8868\u660e，\u89c6\u89c9\u76ae\u5c42\u5c42\u7ea7\u7ed3\u6784\u53ef\u7528\u9884\u6d4b\u7f16\u7801\u7edf\u4e00\u89e3\u91ca[3]\u3002\u9884\u6d4b\u7f16\u7801\u4f7f\u611f\u77e5\u9ad8\u6548（\u53ea\u5904\u7406\u610f\u5916）\u4e14\u9c81\u68d2（\u9884\u6d4b\u8865\u5145\u7f3a\u5931\u8f93\u5165）[3]\u3002<\/p>\n

\u591a\u6a21\u6001\u534f\u540c：\u89c6\u89c9\u3001\u542c\u89c9\u3001\u89e6\u89c9\u3001\u672c\u4f53\u611f\u89c9\u4ee5\u7edf\u4e00\u7684\u8eab\u4f53\u56fe\u5f0f（body schema）\u6574\u5408\u2014\u2014\u201c\u770b"\u4e0e"\u6478"\u7684\u7269\u4f53\u88ab\u8bc6\u522b\u4e3a\u540c\u4e00\u5bf9\u8c61[10,16]\u3002\u8eab\u4f53\u56fe\u5f0f（body schema）\u7684\u5de5\u7a0b\u5b9e\u73b0：\u4e16\u754c\u72b6\u6001\u4e2d\u7684"\u81ea\u6211\u5143\u7d20\u201d（\u81ea\u4f53\u4f4d\u59ff\u3001\u5173\u8282\u72b6\u6001）\u4e3a\u5404\u6a21\u6001\u63d0\u4f9b\u7edf\u4e00\u7684\u5750\u6807\u7cfb\u2014\u2014\u89c6\u89c9\u7684"\u7269\u4f53\u5728\u89c6\u91ce\u4e2d\u592e"\u3001\u89e6\u89c9\u7684"\u624b\u63a5\u89e6\u7269\u4f53"\u3001\u672c\u4f53\u7684"\u624b\u5728\u7269\u4f53\u4f4d\u7f6e"，\u5728\u81ea\u6211\u5750\u6807\u7cfb\u4e2d\u7edf\u4e00\u4e3a"\u7269\u4f53\u5728\u6211\u624b\u8fb9"[16-17]\u3002\u591a\u611f\u5b98\u667a\u80fd（multisensory intelligence）\u7814\u7a76\u6307\u51fa，\u591a\u6a21\u6001\u534f\u540c\u611f\u77e5\u662f\u901a\u5411\u901a\u7528\u611f\u77e5\u7684\u65b9\u5411[10]\u3002\u591a\u6a21\u6001\u534f\u540c\u4ea7\u751f"\u8d85\u52a0\u6027"（supra-additive）\u6548\u5e94：\u591a\u6a21\u6001\u4fe1\u606f\u8054\u5408\u7684\u611f\u77e5\u4f18\u4e8e\u5355\u6a21\u6001\u4e4b\u548c[10,12]\u3002\u8d85\u52a0\u6027\u6548\u5e94\u7684\u5de5\u7a0b\u542b\u4e49：\u591a\u6a21\u6001\u878d\u5408\u4e0d\u4ec5\u662f"\u4fe1\u606f\u53e0\u52a0"，\u66f4\u662f"\u4fe1\u606f\u4e92\u8865"\u2014\u2014\u89c6\u89c9\u63d0\u4f9b"\u662f\u4ec0\u4e48"，\u89e6\u89c9\u63d0\u4f9b"\u6478\u8d77\u6765\u5982\u4f55"，\u672c\u4f53\u63d0\u4f9b"\u6211\u5982\u4f55\u52a8\u4f5c"，\u4e09\u8005\u4e92\u8865\u6784\u6210\u5b8c\u6574\u7684\u4e16\u754c\u8ba4\u77e5[10,12,16-17]\u3002<\/p>\n

2.2 \u9884\u6d4b\u7f16\u7801\u7406\u8bba<\/h4>\n

\u9884\u6d4b\u7f16\u7801（predictive coding）\u662f\u7406\u89e3\u611f\u77e5\u673a\u5236\u7684\u6838\u5fc3\u6846\u67b6[3]\u3002\u5176\u57fa\u672c\u601d\u60f3：\u611f\u77e5\u7cfb\u7edf\u7ef4\u62a4\u5bf9\u4e16\u754c\u7684\u751f\u6210\u6a21\u578b，\u6301\u7eed\u9884\u6d4b\u611f\u5b98\u8f93\u5165；\u611f\u77e5\u8fc7\u7a0b=\u7528\u9884\u6d4b\u8bef\u5dee\u4fee\u6b63\u751f\u6210\u6a21\u578b\u3002\u5f62\u5f0f\u5316：\u8bbehatx\\\\\\\\hat{x}<\/span><\/span><\/span>ha<\/span>t<\/span>x<\/span><\/span><\/span><\/span><\/span><\/span>\u4e3a\u5bf9\u8f93\u5165xx<\/span><\/span>x<\/span><\/span><\/span><\/span><\/span>\u7684\u9884\u6d4b，\u8bef\u5deee=x\u2212hatxe = x – \\\\\\\\hat{x}<\/span><\/span>e<\/span><\/span>=<\/span><\/span><\/span><\/span>x<\/span><\/span>\u2212<\/span><\/span><\/span><\/span>ha<\/span>t<\/span>x<\/span><\/span><\/span><\/span><\/span><\/span>\u81ea\u4e0b\u800c\u4e0a\u4f20\u64ad，\u751f\u6210\u6a21\u578b\u81ea\u4e0a\u800c\u4e0b\u66f4\u65b0[3]\u3002<\/p>\n

\u9884\u6d4b\u7f16\u7801\u5bf9\u5de5\u7a0b\u611f\u77e5\u7684\u4e09\u70b9\u542f\u793a[3,4,17]：<\/p>\n

\u611f\u77e5\u5373\u63a8\u65ad：\u611f\u77e5\u4e0d\u662f"\u4ece\u50cf\u7d20\u5230\u6807\u7b7e"\u7684\u5355\u5411\u6620\u5c04，\u800c\u662f"\u7528\u6a21\u578b\u89e3\u91ca\u8f93\u5165"\u7684\u63a8\u65ad\u8fc7\u7a0b\u2014\u2014\u611f\u77e5\u8f93\u51fa\u5e94\u643a\u5e26\u89e3\u91ca（\u4e3a\u4ec0\u4e48\u8ba4\u4e3a\u662f\u8fd9\u4e2a\u5bf9\u8c61）[3]\u3002\u5de5\u7a0b\u542b\u4e49：\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u5e94\u7ef4\u62a4"\u89e3\u91ca\u6a21\u578b"（\u5bf9\u8c61-\u5173\u7cfb-\u4e8b\u4ef6\u7684\u751f\u6210\u6a21\u578b），\u611f\u77e5\u8fc7\u7a0b\u5373\u7528\u8be5\u6a21\u578b\u89e3\u91ca\u8f93\u5165\u4fe1\u53f7\u2014\u2014\u8f93\u51fa\u4e0d\u4ec5\u5305\u62ec"\u662f\u4ec0\u4e48"，\u8fd8\u5305\u62ec"\u4e3a\u4ec0\u4e48\u662f"（\u89e3\u91ca\u8def\u5f84）[17]\u3002\u89e3\u91ca\u8def\u5f84\u652f\u6491\u53ef\u89e3\u91ca\u611f\u77e5（\u611f\u77e5\u51b3\u7b56\u53ef\u8ffd\u6eaf）\u4e0e\u4e3b\u52a8\u611f\u77e5（\u89e3\u91ca\u4e0d\u786e\u5b9a\u65f6\u4e3b\u52a8\u91c7\u6837）[3,17]\u3002<\/p>\n

\u9884\u6d4b\u5373\u7ea6\u675f：\u9ad8\u5c42\u9884\u6d4b\u7ea6\u675f\u4f4e\u5c42\u5904\u7406\u2014\u2014\u201c\u9884\u671f\u8fd9\u91cc\u6709\u676f\u5b50"\u52a0\u901f"\u770b\u5230\u676f\u5b50\u201d[3]\u3002\u5de5\u7a0b\u5b9e\u73b0：\u4e16\u754c\u6a21\u578b\u7684\u9884\u6d4b\u5148\u9a8c\u8c03\u5236\u611f\u77e5\u5904\u7406（\u8be6\u89c1\u7b2c8\u7ae0）[17]\u3002<\/p>\n

\u8bef\u5dee\u5373\u4fe1\u53f7：\u9884\u6d4b\u8bef\u5dee\u662f\u5b66\u4e60\u4e0e\u6ce8\u610f\u7684\u4fe1\u53f7\u2014\u2014\u611f\u77e5\u7cfb\u7edf\u5e94\u805a\u7126"\u610f\u5916"（\u9884\u6d4b\u8bef\u5dee\u5927\u7684\u533a\u57df）[3]\u3002\u5de5\u7a0b\u5b9e\u73b0：\u6ce8\u610f\u529b\u673a\u5236\u4ee5\u9884\u6d4b\u8bef\u5dee\u4e3a\u7ebf\u7d22\u5206\u914d\u7b97\u529b[3,17]\u3002<\/p>\n

2.3 \u591a\u6a21\u6001\u611f\u77e5\u7684\u8ba1\u7b97\u57fa\u7840<\/h4>\n

\u591a\u6a21\u6001\u611f\u77e5\u7684\u5de5\u7a0b\u5b9e\u73b0\u5efa\u7acb\u5728\u6df1\u5ea6\u5b66\u4e60\u7684\u591a\u6a21\u6001\u8868\u793a\u5b66\u4e60\u4e4b\u4e0a[8-12]\u3002\u591a\u6a21\u6001\u8868\u793a\u5b66\u4e60\u7684\u6838\u5fc3\u95ee\u9898：\u5f02\u6784\u6a21\u6001\u5982\u4f55\u5728\u7edf\u4e00\u7a7a\u95f4\u4e2d\u8868\u793a\u4e0e\u8fd0\u7b97\u2014\u2014\u201c\u56fe\u50cf\u662f\u50cf\u7d20\u77e9\u9635\u3001\u58f0\u97f3\u662f\u6ce2\u5f62\u3001\u89e6\u89c9\u662f\u538b\u529b\u5206\u5e03\u201d，\u5b83\u4eec\u6ca1\u6709\u5929\u7136\u7684\u516c\u5171\u5ea6\u91cf，\u9700\u901a\u8fc7\u5b66\u4e60\u5efa\u7acb\u8de8\u6a21\u6001\u7684\u8bed\u4e49\u5bf9\u5e94[8,11]\u3002\u5177\u8eab\u667a\u80fd\u7684\u591a\u4f20\u611f\u5668\u878d\u5408\u611f\u77e5\u7814\u7a76\u7cfb\u7edf\u68b3\u7406\u4e86\u8fd9\u4e00\u95ee\u9898\u7684\u89e3\u51b3\u65b9\u6848：\u4ece\u7279\u5f81\u7ea7\u5230\u51b3\u7b56\u7ea7\u7684\u591a\u7ea7\u878d\u5408\u3001\u4ece\u9759\u6001\u878d\u5408\u5230\u52a8\u6001\u878d\u5408（\u878d\u5408\u7b56\u7565\u968f\u573a\u666f\u53d8\u5316）[8]\u3002\u6838\u5fc3\u6280\u672f\u5305\u62ec：<\/p>\n

\u6a21\u6001\u7f16\u7801：\u5404\u6a21\u6001\u72ec\u7acb\u7684\u7279\u5f81\u63d0\u53d6\u2014\u2014\u89c6\u89c9（ViT\/CNN）[2,11]\u3001\u542c\u89c9（\u58f0\u5b66\u7279\u5f81+\u65f6\u5e8f\u6a21\u578b）[15]\u3001\u89e6\u89c9（\u89e6\u89c9\u56fe\u50cf+CNN）[7,9]\u3002\u6a21\u6001\u7f16\u7801\u7684\u5de5\u7a0b\u8981\u70b9：\u5404\u6a21\u6001\u7684\u91c7\u6837\u7387\u4e0d\u540c（\u89c6\u89c930 fps\u3001\u97f3\u989116 kHz\u3001\u89e6\u89c9100 Hz），\u9700\u7edf\u4e00\u65f6\u95f4\u57fa\u51c6\u4e0e\u540c\u6b65[8,12]；\u5404\u6a21\u6001\u7684\u7279\u5f81\u7ef4\u5ea6\u4e0d\u540c（\u89c6\u89c9\u9ad8\u7ef4\u3001\u89e6\u89c9\u4f4e\u7ef4），\u9700\u7ef4\u5ea6\u9002\u914d[8,12]\u3002<\/p>\n

\u6a21\u6001\u5bf9\u9f50：\u5c06\u5f02\u6784\u6a21\u6001\u6620\u5c04\u5230\u7edf\u4e00\u8bed\u4e49\u7a7a\u95f4\u2014\u2014CLIP\u7c7b\u5bf9\u6bd4\u5b66\u4e60（\u56fe\u50cf-\u6587\u672c\u5bf9\u9f50）\u3001AudioCLIP（\u97f3\u9891-\u6587\u672c\u5bf9\u9f50）[8,11]\u3002\u5bf9\u9f50\u7a7a\u95f4\u7684\u6784\u5efa：\u4ee5\u8bed\u4e49\u4e3a\u951a（\u201c\u732b"\u7684\u56fe\u50cf\u3001\u58f0\u97f3\u3001\u6587\u5b57\u63cf\u8ff0\u5728\u5d4c\u5165\u7a7a\u95f4\u90bb\u8fd1）\u2014\u2014\u5bf9\u9f50\u4f7f"\u770b\u56fe\u8bf4\u8bdd\u201d\u201c\u542c\u58f0\u8fa8\u7269"\u6210\u4e3a\u53ef\u80fd[8,11]\u3002\u5bf9\u9f50\u7684\u5c40\u9650：\u5bf9\u6bd4\u5b66\u4e60\u5bf9\u9f50\u7684\u662f"\u5173\u8054"\u800c\u975e"\u56e0\u679c\u201d（\u56fe\u50cf\u4e0e\u6587\u5b57\u5173\u8054\u2260\u7406\u89e3\u56fe\u50cf\u5185\u5bb9）\u2014\u2014\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u9700\u5728\u8bed\u4e49\u7ea7（\u5bf9\u8c61-\u5173\u7cfb-\u4e8b\u4ef6）\u8d85\u8d8a\u5173\u8054\u5bf9\u9f50[11,17]\u3002<\/p>\n

\u6a21\u6001\u878d\u5408：\u7279\u5f81\u7ea7（\u62fc\u63a5\/\u6ce8\u610f\u529b）\u3001\u8bed\u4e49\u7ea7（\u8bed\u4e49\u5bf9\u9f50\u540e\u878d\u5408）\u3001\u51b3\u7b56\u7ea7（\u5404\u6a21\u6001\u72ec\u7acb\u51b3\u7b56\u540e\u6295\u7968\/\u52a0\u6743）[8,12]\u3002<\/p>\n

\u591a\u6a21\u6001\u611f\u77e5\u7684\u6311\u6218：\u6a21\u6001\u7f3a\u5931（\u67d0\u4f20\u611f\u5668\u5931\u6548）\u3001\u6a21\u6001\u51b2\u7a81（\u5404\u6a21\u6001\u4fe1\u606f\u77db\u76fe）\u3001\u6a21\u6001\u6821\u51c6（\u65f6\u95f4\/\u7a7a\u95f4\u5bf9\u9f50）\u3001\u8ba1\u7b97\u5f00\u9500[8,10,12]\u3002\u6a21\u6001\u7f3a\u5931\u7684\u5e94\u5bf9：\u6a21\u6001\u63a9\u7801\u8bad\u7ec3（\u8bad\u7ec3\u65f6\u968f\u673a\u4e22\u5f03\u6a21\u6001，\u6a21\u578b\u5b66\u4f1a\u5355\u6a21\u6001\/\u5c11\u6a21\u6001\u5de5\u4f5c）[8,12]\u3002\u6a21\u6001\u51b2\u7a81\u7684\u5e94\u5bf9：\u7f6e\u4fe1\u5ea6\u4ef2\u88c1（\u9ad8\u7f6e\u4fe1\u6a21\u6001\u4e3b\u5bfc）+\u4e3b\u52a8\u590d\u6838（\u51b2\u7a81\u65f6\u91cd\u65b0\u89c2\u6d4b）[8,12,17]\u3002\u6a21\u6001\u6821\u51c6\u7684\u5e94\u5bf9：\u4f20\u611f\u5668\u65f6\u95f4\u540c\u6b65（\u786c\u4ef6\u89e6\u53d1\/\u8f6f\u4ef6\u5bf9\u9f50）+\u7a7a\u95f4\u6807\u5b9a（\u5916\u53c2\u6807\u5b9a\u5c06\u5404\u4f20\u611f\u5668\u7edf\u4e00\u5230\u4e16\u754c\u5750\u6807\u7cfb）[8,12]\u3002\u591a\u6a21\u6001\u611f\u77e5\u4e0e\u4eba\u673a\u4ea4\u4e92\u51b3\u7b56\u7684\u7ed3\u5408（MPDDM）\u662f\u8fd1\u5e74\u7814\u7a76\u70ed\u70b9：\u611f\u77e5-\u51b3\u7b56\u6574\u5408\u6846\u67b6\u5728\u52a8\u6001\u73af\u5883\u4e2d\u4f18\u5316"\u4f55\u65f6\u611f\u77e5\u3001\u611f\u77e5\u4ec0\u4e48\u3001\u5982\u4f55\u51b3\u7b56"\u2014\u2014\u8fd9\u4e00\u6846\u67b6\u4e0e\u672c\u6587"\u611f\u77e5\u4e3a\u8ba4\u77e5\u670d\u52a1"\u7684\u539f\u5219\u4e00\u81f4[12]\u3002\u4e16\u754c\u5927\u6a21\u578b\u7684\u7406\u8bba\u7814\u7a76\u8fdb\u4e00\u6b65\u6307\u51fa：\u611f\u77e5\u8868\u5f81\u4e0e\u9884\u6d4b\u5efa\u6a21\u5e94\u7edf\u4e00（\u201c\u611f\u77e5-\u9884\u6d4b\u4e00\u4f53\u5316\u201d），\u624d\u80fd\u652f\u6491\u4ece\u9759\u6001\u6570\u636e\u5206\u5e03\u5b66\u4e60\u5230\u52a8\u6001\u4e16\u754c\u5efa\u6a21\u7684\u8303\u5f0f\u8dc3\u8fc1[22]\u3002<\/p>\n

2.4 \u611f\u77e5\u95e8\u6237：LOPD\u4e03\u5c42\u4e2d\u7684\u611f\u77e5\u7ec4\u7ec7<\/h4>\n

LOPD\u4e03\u5c42\u8ba4\u77e5\u6a21\u578b\u5c06\u611f\u77e5\u7ec4\u7ec7\u4e3a\u611f\u77e5\u95e8\u6237（L3）[16,18]：\u5bf9\u5916\u4e94\u611f\u2014\u2014\u89c6\u89c9（\u89c6）\u3001\u542c\u89c9（\u542c）\u3001\u55c5\u89c9（\u55c5）\u3001\u5473\u89c9（\u5473）\u3001\u89e6\u89c9（\u89e6，\u542b\u89e6\u89c9\u4e9a\u901a\u9053\u62c6\u5206：\u538b\u529b\/\u6e29\u5ea6\/\u7eb9\u7406\/\u75bc\u75db）；\u5185\u611f\u4e09\u901a\u9053\u2014\u2014\u672c\u4f53\u611f\u89c9（\u8eab\u4f53\u4f4d\u5f62）\u3001\u524d\u5ead\u611f\u89c9（\u5e73\u8861\u4e0e\u52a0\u901f\u5ea6）\u3001\u5185\u611f\u53d7（\u751f\u7406\u72b6\u6001）[16]\u3002<\/p>\n

\u611f\u77e5\u95e8\u6237\u662fL2\u80a2\u4f53\u5c42（\u4f20\u611f\u5668\u9635\u5217）\u4e0eL4\u795e\u7ecf\u5c42（\u611f\u77e5\u7406\u89e3\u5b50\u7f51）\u4e4b\u95f4\u7684\u63a5\u53e3[16-18]：L2\u63d0\u4f9b\u7269\u7406\u4fe1\u53f7（\u50cf\u7d20\u6d41\u3001\u58f0\u6ce2\u3001\u538b\u529b\u5206\u5e03），L3\u7ec4\u7ec7\u4fe1\u53f7\u4e3a\u611f\u77e5\u901a\u9053（\u89c6\u89c9\u6d41\u3001\u542c\u89c9\u6d41\u3001\u89e6\u89c9\u6d41\u3001\u672c\u4f53\u6d41），L4\u7684\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u5c06\u611f\u77e5\u901a\u9053\u8f6c\u5316\u4e3a\u4e16\u754c\u72b6\u6001[16-17]\u3002\u611f\u77e5\u95e8\u6237\u7684\u8bbe\u8ba1\u9075\u5faa"\u6700\u5c0f\u611f\u77e5\u8868\u5f81"\u539f\u5219：\u4ee5\u5b8c\u6210\u4efb\u52a1\u6240\u9700\u7684\u6700\u5c11\u4fe1\u606f\u91cf\u4e3a\u611f\u77e5\u76ee\u6807，\u907f\u514d\u65e0\u5dee\u522b\u5168\u91cf\u611f\u77e5[16-17]\u3002\u8be5\u539f\u5219\u4e0e\u6ce8\u610f\u529b\u673a\u5236\u534f\u540c：\u611f\u77e5\u95e8\u6237\u6309\u8ba4\u77e5\u9700\u6c42\u9009\u62e9\u6fc0\u6d3b\u901a\u9053（\u4efb\u52a1\u9700\u8981\u89c6\u89c9\u65f6\u4f18\u5148\u89c6\u89c9\u901a\u9053）[17]\u3002\u88681\u7ed9\u51fa\u611f\u77e5\u95e8\u6237\u7684\u901a\u9053\u5212\u5206\u4e0e\u5bf9\u5e94\u4f20\u611f\u5668\u3002<\/p>\n

\u88681 \u611f\u77e5\u95e8\u6237\u901a\u9053\u5212\u5206<\/p>\n\n\u901a\u9053\u7c7b\u578b\u611f\u77e5\u901a\u9053\u751f\u7269\u5bf9\u5e94\u5de5\u7a0b\u4f20\u611f\u5668<\/tr>\n\n\n\n\n\n\n\n\n\n
\u5bf9\u5916\u4e94\u611f<\/td>\n\u89c6\u89c9<\/td>\n\u89c6\u89c9\u76ae\u5c42V1-V5<\/td>\n\u6444\u50cf\u5934\u3001\u6df1\u5ea6\u76f8\u673a\u3001\u6fc0\u5149\u96f7\u8fbe<\/td>\n<\/tr>\n
\u5bf9\u5916\u4e94\u611f<\/td>\n\u542c\u89c9<\/td>\n\u542c\u89c9\u76ae\u5c42<\/td>\n\u9ea6\u514b\u98ce\u9635\u5217<\/td>\n<\/tr>\n
\u5bf9\u5916\u4e94\u611f<\/td>\n\u89e6\u89c9<\/td>\n\u4f53\u611f\u76ae\u5c42S1<\/td>\n\u89e6\u89c9\u9635\u5217\u3001\u529b\u4f20\u611f\u5668\u3001\u6e29\u5ea6\u4f20\u611f<\/td>\n<\/tr>\n
\u5bf9\u5916\u4e94\u611f<\/td>\n\u55c5\u89c9<\/td>\n\u55c5\u7403<\/td>\n\u6c14\u4f53\u4f20\u611f\u5668\u9635\u5217<\/td>\n<\/tr>\n
\u5bf9\u5916\u4e94\u611f<\/td>\n\u5473\u89c9<\/td>\n\u5473\u89c9\u76ae\u5c42<\/td>\n\u5316\u5b66\u4f20\u611f\u5668（\u7279\u6b8a\u573a\u666f）<\/td>\n<\/tr>\n
\u5185\u611f\u4e09\u901a\u9053<\/td>\n\u672c\u4f53\u611f\u89c9<\/td>\n\u808c\u68ad\/\u8171\u5668\u5b98<\/td>\n\u7f16\u7801\u5668\u3001IMU\u3001\u5173\u8282\u7535\u6d41<\/td>\n<\/tr>\n
\u5185\u611f\u4e09\u901a\u9053<\/td>\n\u524d\u5ead\u611f\u89c9<\/td>\n\u534a\u89c4\u7ba1\/\u8033\u77f3<\/td>\nIMU\u3001\u60ef\u6027\u5bfc\u822a<\/td>\n<\/tr>\n
\u5185\u611f\u4e09\u901a\u9053<\/td>\n\u5185\u611f\u53d7<\/td>\n\u81ea\u4e3b\u795e\u7ecf<\/td>\n\u6e29\u5ea6\u3001\u5fc3\u7387\u3001\u7535\u91cf\u76d1\u6d4b<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

2.5 \u611f\u77e5\u7684\u54f2\u5b66\u95ee\u9898：\u611f\u77e5\u4e0e\u5b9e\u5728<\/h4>\n

\u611f\u77e5\u7684\u54f2\u5b66\u95ee\u9898\u4e3a\u5de5\u7a0b\u611f\u77e5\u63d0\u4f9b\u6df1\u5c42\u601d\u8003[3,17]：\u611f\u77e5\u662f\u5426\u5fe0\u5b9e\u53cd\u6620\u4e16\u754c（\u611f\u77e5=\u4e16\u754c\u7684\u6620\u50cf vs \u611f\u77e5=\u6a21\u578b\u7684\u89e3\u91ca）\u2014\u2014\u9884\u6d4b\u7f16\u7801\u7acb\u573a：\u611f\u77e5\u662f"\u6a21\u578b\u5bf9\u8f93\u5165\u7684\u6700\u4f73\u89e3\u91ca"，\u800c\u975e\u4e16\u754c\u7684\u76f4\u63a5\u6620\u50cf[3,17]；\u611f\u77e5\u7684\u4e0d\u53ef\u9760\u6027（\u9519\u89c9\u3001\u5e7b\u89c9）\u2014\u2014\u5de5\u7a0b\u542b\u4e49：\u611f\u77e5\u8f93\u51fa\u5fc5\u987b\u643a\u5e26\u4e0d\u786e\u5b9a\u6027（\u7b2c3\u7ae0），\u4e0b\u6e38\u51b3\u7b56\u4e0d\u53ef\u76f2\u76ee\u4fe1\u4efb\u611f\u77e5[17]；\u611f\u77e5\u7684\u4e3b\u89c2\u6027（\u540c\u4e00\u573a\u666f\u4e0d\u540c\u4e2a\u4f53\u611f\u77e5\u4e0d\u540c）\u2014\u2014\u5de5\u7a0b\u542b\u4e49：\u611f\u77e5\u7684"\u4e2a\u4f53\u5316"（\u6309\u4efb\u52a1\u9700\u6c42\u4e0e\u5386\u53f2\u7ecf\u9a8c\u914d\u7f6e\u611f\u77e5\u504f\u597d）[17]\u3002\u8fd9\u4e9b\u54f2\u5b66\u95ee\u9898\u4e0d\u662f\u601d\u8fa8\u6e38\u620f\u2014\u2014\u5b83\u4eec\u51b3\u5b9a\u4e86\u611f\u77e5\u7cfb\u7edf\u7684\u8bbe\u8ba1\u6001\u5ea6：\u8bda\u5b9e（\u62a5\u544a\u4e0d\u786e\u5b9a\u6027）\u3001\u8c26\u900a（\u627f\u8ba4\u5c40\u9650）\u3001\u53ef\u7ea0\u9519（\u53cd\u601d\u673a\u5236\u6821\u51c6）[3,17]\u3002<\/p>\n

3 \u611f\u77e5\u7406\u89e3\u5b50\u7f51\u7684\u603b\u4f53\u67b6\u6784<\/h3>\n

3.1 \u8bbe\u8ba1\u54f2\u5b66：\u611f\u77e5\u662f\u6784\u5efa\u4e16\u754c\u72b6\u6001\u800c\u975e\u751f\u6210\u63cf\u8ff0<\/h4>\n

\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u7684\u8bbe\u8ba1\u9075\u5faa\u4e09\u6761\u54f2\u5b66\u539f\u5219[16-17]：<\/p>\n

\u539f\u5219\u4e00：\u611f\u77e5\u8f93\u51fa\u72b6\u6001\u800c\u975e\u63cf\u8ff0\u3002LLM\u611f\u77e5\u8f93\u51fa"\u8fd9\u662f\u4e00\u53ea\u732b\u5750\u5728\u6905\u5b50\u4e0a"（\u63cf\u8ff0），\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u8f93\u51fa\u7ed3\u6784\u5316\u7684\u4e16\u754c\u72b6\u6001{\u5bf9\u8c61:\u732b, \u4f4d\u7f6e:\u6905\u5b50, \u59ff\u6001:\u5750}（\u72b6\u6001）[17]\u3002\u72b6\u6001\u8868\u793a\u53ef\u76f4\u63a5\u4f9b\u4e16\u754c\u6a21\u578b\u63a8\u6f14（\u201c\u732b\u8df3\u4e0b\u6905\u5b50\u2192\u4ec0\u4e48\u540e\u679c\u201d）[4,17]\u3002<\/p>\n

\u539f\u5219\u4e8c：\u611f\u77e5\u662f\u9884\u6d4b\u68c0\u9a8c\u800c\u975e\u88ab\u52a8\u63a5\u6536\u3002\u611f\u77e5\u8fc7\u7a0b\u4ee5\u4e16\u754c\u6a21\u578b\u7684\u9884\u6d4b\u4e3a\u5148\u9a8c，\u4ee5\u611f\u77e5\u8f93\u5165\u4e3a\u8bc1\u636e，\u8f93\u51fa"\u9884\u6d4b\u4e0e\u8bc1\u636e\u7684\u6700\u4f73\u89e3\u91ca"（\u9884\u6d4b\u7f16\u7801）[3,17]\u3002\u611f\u77e5\u4e0d\u662f"\u770b\u4ec0\u4e48\u4fe1\u4ec0\u4e48"，\u800c\u662f"\u9884\u6d4b\u4ec0\u4e48\u3001\u68c0\u9a8c\u4ec0\u4e48"\u3002<\/p>\n

\u539f\u5219\u4e09：\u611f\u77e5\u4e3a\u8ba4\u77e5\u670d\u52a1\u3002\u611f\u77e5\u7684\u52a0\u5de5\u6df1\u5ea6\u6309\u8ba4\u77e5\u9700\u6c42\u52a8\u6001\u8c03\u6574\u2014\u2014\u7d27\u6025\u4efb\u52a1（\u907f\u969c）\u5feb\u901f\u4f4e\u5c42\u611f\u77e5，\u590d\u6742\u4efb\u52a1（\u573a\u666f\u7406\u89e3）\u6df1\u5ea6\u8bed\u4e49\u611f\u77e5[16-17]\u3002\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u7ecfGWS\u63a5\u6536\u8ba4\u77e5\u9700\u6c42\u7684"\u611f\u77e5\u4efb\u52a1\u6307\u4ee4"，\u6309\u9700\u914d\u7f6e\u5904\u7406\u6df1\u5ea6[17]\u3002\u4e09\u6761\u539f\u5219\u5171\u540c\u786e\u7acb\u4e86\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u7684\u8bbe\u8ba1\u8fb9\u754c：\u5b83\u4e0d\u662f"\u901a\u7528\u89c6\u89c9\u7cfb\u7edf"（\u8f93\u51fa\u4e00\u5207\u4fe1\u606f），\u800c\u662f"\u8ba4\u77e5\u9a71\u52a8\u7684\u611f\u77e5\u5b50\u7cfb\u7edf"（\u8f93\u51fa\u8ba4\u77e5\u6240\u9700\u7684\u4e16\u754c\u72b6\u6001）[17]\u3002\u8fd9\u4e00\u8fb9\u754c\u4f7f\u611f\u77e5\u8ba1\u7b97\u805a\u7126\u4e8e\u4efb\u52a1\u76f8\u5173\u533a\u57df，\u663e\u8457\u964d\u4f4e\u7b97\u529b\u5f00\u9500\u2014\u2014\u5bf9\u5e94"\u6700\u5c0f\u611f\u77e5\u8868\u5f81"\u539f\u5219\u7684\u5de5\u7a0b\u5b9e\u73b0[16-17]\u3002<\/p>\n

3.2 \u56db\u7ea7\u5904\u7406\u6d41\u6c34\u7ebf<\/h4>\n

\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u91c7\u7528"\u611f\u77e5\u901a\u9053\u2192\u7279\u5f81\u63d0\u53d6\u2192\u8bed\u4e49\u89e3\u6790\u2192\u60c5\u5883\u7406\u89e3"\u56db\u7ea7\u5904\u7406\u6d41\u6c34\u7ebf[16-17]：\u56db\u7ea7\u6d41\u6c34\u7ebf\u7684\u8bbe\u8ba1\u4f9d\u636e\u662f\u751f\u7269\u611f\u77e5\u7684\u5206\u5c42\u62bd\u8c61（\u7b2c2\u7ae02.1）\u2014\u2014\u4ece\u7269\u7406\u4fe1\u53f7\u5230\u8bed\u4e49\u72b6\u6001\u7684\u6e10\u8fdb\u62bd\u8c61，\u6bcf\u4e00\u7ea7\u8f93\u51fa\u662f\u4e0b\u4e00\u7ea7\u7684\u8f93\u5165[3,17]\u3002\u6d41\u6c34\u7ebf\u7684\u6570\u636e\u6d41：\u7269\u7406\u4fe1\u53f7（L2\u4f20\u611f\u5668）\u2192\u901a\u9053\u5316\u4fe1\u53f7\u6d41（L3\u611f\u77e5\u95e8\u6237）\u2192\u7279\u5f81\u5f20\u91cf（\u7b2c\u4e8c\u7ea7）\u2192\u8bed\u4e49\u5143\u7d20（\u7b2c\u4e09\u7ea7）\u2192\u4e16\u754c\u72b6\u6001（\u7b2c\u56db\u7ea7）[16-17]\u3002<\/p>\n

\u7b2c\u4e00\u7ea7：\u611f\u77e5\u901a\u9053（Perception Channel）\u2014\u2014\u63a5\u6536L3\u611f\u77e5\u95e8\u6237\u7684\u539f\u59cb\u4fe1\u53f7\u6d41，\u5b8c\u6210\u9884\u5904\u7406（\u53bb\u566a\u3001\u6821\u51c6\u3001\u65f6\u95f4\u6233\u5bf9\u9f50）[16]\u3002<\/p>\n

\u7b2c\u4e8c\u7ea7：\u7279\u5f81\u63d0\u53d6（Feature Extraction）\u2014\u2014\u5404\u901a\u9053\u63d0\u53d6\u5e95\u5c42\u7279\u5f81：\u89c6\u89c9（\u8fb9\u7f18\u3001\u7eb9\u7406\u3001\u989c\u8272\u76f4\u65b9\u56fe\u3001\u6df1\u5ea6\u56fe）[2,11]\u3001\u542c\u89c9（MFCC\u3001\u57fa\u9891\u3001\u80fd\u91cf）[15]\u3001\u89e6\u89c9（\u538b\u529b\u5206\u5e03\u3001\u7eb9\u7406\u8c31）[7,9]\u3002<\/p>\n

\u7b2c\u4e09\u7ea7：\u8bed\u4e49\u89e3\u6790（Semantic Parsing）\u2014\u2014\u7279\u5f81\u7ea7\u8bc6\u522b：\u89c6\u89c9（\u76ee\u6807\u68c0\u6d4b\u3001\u8bed\u4e49\u5206\u5272\u3001\u59ff\u6001\u4f30\u8ba1）[2,11,13]\u3001\u542c\u89c9（\u8bed\u97f3\u8bc6\u522b\u3001\u58f0\u5b66\u4e8b\u4ef6\u68c0\u6d4b）[15]\u3001\u89e6\u89c9（\u6750\u8d28\u5206\u7c7b\u3001\u63a5\u89e6\u72b6\u6001\u4f30\u8ba1）[7,9]\u3002<\/p>\n

\u7b2c\u56db\u7ea7：\u60c5\u5883\u7406\u89e3（Scene Understanding）\u2014\u2014\u8de8\u901a\u9053\u7684\u60c5\u5883\u7ea7\u63a8\u7406：\u573a\u666f\u56fe\u6784\u5efa（\u5bf9\u8c61-\u5173\u7cfb-\u4e8b\u4ef6）\u3001\u56e0\u679c\u63a8\u65ad（\u201c\u4ec0\u4e48\u5bfc\u81f4\u4e86\u8fd9\u4e2a\u53d8\u5316\u201d）\u3001\u5f02\u5e38\u68c0\u6d4b（\u201c\u4ec0\u4e48\u4e0d\u7b26\u5408\u9884\u671f\u201d）[10-12,17]\u3002<\/p>\n

\u56db\u7ea7\u6d41\u6c34\u7ebf\u7684\u5904\u7406\u6df1\u5ea6\u53ef\u914d\u7f6e：\u7d27\u6025\u8def\u5f84（\u907f\u969c）\u5728\u7b2c\u4e8c\u7ea7\u5373\u8f93\u51fa，\u590d\u6742\u8def\u5f84（\u4efb\u52a1\u89c4\u5212）\u8fd0\u884c\u5230\u7b2c\u56db\u7ea7[17]\u3002\u5904\u7406\u6df1\u5ea6\u7684\u914d\u7f6e\u7531"\u611f\u77e5\u4efb\u52a1\u6307\u4ee4"\u9a71\u52a8：\u6307\u4ee4\u643a\u5e26\u76ee\u6807（\u68c0\u6d4b\/\u8bc6\u522b\/\u7406\u89e3）\u3001\u611f\u5174\u8da3\u533a\u57df（ROI）\u4e0e\u54cd\u5e94\u65f6\u9650；\u6d41\u6c34\u7ebf\u6309\u6307\u4ee4\u52a8\u6001\u88c1\u526a（\u8df3\u8fc7\u4e0d\u9700\u8981\u7684\u5c42\u7ea7）[17]\u3002\u6d41\u6c34\u7ebf\u7684\u5404\u7ea7\u8f93\u51fa\u5747\u4fdd\u7559\u4e2d\u95f4\u7ed3\u679c（\u7279\u5f81\u56fe\u3001\u8bed\u4e49\u5143\u7d20），\u4f9b\u540e\u7eed\u878d\u5408\u4e0e\u8ffd\u6eaf（\u53ef\u89e3\u91ca\u611f\u77e5）[17]\u3002<\/p>\n

3.3 \u4e16\u754c\u72b6\u6001\u8868\u793a：\u5bf9\u8c61-\u5173\u7cfb-\u4e8b\u4ef6\u4e09\u5143\u8bed\u4e49<\/h4>\n

\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u7684\u8f93\u51fa\u91c7\u7528"\u5bf9\u8c61-\u5173\u7cfb-\u4e8b\u4ef6"\u4e09\u5143\u8bed\u4e49\u7684\u4e16\u754c\u72b6\u6001\u8868\u793a[16-17]：\u4e09\u5143\u8bed\u4e49\u7684\u8bbe\u8ba1\u4f9d\u636e\u2014\u2014\u5bf9\u8c61\u56de\u7b54"\u4e16\u754c\u6709\u4ec0\u4e48"\u3001\u5173\u7cfb\u56de\u7b54"\u5b83\u4eec\u5982\u4f55\u5173\u8054"\u3001\u4e8b\u4ef6\u56de\u7b54"\u53d1\u751f\u4e86\u4ec0\u4e48\u53d8\u5316"\u2014\u2014\u4e09\u8005\u8986\u76d6\u4e16\u754c\u72b6\u6001\u7684\u9759\u6001\u4e0e\u52a8\u6001\u7ef4\u5ea6[16-17]\u3002\u4e09\u5143\u8bed\u4e49\u4e0e\u77e5\u8bc6\u56fe\u8c31\u7684\u8854\u63a5：\u4e16\u754c\u72b6\u6001\u53ef\u4f5c\u4e3a\u56fe\u7ed3\u6784（\u5bf9\u8c61\u4e3a\u8282\u70b9\u3001\u5173\u7cfb\u4e3a\u8fb9\u3001\u4e8b\u4ef6\u4e3a\u52a8\u6001\u6807\u6ce8），\u4e0e\u77e5\u8bc6\u56fe\u8c31（GraphRAG）\u8bed\u4e49\u5bf9\u9f50，\u652f\u6491\u8bed\u4e49\u68c0\u7d22\u4e0e\u63a8\u7406[17]\u3002<\/p>\n

\u5bf9\u8c61（Object）：O=id,category,attributes,poseO = \\\\\\\\{id, category, attributes, pose\\\\\\\\}<\/span><\/span>O<\/span><\/span>=<\/span><\/span><\/span><\/span>i<\/span>d<\/span>,<\/span><\/span>c<\/span>a<\/span>t<\/span>e<\/span>g<\/span>ory<\/span>,<\/span><\/span>a<\/span>tt<\/span>r<\/span>ib<\/span>u<\/span>t<\/span>es<\/span>,<\/span><\/span>p<\/span>ose<\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2014\u2014\u5bf9\u8c61\u7c7b\u522b（\u6905\u5b50）\u3001\u5c5e\u6027（\u989c\u8272\u3001\u6750\u8d28\u3001\u72b6\u6001）\u3001\u4f4d\u59ff（\u4f4d\u7f6e\u3001\u671d\u5411）[17]\u3002<\/p>\n

\u5173\u7cfb（Relation）：R=type,subject,object,confidenceR = \\\\\\\\{type, subject, object, confidence\\\\\\\\}<\/span><\/span>R<\/span><\/span>=<\/span><\/span><\/span><\/span>t<\/span>y<\/span>p<\/span>e<\/span>,<\/span><\/span>s<\/span>u<\/span>bj<\/span>ec<\/span>t<\/span>,<\/span><\/span>o<\/span>bj<\/span>ec<\/span>t<\/span>,<\/span><\/span>co<\/span>n<\/span>f<\/span>i<\/span>d<\/span>e<\/span>n<\/span>ce<\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2014\u2014\u7a7a\u95f4\u5173\u7cfb（\u5728\u2026\u4e0a）\u3001\u56e0\u679c\u5173\u7cfb（\u5bfc\u81f4）\u3001\u529f\u80fd\u5173\u7cfb（\u7528\u4e8e）[17]\u3002<\/p>\n

\u4e8b\u4ef6（Event）：E=type,participants,temporal,transitionE = \\\\\\\\{type, participants, temporal, transition\\\\\\\\}<\/span><\/span>E<\/span><\/span>=<\/span><\/span><\/span><\/span>t<\/span>y<\/span>p<\/span>e<\/span>,<\/span><\/span>p<\/span>a<\/span>r<\/span>t<\/span>i<\/span>c<\/span>i<\/span>p<\/span>an<\/span>t<\/span>s<\/span>,<\/span><\/span>t<\/span>e<\/span>m<\/span>p<\/span>or<\/span>a<\/span>l<\/span>,<\/span><\/span>t<\/span>r<\/span>an<\/span>s<\/span>i<\/span>t<\/span>i<\/span>o<\/span>n<\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2014\u2014\u4e8b\u4ef6\u7c7b\u578b（\u79fb\u52a8\u3001\u78b0\u649e\u3001\u4ea4\u4e92）\u3001\u53c2\u4e0e\u8005\u3001\u65f6\u95f4\u4fe1\u606f\u3001\u72b6\u6001\u8f6c\u79fb（sttost+1s_t \\\\\\\\to s_{t+1}<\/span><\/span>s<\/span><\/span>t<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>t<\/span>o<\/span>s<\/span><\/span>t<\/span>+<\/span>1<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>）[17]\u3002<\/p>\n

\u4e16\u754c\u72b6\u6001S=(O,R,E,t,Sigma)S = (\\\\\\\\{O\\\\\\\\}, \\\\\\\\{R\\\\\\\\}, \\\\\\\\{E\\\\\\\\}, t, \\\\\\\\Sigma)<\/span><\/span>S<\/span><\/span>=<\/span><\/span><\/span><\/span>(<\/span><\/span><\/span><\/span>O<\/span><\/span><\/span>,<\/span><\/span><\/span><\/span>R<\/span><\/span><\/span>,<\/span><\/span><\/span><\/span>E<\/span><\/span><\/span>,<\/span><\/span>t<\/span>,<\/span><\/span><\/span><\/span>S<\/span>i<\/span>g<\/span>ma<\/span>)<\/span><\/span><\/span><\/span><\/span>，\u5176\u4e2dSigma\\\\\\\\Sigma<\/span><\/span><\/span>S<\/span>i<\/span>g<\/span>ma<\/span><\/span><\/span><\/span><\/span>\u4e3a\u72b6\u6001\u7684\u4e0d\u786e\u5b9a\u6027（\u534f\u65b9\u5dee）[17]\u3002\u8be5\u8868\u793a\u4e0e\u4e16\u754c\u6a21\u578b\u7684\u72b6\u6001\u7a7a\u95f4\u76f4\u63a5\u5bf9\u63a5：\u4e16\u754c\u6a21\u578b\u4ee5SS<\/span><\/span>S<\/span><\/span><\/span><\/span><\/span>\u4e3a\u63a8\u6f14\u8f93\u5165，\u63a8\u6f14\u7ed3\u679c\u4ee5S\u2032S'<\/span><\/span>S<\/span><\/span>\u2032<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u4e3a\u8f93\u51fa[4,17]\u3002<\/p>\n

3.4 \u4e0d\u786e\u5b9a\u6027\u5efa\u6a21<\/h4>\n

\u611f\u77e5\u7684\u4e0d\u786e\u5b9a\u6027\u6765\u81ea\u4f20\u611f\u5668\u566a\u58f0\u3001\u906e\u6321\u3001\u6a21\u7cca\u4e0e\u6a21\u578b\u8bef\u5dee[8,12,17]\u3002\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u91c7\u7528\u4e09\u5c42\u4e0d\u786e\u5b9a\u6027\u5efa\u6a21[17]：<\/p>\n

\u611f\u77e5\u4e0d\u786e\u5b9a\u6027（aleatoric）：\u4f20\u611f\u5668\u566a\u58f0\u5f15\u8d77\u2014\u2014\u5404\u611f\u77e5\u8f93\u51fa\u643a\u5e26\u7f6e\u4fe1\u5ea6cin[0,1]c \\\\\\\\in [0,1]<\/span><\/span>c<\/span><\/span><\/span><\/span>in<\/span>[<\/span>0<\/span>,<\/span><\/span>1<\/span>]<\/span><\/span><\/span><\/span><\/span>，\u7531\u4f20\u611f\u5668\u7684\u4fe1\u566a\u6bd4\u4e0e\u5904\u7406\u6a21\u578b\u7684\u9884\u6d4b\u6982\u7387\u51b3\u5b9a[17]\u3002<\/p>\n

\u6a21\u578b\u4e0d\u786e\u5b9a\u6027（epistemic）：\u611f\u77e5\u6a21\u578b\u5bf9\u672a\u89c1\u8f93\u5165\u7684\u628a\u63e1\u2014\u2014\u7531\u6a21\u578b\u7684\u9884\u6d4b\u65b9\u5dee\u6216\u96c6\u6210\u5206\u6b67\u4f30\u8ba1[12,17]\u3002<\/p>\n

\u60c5\u5883\u4e0d\u786e\u5b9a\u6027：\u73af\u5883\u672c\u8eab\u7684\u6a21\u7cca\u6027\u2014\u2014\u201c\u8fdc\u5904\u90a3\u4e2a\u6a21\u7cca\u7684\u5f71\u5b50\u662f\u6811\u8fd8\u662f\u4eba\u201d（\u89c6\u89c9\u65e0\u6cd5\u533a\u5206）[17]\u3002\u60c5\u5883\u4e0d\u786e\u5b9a\u6027\u7684\u5904\u7406：\u4e0d\u5f3a\u884c\u5224\u5b9a（\u4fdd\u7559\u591a\u5047\u8bbe\u2014\u2014\u201c\u5f71\u5b50：\u68110.5\/\u4eba0.4\/\u5176\u4ed60.1\u201d）\u3001\u89e6\u53d1\u4e3b\u52a8\u611f\u77e5（\u9760\u8fd1\u786e\u8ba4）\u3001\u4fdd\u5b88\u51b3\u7b56（\u6309\u6700\u574f\u5047\u8bbe\u884c\u52a8\u2014\u2014\u201c\u5f53\u4f5c\u4eba\u6765\u907f\u8ba9\u201d）[17]\u3002\u591a\u5047\u8bbe\u4fdd\u6301\u4f7f\u611f\u77e5"\u8bda\u5b9e"\u2014\u2014\u4e0d\u786e\u5b9a\u6027\u88ab\u663e\u5f0f\u8868\u8fbe\u800c\u975e\u9690\u85cf[17]\u3002<\/p>\n

\u4e09\u5c42\u4e0d\u786e\u5b9a\u6027\u6c47\u805a\u4e3a\u4e16\u754c\u72b6\u6001\u7684\u534f\u65b9\u5deeSigma\\\\\\\\Sigma<\/span><\/span><\/span>S<\/span>i<\/span>g<\/span>ma<\/span><\/span><\/span><\/span><\/span>，\u4f9b\u4e16\u754c\u6a21\u578b\u63a8\u6f14（\u4f4e\u7f6e\u4fe1\u5ea6\u72b6\u6001\u51cf\u5c11\u63a8\u6f14\u6743\u91cd）\u4e0e\u8ba4\u77e5\u63a8\u7406\u51b3\u7b56（\u9ad8\u4e0d\u786e\u5b9a\u6027\u89e6\u53d1\u4e3b\u52a8\u611f\u77e5\u2014\u2014\u79fb\u52a8\u89c6\u89d2\u3001\u9760\u8fd1\u89c2\u5bdf）[17]\u3002<\/p>\n

3.5 \u4f9d\u6258\u4e16\u754c\u6a21\u578b\u7684\u611f\u77e5\u8bbe\u8ba1<\/h4>\n

"\u4f9d\u6258\u4e16\u754c\u6a21\u578b"\u662f\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u8bbe\u8ba1\u7684\u6838\u5fc3\u7acb\u573a[4,16-17]：<\/p>\n

\u9884\u6d4b\u5148\u9a8c：\u4e16\u754c\u6a21\u578b\u5bf9\u4e0b\u4e00\u65f6\u523b\u72b6\u6001\u7684\u9884\u6d4bhatSt+1\\\\\\\\hat{S}_{t+1}<\/span><\/span><\/span>ha<\/span>t<\/span>S<\/span><\/span><\/span>t<\/span>+<\/span>1<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u4f5c\u4e3a\u611f\u77e5\u7684\u9884\u6d4b\u5148\u9a8c\u2014\u2014\u611f\u77e5\u5728\u9884\u6d4b\u533a\u57df\u5185\u7cbe\u52a0\u5de5（\u201c\u9884\u671f\u6709\u4eba\u8d70\u6765\u2192\u805a\u7126\u79fb\u52a8\u533a\u57df\u201d），\u9884\u6d4b\u533a\u57df\u5916\u7c97\u52a0\u5de5[3,17]\u3002<\/p>\n

\u72b6\u6001\u4e00\u81f4\u6027：\u611f\u77e5\u8f93\u51fa\u7684\u72b6\u6001\u4e0e\u4e16\u754c\u6a21\u578b\u7684\u9884\u6d4b\u72b6\u6001\u8fdb\u884c\u4e00\u81f4\u6027\u68c0\u9a8c\u2014\u2014\u4e00\u81f4\u5219\u7f6e\u4fe1\u5ea6\u63d0\u5347，\u4e0d\u4e00\u81f4\u5219\u89e6\u53d1\u4e3b\u52a8\u611f\u77e5（\u91cd\u65b0\u89c2\u6d4b）[3,17]\u3002<\/p>\n

\u611f\u77e5-\u63a8\u6f14\u95ed\u73af：\u611f\u77e5\u8f93\u51faStS_t<\/span><\/span>S<\/span><\/span>t<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2192\u4e16\u754c\u6a21\u578b\u63a8\u6f14hatSt+1\\\\\\\\hat{S}_{t+1}<\/span><\/span><\/span>ha<\/span>t<\/span>S<\/span><\/span><\/span>t<\/span>+<\/span>1<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2192\u6267\u884c\u884c\u52a8\u2192\u611f\u77e5\u9a8c\u8bc1St+1S_{t+1}<\/span><\/span>S<\/span><\/span>t<\/span>+<\/span>1<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2192\u8bef\u5dee\u56de\u4f20\u66f4\u65b0\u4e16\u754c\u6a21\u578b\u4e0e\u611f\u77e5\u6a21\u578b[4,17]\u3002\u8fd9\u4e00\u95ed\u73af\u4f7f\u611f\u77e5\u4e0e\u4e16\u754c\u6a21\u578b\u534f\u540c\u8fdb\u5316[17]\u3002<\/p>\n

3.6 \u611f\u77e5\u7406\u89e3\u5b50\u7f51\u7684\u5b9e\u73b0\u6280\u672f\u6808<\/h4>\n

\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u7684\u5de5\u7a0b\u5b9e\u73b0\u53ef\u91c7\u7528\u5982\u4e0b\u6280\u672f\u6808[2,5-6,8-12,17]：\u6280\u672f\u6808\u7684\u5206\u5c42\u7ec4\u7ec7\u2014\u2014\u4f20\u611f\u5c42（\u4f20\u611f\u5668\u9a71\u52a8\u4e0e\u6570\u636e\u63a5\u5165）\u3001\u611f\u77e5\u5c42（\u901a\u9053\u5904\u7406\u6a21\u578b）\u3001\u878d\u5408\u5c42（\u591a\u6a21\u6001\u878d\u5408）\u3001\u8bed\u4e49\u5c42（\u4e16\u754c\u72b6\u6001\u6784\u5efa），\u5404\u5c42\u63a5\u53e3\u6807\u51c6\u5316，\u652f\u6301\u6a21\u5757\u66ff\u6362\u4e0e\u6f14\u8fdb[17]\u3002<\/p>\n

\u89c6\u89c9\u611f\u77e5：ViT\/CNN\u76ee\u6807\u68c0\u6d4b（DETR\u3001YOLO\u7cfb\u5217）[2,13]\u3001\u8bed\u4e49\u5206\u5272（SAM）[11]\u3001\u6df1\u5ea6\u4f30\u8ba1[11]\u2014\u2014\u57fa\u4e8e\u5f00\u6e90\u89c6\u89c9\u6a21\u578b\u5fae\u8c03[11,17]\u3002<\/p>\n

\u542c\u89c9\u611f\u77e5：\u8bed\u97f3\u8bc6\u522b（Whisper\u7c7b）[15]\u3001\u58f0\u5b66\u4e8b\u4ef6\u68c0\u6d4b（AST\u7c7b）[15]\u2014\u2014\u6d41\u5f0f\u5904\u7406\u6ee1\u8db3\u5b9e\u65f6\u6027[15,17]\u3002<\/p>\n

\u89e6\u89c9\u611f\u77e5：\u89e6\u89c9\u56fe\u50cf\u7f16\u7801（\u57fa\u4e8eGelSight\u7c7b\u89e6\u89c9\u4f20\u611f\u5668）[7,9]\u3001\u63a5\u89e6\u72b6\u6001\u4f30\u8ba1[7]\u2014\u2014\u4e0e\u89c6\u89c9\u878d\u5408\u7684\u89e6\u89c9-\u89c6\u89c9\u611f\u77e5（\u89c6\u89c9\u89e6\u89c9\u667a\u80fd）[7,9]\u3002<\/p>\n

\u878d\u5408\u4e0e\u8868\u793a：\u591a\u6a21\u6001\u7f16\u7801\u5668（CLIP\u7c7b\u5bf9\u9f50）+\u573a\u666f\u56fe\u6784\u5efa\u6a21\u578b[8,11-12]\u3002<\/p>\n

\u7cfb\u7edf\u96c6\u6210：ROS 2\u63d0\u4f9b\u4f20\u611f\u5668\u63a5\u5165\u4e0e\u6d88\u606f\u901a\u4fe1[19]；\u611f\u77e5\u7ed3\u679c\u4ee5\u6807\u51c6\u6d88\u606f\u683c\u5f0f（PerceptionState）\u7ecfGWS\u5e7f\u64ad[17]\u3002\u611f\u77e5\u6a21\u5757\u7684\u90e8\u7f72\u5f62\u6001：\u8fb9\u7f18\u4fa7（\u4f20\u611f\u5668\u65c1\u90e8\u7f72\u8f7b\u91cf\u611f\u77e5\u6a21\u578b，\u4f4e\u5ef6\u8fdf）\u4e0e\u4e91\u7aef（\u5927\u6a21\u578b\u6df1\u5ea6\u611f\u77e5，\u9ad8\u7cbe\u5ea6）\u7684\u534f\u540c\u2014\u2014\u8fb9\u7f18\u5feb\u901f\u611f\u77e5+\u4e91\u7aef\u6df1\u5ea6\u7406\u89e3\u7684\u6df7\u5408\u67b6\u6784[17]\u3002<\/p>\n

4 \u89c6\u89c9\u611f\u77e5\u901a\u9053<\/h3>\n

4.1 \u89c6\u89c9\u901a\u9053\u7684\u804c\u80fd\u4e0e\u67b6\u6784<\/h4>\n

\u89c6\u89c9\u662f\u4fe1\u606f\u91cf\u6700\u5927\u7684\u611f\u77e5\u901a\u9053[2,11,13,16]\u3002\u89c6\u89c9\u901a\u9053\u7684\u804c\u80fd：\u7a7a\u95f4\u611f\u77e5（\u7269\u4f53\u5728\u54ea\u91cc）\u3001\u5bf9\u8c61\u8bc6\u522b（\u662f\u4ec0\u4e48）\u3001\u573a\u666f\u7406\u89e3（\u53d1\u751f\u4e86\u4ec0\u4e48）\u3001\u8fd0\u52a8\u611f\u77e5（\u5982\u4f55\u53d8\u5316）[2,11,17]\u3002\u89c6\u89c9\u611f\u77e5\u7684\u8f93\u5165\u5f62\u6001：\u5355\u76eeRGB（\u4f4e\u6210\u672c\u3001\u5e7f\u6cdb\u90e8\u7f72）\u3001\u53cc\u76ee\u7acb\u4f53（\u6df1\u5ea6\u4f30\u8ba1）\u3001RGB-D（\u6df1\u5ea6\u76f8\u673a\u76f4\u63a5\u63d0\u4f9b\u6df1\u5ea6）\u3001\u6fc0\u5149\u96f7\u8fbe（3D\u70b9\u4e91，\u81ea\u52a8\u9a7e\u9a76\u5e38\u7528）[11,13,17]\u3002\u8f93\u5165\u5f62\u6001\u7684\u9009\u62e9\u6309\u573a\u666f\u9700\u6c42：\u670d\u52a1\u673a\u5668\u4eba\u5e38\u7528RGB-D（\u6210\u672c\u9002\u4e2d\u3001\u6df1\u5ea6\u53ef\u7528），\u81ea\u52a8\u9a7e\u9a76\u9700\u6fc0\u5149\u96f7\u8fbe（\u8fdc\u8ddd\u79bb\u7cbe\u786e\u6d4b\u8ddd）[13,17]\u3002<\/p>\n

\u89c6\u89c9\u901a\u9053\u67b6\u6784：\u56fe\u50cf\u91c7\u96c6（\u6444\u50cf\u5934\/\u6df1\u5ea6\u76f8\u673a\/\u6fc0\u5149\u96f7\u8fbe）\u2192\u5e95\u5c42\u7279\u5f81（CNN\u9aa8\u5e72\/ViT\u5206\u5757\u5d4c\u5165）[2,11]\u2192\u4e2d\u5c42\u8bed\u4e49（\u76ee\u6807\u68c0\u6d4b\u3001\u8bed\u4e49\u5206\u5272\u3001\u6df1\u5ea6\u4f30\u8ba1\u3001\u59ff\u6001\u4f30\u8ba1）[2,11,13]\u2192\u9ad8\u5c42\u60c5\u5883（\u573a\u666f\u56fe\u3001\u4e8b\u4ef6\u68c0\u6d4b）[11-12,17]\u3002\u89c6\u89c9\u901a\u9053\u4e0e"\u5bf9\u8c61-\u5173\u7cfb-\u4e8b\u4ef6"\u8bed\u4e49\u7684\u6620\u5c04：\u76ee\u6807\u68c0\u6d4b\u2192\u5bf9\u8c61\u5143\u7d20\u3001\u7a7a\u95f4\u5173\u7cfb\u63a8\u7406\u2192\u5173\u7cfb\u5143\u7d20\u3001\u8fd0\u52a8\/\u4e8b\u4ef6\u68c0\u6d4b\u2192\u4e8b\u4ef6\u5143\u7d20[17]\u3002<\/p>\n

4.2 \u89c6\u89c9\u7279\u5f81\u63d0\u53d6<\/h4>\n

\u89c6\u89c9\u7279\u5f81\u63d0\u53d6\u7ecf\u5386\u4e86\u4eceCNN\u5230ViT\u7684\u8303\u5f0f\u8fc1\u79fb[2,11,13]：CNN\u4ee5\u5377\u79ef\u6838\u6355\u6349\u5c40\u90e8\u7279\u5f81，\u901a\u8fc7\u5c42\u7ea7\u5806\u53e0\u6269\u5927\u611f\u53d7\u91ce；ViT\u5c06\u56fe\u50cf\u5212\u5206\u4e3a16\u00d716\u7684\u56fe\u50cf\u5757（patch），\u7ecfTransformer\u81ea\u6ce8\u610f\u529b\u6355\u6349\u5168\u5c40\u4f9d\u8d56[2,11]\u3002ViT\u5728\u56fe\u50cf\u5206\u7c7b\u3001\u68c0\u6d4b\u3001\u5206\u5272\u7b49\u4efb\u52a1\u4e0a\u8fbe\u5230\u6216\u8d85\u8fc7CNN\u6c34\u5e73[2,11]\u3002<\/p>\n

\u5de5\u7a0b\u9009\u578b：\u9aa8\u5e72\u7f51\u7edc（ResNet\/ViT\/Swin）\u6309\u7b97\u529b\u4e0e\u7cbe\u5ea6\u6743\u8861\u9009\u62e9；\u7279\u5f81\u91d1\u5b57\u5854（FPN）\u878d\u5408\u591a\u5c3a\u5ea6\u7279\u5f81，\u63d0\u5347\u5c0f\u76ee\u6807\u68c0\u6d4b\u80fd\u529b[11,13]\u3002\u89c6\u89c9Transformer\u7684\u7efc\u8ff0\u7814\u7a76\u603b\u7ed3\u4e86ViT\u5728\u5206\u7c7b\u3001\u68c0\u6d4b\u3001\u5206\u5272\u7b49\u4efb\u52a1\u7684\u521b\u65b0\u65b9\u6cd5（\u5c42\u6b21\u5316ViT\u3001\u9ad8\u6548\u6ce8\u610f\u529b\u3001\u8de8\u6a21\u6001ViT）[11]；\u76ee\u6807\u68c0\u6d4b\u7684\u6f14\u5316\u7efc\u8ff0\u5219\u68b3\u7406\u4e86\u4eceCNN\u5230Transformer\u518d\u5230\u591a\u6a21\u6001\u878d\u5408\u7684\u5b8c\u6574\u8def\u5f84[13]\u3002\u5728\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u4e2d，\u89c6\u89c9\u9aa8\u5e72\u7684\u9009\u62e9\u9700\u8003\u8651：\u63a8\u7406\u5ef6\u8fdf（\u5b9e\u65f6\u573a\u666f\u9700\u8f7b\u91cf\u9aa8\u5e72）\u3001\u591a\u5c3a\u5ea6\u9c81\u68d2\u6027（\u8fdc\u8fd1\u76ee\u6807）\u3001\u4e0e\u591a\u6a21\u6001\u878d\u5408\u7684\u63a5\u53e3（\u7279\u5f81\u7ef4\u5ea6\u7684\u7edf\u4e00）[11,17]\u3002\u89c6\u89c9\u7279\u5f81\u7684\u8f93\u51fa\u4e3a\u591a\u5c3a\u5ea6\u7279\u5f81\u56fe，\u4f9b\u68c0\u6d4b\u3001\u5206\u5272\u3001\u6df1\u5ea6\u4f30\u8ba1\u7b49\u4efb\u52a1\u5934\u4f7f\u7528[11,13]\u3002\u591a\u4efb\u52a1\u5171\u4eab\u9aa8\u5e72\u7684\u5de5\u7a0b\u4ef7\u503c：\u5355\u4e00\u9aa8\u5e72+\u591a\u4efb\u52a1\u5934（\u68c0\u6d4b\/\u5206\u5272\/\u6df1\u5ea6\u5171\u4eab\u7279\u5f81）\u2014\u2014\u8282\u7701\u7b97\u529b\u3001\u7279\u5f81\u4e00\u81f4（\u5404\u4efb\u52a1\u4ece\u540c\u4e00\u7279\u5f81\u7a7a\u95f4\u89e3\u8bfb）[11,17]\u3002<\/p>\n

4.3 \u76ee\u6807\u68c0\u6d4b\u4e0e\u8bed\u4e49\u5206\u5272<\/h4>\n

\u76ee\u6807\u68c0\u6d4b\u8bc6\u522b"\u4ec0\u4e48\u7269\u4f53\u5728\u54ea\u91cc"[2,11,13]：\u4e24\u9636\u6bb5（R-CNN\u7cfb\u5217\u2014\u2014\u5148\u63d0\u5019\u9009\u518d\u5206\u7c7b）\u3001\u5355\u9636\u6bb5（YOLO\u7cfb\u5217\u2014\u2014\u76f4\u63a5\u56de\u5f52）\u3001Transformer\u68c0\u6d4b（DETR\u2014\u2014\u7aef\u5230\u7aef\u96c6\u5408\u9884\u6d4b）[2,11,13]\u3002\u68c0\u6d4b\u8f93\u51fa：\u5bf9\u8c61\u8fb9\u754c\u6846+\u7c7b\u522b+\u7f6e\u4fe1\u5ea6[13]\u3002<\/p>\n

\u8bed\u4e49\u5206\u5272\u5c06\u56fe\u50cf\u9010\u50cf\u7d20\u5206\u7c7b（\u201c\u54ea\u4e9b\u50cf\u7d20\u5c5e\u4e8e\u6905\u5b50\u201d），\u5b9e\u4f8b\u5206\u5272\u533a\u5206\u540c\u7c7b\u4e2a\u4f53（\u201c\u8fd9\u628a\u6905\u5b50vs\u90a3\u628a\u6905\u5b50\u201d）[11]\u3002\u5206\u5272\u8f93\u51fa\u4e3a\u50cf\u7d20\u7ea7\u5bf9\u8c61\u63a9\u7801，\u652f\u6491\u7cbe\u7ec6\u7684\u7a7a\u95f4\u5173\u7cfb\u63a8\u7406[11,17]\u3002<\/p>\n

\u5728\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u4e2d，\u68c0\u6d4b\u4e0e\u5206\u5272\u7684\u7ed3\u679c\u6620\u5c04\u4e3a\u4e16\u754c\u72b6\u6001\u7684\u5bf9\u8c61\u5143\u7d20：\u5bf9\u8c61\u7c7b\u522b\u3001\u4f4d\u59ff（\u7531\u8fb9\u754c\u6846\/\u63a9\u7801+\u6df1\u5ea6\u4f30\u8ba1\u8ba1\u7b97）[17]\u3002\u6620\u5c04\u7684\u7ec6\u8282：\u68c0\u6d4b\u6846\u63d0\u4f9b2D\u4f4d\u7f6e\u4e0e\u5c3a\u5bf8\u3001\u6df1\u5ea6\u56fe\u63d0\u4f9b\u8ddd\u79bb\u3001\u76f8\u673a\u5185\u53c2\u5c062D\u6846\u6295\u5f71\u4e3a3D\u4f4d\u59ff（\u4f4d\u7f6e+\u671d\u5411）[11,17]\u3002\u5bf9\u8c61\u6620\u5c04\u7684\u5b8c\u6574\u6d41\u7a0b：\u68c0\u6d4b（\u7c7b\u522b+\u6846）\u2192\u5206\u5272（\u7cbe\u7ec6\u63a9\u7801）\u2192\u6df1\u5ea6（\u8ddd\u79bb）\u2192\u4f4d\u59ff（3D\u4f4d\u7f6e+\u671d\u5411）\u2192\u5c5e\u6027（\u989c\u8272\/\u72b6\u6001）\u2192\u4e16\u754c\u72b6\u6001\u5bf9\u8c61\u5143\u7d20[11,17]\u3002\u5bf9\u8c61\u5c5e\u6027\u7684\u8865\u5145：\u989c\u8272（\u5206\u5272\u533a\u57df\u7684\u8272\u5f69\u7edf\u8ba1）\u3001\u72b6\u6001（\u201c\u676f\u5b50\u662f\u6ee1\u7684\/\u7a7a\u7684"\u9700\u66f4\u9ad8\u5c42\u63a8\u7406）[17]\u3002\u5bf9\u8c61\u7684\u65f6\u5e8f\u4e00\u81f4\u6027：\u8de8\u5e27\u8ddf\u8e2a（SORT\/DeepSORT\u7c7b）\u7ef4\u6301\u5bf9\u8c61ID，\u652f\u6491"\u540c\u4e00\u5bf9\u8c61\u7684\u8fde\u7eed\u72b6\u6001\u201d（\u8fd0\u52a8\u8f68\u8ff9\u3001\u72b6\u6001\u53d8\u5316）[11,17]\u3002<\/p>\n

4.4 \u6df1\u5ea6\u611f\u77e5\u4e0e\u7a7a\u95f4\u7406\u89e3<\/h4>\n

\u6df1\u5ea6\u611f\u77e5\u56de\u7b54"\u7269\u4f53\u79bb\u6211\u591a\u8fdc"[11,17]：\u53cc\u76ee\u7acb\u4f53（\u89c6\u5dee\u8ba1\u7b97）\u3001\u7ed3\u6784\u5149\/ToF（\u4e3b\u52a8\u6d4b\u8ddd）\u3001\u5355\u76ee\u6df1\u5ea6\u4f30\u8ba1（\u6df1\u5ea6\u5b66\u4e60\u56de\u5f52）[11]\u3002\u6df1\u5ea6\u611f\u77e5\u7684\u7cbe\u5ea6\u6743\u8861：\u4e3b\u52a8\u6d4b\u8ddd（ToF）\u7cbe\u5ea6\u9ad8\u4f46\u53d7\u73af\u5883\u5149\u5f71\u54cd\u3001\u53cc\u76ee\u7acb\u4f53\u7cbe\u5ea6\u9002\u4e2d\u9700\u6807\u5b9a\u3001\u5355\u76ee\u4f30\u8ba1\u7075\u6d3b\u4f46\u7cbe\u5ea6\u6709\u9650（\u76f8\u5bf9\u6df1\u5ea6）[11,17]\u3002\u6df1\u5ea6\u611f\u77e5\u7684\u8f93\u51fa：\u6df1\u5ea6\u56fe（\u9010\u50cf\u7d20\u8ddd\u79bb）\u62163D\u70b9\u4e91\u2014\u2014\u4e0e\u4e16\u754c\u72b6\u6001\u7684\u5bf9\u8c61\u4f4d\u59ff\u8ba1\u7b97\u76f4\u63a5\u76f8\u5173（\u4f4d\u7f6e=2D\u68c0\u6d4b+\u6df1\u5ea6）[11,17]\u3002\u6df1\u5ea6\u56fe\u4e0eRGB\u56fe\u50cf\u878d\u5408，\u751f\u62103D\u573a\u666f\u8868\u793a（\u70b9\u4e91\/\u4f53\u7d20）[11,17]\u3002<\/p>\n

\u7a7a\u95f4\u7406\u89e3：\u4ece3D\u8868\u793a\u63d0\u53d6\u7a7a\u95f4\u5173\u7cfb\u2014\u2014\u201c\u676f\u5b50\u5728\u684c\u5b50\u7684\u53f3\u4e0a\u89d2\u201d（\u76f8\u5bf9\u4f4d\u7f6e）\u3001\u201c\u95e8\u8ddd\u62113\u7c73\u201d（\u8ddd\u79bb）\u3001\u201c\u969c\u788d\u7269\u5728\u884c\u8fdb\u8def\u5f84\u4e0a\u201d（\u8def\u5f84\u51b2\u7a81）[17]\u3002\u7a7a\u95f4\u5173\u7cfb\u7684\u63a8\u7406\u65b9\u6cd5：\u57fa\u4e8e3D\u5750\u6807\u7684\u51e0\u4f55\u5173\u7cfb\u8ba1\u7b97（\u5728\u2026\u4e0a=\u652f\u6491\u9762\u63a5\u89e6\u3001\u5728\u2026\u65c1=\u90bb\u8fd1）\u3001\u57fa\u4e8e\u8bed\u4e49\u7684\u573a\u6240\u5173\u7cfb（\u201c\u676f\u5b50\u5728\u53a8\u623f\u201d）\u3001\u57fa\u4e8e\u573a\u666f\u56fe\u7684\u56fe\u63a8\u7406（\u4f20\u9012\u5173\u7cfb：\u201c\u676f\u5b50\u5728\u684c\u4e0a\u3001\u684c\u5728\u53a8\u623f\u2192\u676f\u5b50\u5728\u53a8\u623f\u201d）[11,17]\u3002\u7a7a\u95f4\u5173\u7cfb\u662f\u4e16\u754c\u72b6\u6001\u4e2d\u5173\u7cfb\u5143\u7d20\u7684\u6838\u5fc3\u6765\u6e90[17]\u3002<\/p>\n

4.5 \u8fd0\u52a8\u611f\u77e5\u4e0e\u4e8b\u4ef6\u68c0\u6d4b<\/h4>\n

\u8fd0\u52a8\u611f\u77e5\u6355\u6349\u573a\u666f\u4e2d\u7684\u52a8\u6001\u53d8\u5316[11,17]：\u5149\u6d41（\u9010\u50cf\u7d20\u8fd0\u52a8）\u3001\u76ee\u6807\u8ddf\u8e2a（\u8de8\u5e27\u5173\u8054）\u3001\u884c\u4e3a\u8bc6\u522b（\u52a8\u4f5c\u5206\u7c7b）[11]\u3002\u8fd0\u52a8\u611f\u77e5\u7684\u65f6\u5e8f\u5efa\u6a21：\u89c6\u9891\u7406\u89e3\u6a21\u578b（\u65f6\u5e8f\u6ce8\u610f\u529b\u30013D\u5377\u79ef）\u5904\u7406\u8fde\u7eed\u5e27[11]\u3002\u8fd0\u52a8\u611f\u77e5\u7684\u8f93\u51fa：\u8fd0\u52a8\u76ee\u6807\u8f68\u8ff9（\u8ddf\u8e2a）\u3001\u884c\u4e3a\u6807\u7b7e（\u201c\u884c\u8d70\u201d\u201c\u5954\u8dd1\u201d\u201c\u6325\u624b\u201d）\u3001\u573a\u666f\u52a8\u6001（\u201c\u8f66\u6d41\u65b9\u5411\u201d）[11,17]\u3002\u8fd0\u52a8\u611f\u77e5\u5728\u5b89\u5168\u573a\u666f\u7684\u5173\u952e\u5e94\u7528：\u7a81\u7136\u8fd0\u52a8\u7269\u4f53（\u95ef\u5165\u8005\u3001\u5760\u7269）\u7684\u5feb\u901f\u68c0\u6d4b\u4e0e\u4f18\u5148\u5904\u7406\u2014\u2014\u8fd0\u52a8\u663e\u8457\u6027\u4f5c\u4e3a\u6ce8\u610f\u529b\u5206\u914d\u7684\u4f18\u5148\u7ebf\u7d22[17]\u3002\u8fd0\u52a8\u611f\u77e5\u5728\u5b89\u5168\u573a\u666f\u7684\u5173\u952e\u6027：\u7a81\u7136\u8fd0\u52a8\u7684\u7269\u4f53（\u95ef\u5165\u8005\u3001\u5760\u7269）\u4f18\u5148\u5904\u7406[17]\u3002\u8fd0\u52a8\u611f\u77e5\u7684\u8f93\u51fa：\u8fd0\u52a8\u76ee\u6807\u8f68\u8ff9\u3001\u884c\u4e3a\u6807\u7b7e（\u201c\u4eba\u6b63\u5728\u8d70\u5411\u95e8\u201d）\u3001\u5f02\u5e38\u4e8b\u4ef6（\u201c\u7269\u4f53\u5760\u843d\u201d）[11,17]\u3002<\/p>\n

\u4e8b\u4ef6\u68c0\u6d4b\u5c06\u8fd0\u52a8\u611f\u77e5\u4e0e\u8bed\u4e49\u7ed3\u5408：\u68c0\u6d4b\u5230"\u676f\u5b50\u4e0b\u843d"\u4e8b\u4ef6\u2192\u66f4\u65b0\u4e16\u754c\u72b6\u6001\u7684\u4e8b\u4ef6\u5143\u7d20（\u7c7b\u578b:\u5760\u843d, \u53c2\u4e0e\u8005:\u676f\u5b50, \u540e\u679c:\u53ef\u80fd\u7834\u788e）\u2192\u89e6\u53d1\u4e16\u754c\u6a21\u578b\u63a8\u6f14（\u201c\u676f\u5b50\u4f1a\u788e\u5417\u201d）[17]\u3002\u4e8b\u4ef6\u7684\u65f6\u95f4\u7ec4\u7ec7：\u4e8b\u4ef6\u5e8f\u5217\u5f62\u6210"\u60c5\u666f\u6d41"（situation flow）\u2014\u2014\u8fde\u7eed\u7684\u4e8b\u4ef6\u65f6\u95f4\u7ebf\u652f\u6491\u56e0\u679c\u63a8\u7406（\u201c\u5148\u78b0\u649e\u540e\u5760\u843d\u201d）\u4e0e\u672a\u6765\u9884\u6d4b（\u201c\u5760\u843d\u4e4b\u540e\u662f\u7834\u788e\u201d）[17]\u3002\u4e8b\u4ef6\u7684\u5f02\u5e38\u68c0\u6d4b：\u4e8b\u4ef6\u7c7b\u578b\u4e0e\u60c5\u5883\u9884\u671f\u4e0d\u7b26\u65f6\u6807\u8bb0\u5f02\u5e38（"\u684c\u4e0a\u9759\u6b62\u7684\u676f\u5b50\u7a81\u7136\u79fb\u52a8"\u2192\u53ef\u80fd\u6709\u4eba\u6216\u5916\u529b）[17]\u3002<\/p>\n

4.6 \u89c6\u89c9\u901a\u9053\u7684\u6311\u6218\u4e0e\u7f13\u89e3<\/h4>\n

\u89c6\u89c9\u611f\u77e5\u7684\u6311\u6218[8,11-13]：\u906e\u6321（\u90e8\u5206\u76ee\u6807\u4e0d\u53ef\u89c1）\u2014\u2014\u7f13\u89e3：\u591a\u89c6\u89d2\u878d\u5408\u3001\u65f6\u5e8f\u8865\u5168；\u5149\u7167\u53d8\u5316\u2014\u2014\u7f13\u89e3：\u6570\u636e\u589e\u5f3a\u3001\u5f52\u4e00\u5316；\u5c0f\u76ee\u6807\u2014\u2014\u7f13\u89e3：\u7279\u5f81\u91d1\u5b57\u5854\u3001\u9ad8\u5206\u8fa8\u7387\u8f93\u5165；\u8ba1\u7b97\u5f00\u9500\u2014\u2014\u7f13\u89e3：\u6a21\u578b\u8f7b\u91cf\u5316\u3001\u533a\u57df\u6ce8\u610f\u529b（\u53ea\u5904\u7406\u5173\u6ce8\u533a\u57df）[11,13,17]\u3002\u906e\u6321\u95ee\u9898\u7684\u9884\u6d4b\u7f16\u7801\u89e3\u6cd5：\u4e16\u754c\u6a21\u578b\u9884\u6d4b\u88ab\u906e\u6321\u533a\u57df\u7684"\u5e94\u6709\u5185\u5bb9"（\u201c\u684c\u6cbf\u88ab\u624b\u81c2\u6321\u4f4f，\u4f46\u684c\u5b50\u5e94\u5ef6\u4f38\u5230\u624b\u81c2\u540e\u65b9\u201d）\u2014\u2014\u9884\u6d4b\u8865\u5168\u906e\u6321[3,17]\u3002\u5149\u7167\u53d8\u5316\u7684\u9c81\u68d2\u89e3\u6cd5：\u591a\u5149\u8c31\u878d\u5408（RGB+\u7ea2\u5916）\u3001\u5149\u7167\u4e0d\u53d8\u7279\u5f81[11,17]\u3002<\/p>\n

<\/h2>\n

4.7 \u89c6\u89c9\u611f\u77e5\u4e0e\u9884\u6d4b\u7f16\u7801<\/h4>\n

\u89c6\u89c9\u901a\u9053\u4e0e\u9884\u6d4b\u7f16\u7801\u7684\u878d\u5408\u662f"\u4f9d\u6258\u4e16\u754c\u6a21\u578b"\u611f\u77e5\u7684\u5178\u578b\u4f53\u73b0[3,17]：\u4e16\u754c\u6a21\u578b\u7ef4\u62a4"\u89c6\u89c9\u573a\u666f\u7684\u751f\u6210\u6a21\u578b"（\u573a\u666f\u5e03\u5c40\u3001\u5bf9\u8c61\u5916\u89c2\u3001\u8fd0\u52a8\u6a21\u5f0f）；\u89c6\u89c9\u611f\u77e5\u4ee5\u751f\u6210\u6a21\u578b\u4e3a\u9884\u6d4b\u5148\u9a8c\u2014\u2014"\u9884\u671f\u89c6\u91ce\u4e2d\u684c\u4e0a\u6709\u676f\u5b50"\u2192\u611f\u77e5\u9a8c\u8bc1[3,17]\u3002\u9884\u6d4b\u7f16\u7801\u5728\u89c6\u89c9\u611f\u77e5\u4e2d\u7684\u4e09\u4e2a\u5e94\u7528：\u906e\u6321\u8865\u5168（\u9884\u6d4b\u88ab\u906e\u6321\u533a\u57df\u5185\u5bb9）\u3001\u8fd0\u52a8\u9884\u6d4b（\u9884\u6d4b\u7269\u4f53\u4e0b\u4e00\u65f6\u523b\u4f4d\u7f6e，\u7f29\u5c0f\u68c0\u6d4b\u8303\u56f4）\u3001\u5f02\u5e38\u68c0\u6d4b（\u9884\u6d4b\u4e0e\u5b9e\u9645\u5dee\u5f02\u5927\u7684\u533a\u57df\u6807\u8bb0\u5f02\u5e38）[3,17]\u3002<\/p>\n

4.8 \u89c6\u89c9\u611f\u77e5\u7684\u6ce8\u610f\u529b\u914d\u7f6e<\/h4>\n

\u89c6\u89c9\u6ce8\u610f\u529b\u7684\u914d\u7f6e\u51b3\u5b9a"\u770b\u54ea\u91cc\u3001\u770b\u591a\u7ec6"[17]：\u81ea\u5e95\u5411\u4e0a\u663e\u8457\u6027（\u8fd0\u52a8\u3001\u8272\u5f69\u5bf9\u6bd4\u3001\u8fb9\u7f18\u5f3a\u5ea6）\u81ea\u52a8\u5438\u5f15\u6ce8\u610f[3,17]；\u81ea\u9876\u5411\u4e0b\u4efb\u52a1\u9a71\u52a8（"\u627e\u94a5\u5319"\u2192\u684c\u9762\u533a\u57df\u4f18\u5148）[17]；\u9884\u6d4b\u8bef\u5dee\u9a71\u52a8（\u9884\u671f\u5916\u7684\u53d8\u5316\u4f18\u5148\u5904\u7406）[3,17]\u3002\u6ce8\u610f\u529b\u914d\u7f6e\u7684\u5de5\u7a0b\u5b9e\u73b0：\u611f\u5174\u8da3\u533a\u57df（ROI）\u88c1\u526a\u2014\u2014\u5168\u56fe\u4f4e\u5206\u8fa8\u7387\u626b\u63cf+ROI\u9ad8\u5206\u8fa8\u7387\u7cbe\u7ec6\u5206\u6790[11,17]\u3002\u6ce8\u610f\u529b\u914d\u7f6e\u7684\u4ef7\u503c：\u540c\u7b49\u7b97\u529b\u4e0b\u663e\u8457\u63d0\u5347\u5173\u952e\u533a\u57df\u611f\u77e5\u8d28\u91cf[17]\u3002<\/p>\n

5 \u542c\u89c9\u611f\u77e5\u901a\u9053<\/h3>\n

5.1 \u542c\u89c9\u901a\u9053\u7684\u804c\u80fd\u4e0e\u67b6\u6784<\/h4>\n

\u542c\u89c9\u662f\u4ec5\u6b21\u4e8e\u89c6\u89c9\u7684\u91cd\u8981\u611f\u77e5\u901a\u9053，\u5728\u89c6\u89c9\u53d7\u9650\u573a\u666f（\u9ed1\u6697\u3001\u906e\u6321）\u4e0e\u8bed\u8a00\u4ea4\u4e92\u4e2d\u4e0d\u53ef\u66ff\u4ee3[15-16]\u3002\u542c\u89c9\u901a\u9053\u7684\u804c\u80fd：\u8bed\u97f3\u5185\u5bb9\u7406\u89e3（\u8bf4\u4e86\u4ec0\u4e48）\u3001\u58f0\u5b66\u4e8b\u4ef6\u68c0\u6d4b（\u53d1\u751f\u4e86\u4ec0\u4e48\u58f0\u97f3）\u3001\u7a7a\u95f4\u542c\u89c9（\u58f0\u97f3\u4ece\u54ea\u6765）\u3001\u60c5\u611f\u97f5\u5f8b\u611f\u77e5（\u600e\u4e48\u8bf4）[15-16]\u3002<\/p>\n

\u542c\u89c9\u901a\u9053\u67b6\u6784：\u58f0\u97f3\u91c7\u96c6（\u9ea6\u514b\u98ce\u9635\u5217）\u2192\u58f0\u5b66\u7279\u5f81（\u9891\u8c31\u3001MFCC\u3001\u57fa\u9891）[15]\u2192\u4e2d\u5c42\u8bed\u4e49（\u8bed\u97f3\u8bc6\u522b\u3001\u58f0\u5b66\u4e8b\u4ef6\u5206\u7c7b\u3001\u58f0\u6e90\u5b9a\u4f4d）[15]\u2192\u9ad8\u5c42\u60c5\u5883（\u8bf4\u8bdd\u4eba\u8bc6\u522b\u3001\u5bf9\u8bdd\u72b6\u6001\u3001\u73af\u5883\u58f0\u573a）[15,17]\u3002\u542c\u89c9\u901a\u9053\u7684\u804c\u8d23\u805a\u7126：\u8bed\u8a00\u611f\u77e5（\u8bf4\u4ec0\u4e48）\u3001\u73af\u5883\u611f\u77e5（\u6709\u4ec0\u4e48\u58f0\u97f3）\u3001\u793e\u4f1a\u611f\u77e5（\u8c01\u5728\u8bf4\u3001\u8bed\u6c14\u5982\u4f55）[15,17,20]\u3002\u542c\u89c9\u611f\u77e5\u4e0e\u89c6\u89c9\u611f\u77e5\u7684\u4e92\u8865\u6027：\u89c6\u89c9"\u770b\u5230"\u9700\u8981\u89c6\u7ebf（\u906e\u6321\u3001\u9ed1\u6697\u53d7\u9650），\u542c\u89c9"\u542c\u5230"\u5168\u5411（\u58f0\u6e90\u65e0\u9700\u5728\u89c6\u91ce\u5185）\u2014\u2014\u201c\u770b\u4e0d\u89c1\u7684\u8b66\u62a5\u58f0"\u7531\u542c\u89c9\u6355\u83b7[15,17]\u3002\u542c\u89c9\u901a\u9053\u4e0e\u89c6\u89c9\u901a\u9053\u7684\u65f6\u5e8f\u7279\u6027\u4e0d\u540c：\u89c6\u89c9\u662f"\u7a7a\u95f4\u4e3b\u5bfc\u201d（\u4e00\u5e27\u56fe\u50cf\u542b\u5927\u91cf\u7a7a\u95f4\u4fe1\u606f），\u542c\u89c9\u662f"\u65f6\u95f4\u4e3b\u5bfc"（\u58f0\u97f3\u7684\u672c\u8d28\u662f\u65f6\u95f4\u5e8f\u5217）\u2014\u2014\u542c\u89c9\u611f\u77e5\u7684\u6d41\u6c34\u7ebf\u9700\u66f4\u5f3a\u7684\u65f6\u5e8f\u5efa\u6a21（\u5faa\u73af\u7f51\u7edc\/\u6ce8\u610f\u529b\u65f6\u5e8f\u7f16\u7801）[15,17]\u3002\u542c\u89c9\u611f\u77e5\u7684\u5ef6\u8fdf\u8981\u6c42：\u5bf9\u8bdd\u573a\u666f\u7684\u8bed\u97f3\u8bc6\u522b\u9700\u6d41\u5f0f\u5904\u7406（\u8fb9\u8bf4\u8fb9\u8bc6\u522b），\u7aef\u5230\u7aef\u5ef6\u8fdf\u63a7\u5236\u5728\u51e0\u767e\u6beb\u79d2\u5185[15,17]\u3002<\/p>\n

5.2 \u58f0\u5b66\u7279\u5f81\u63d0\u53d6<\/h4>\n

\u58f0\u5b66\u7279\u5f81\u7684\u63d0\u53d6\u662f\u542c\u89c9\u611f\u77e5\u7684\u57fa\u7840[15]：\u77ed\u65f6\u5085\u91cc\u53f6\u53d8\u6362（STFT）\u5c06\u6ce2\u5f62\u8f6c\u4e3a\u9891\u8c31\u56fe；\u6885\u5c14\u9891\u7387\u5012\u8c31\u7cfb\u6570（MFCC）\u6a21\u62df\u4eba\u8033\u542c\u89c9\u7279\u6027；\u57fa\u9891（F0）\u4e0e\u80fd\u91cf\u523b\u753b\u8bed\u97f3\u7684\u97f5\u5f8b\u7279\u5f81[15]\u3002\u6df1\u5ea6\u5b66\u4e60\u65f6\u4ee3，\u7aef\u5230\u7aef\u6a21\u578b\u76f4\u63a5\u4ece\u539f\u59cb\u6ce2\u5f62\u6216\u9891\u8c31\u56fe\u5b66\u4e60\u7279\u5f81[15]\u3002<\/p>\n

\u7279\u5f81\u63d0\u53d6\u7684\u5de5\u7a0b\u8003\u8651：\u91c7\u6837\u7387（\u8bed\u97f316 kHz\u3001\u97f3\u989144.1 kHz）\u3001\u5e27\u957f\u5e27\u79fb（25 ms\/10 ms）\u3001\u566a\u58f0\u9c81\u68d2\u6027（\u8bed\u97f3\u589e\u5f3a\u9884\u5904\u7406）[15]\u3002<\/p>\n

5.3 \u8bed\u97f3\u8bc6\u522b\u4e0e\u8bed\u4e49\u63d0\u53d6<\/h4>\n

\u8bed\u97f3\u8bc6\u522b（ASR）\u5c06\u8bed\u97f3\u8f6c\u4e3a\u6587\u672c[15]：\u4f20\u7edf\u65b9\u6848（GMM-HMM）\u5df2\u88ab\u7aef\u5230\u7aef\u65b9\u6848\u53d6\u4ee3\u2014\u2014Transformer\u7c7b\u6a21\u578b（Whisper\u7b49）\u76f4\u63a5\u5b9e\u73b0\u8bed\u97f3\u5230\u6587\u672c\u7684\u6620\u5c04[15]\u3002ASR\u7684\u5de5\u7a0b\u6311\u6218：\u53e3\u97f3\u4e0e\u65b9\u8a00（\u591a\u53e3\u97f3\u5fae\u8c03）\u3001\u566a\u58f0\u9c81\u68d2\u6027（\u8bed\u97f3\u589e\u5f3a）\u3001\u5b9e\u65f6\u6027（\u6d41\u5f0fASR）[15]\u3002ASR\u7684\u8bed\u4e49\u8854\u63a5：\u8bc6\u522b\u6587\u672c\u8fdb\u5165\u8bed\u8a00\u7406\u89e3（\u4e0e\u7c7b\u8111\u5927\u6a21\u578b\u7684LLM\u57fa\u5ea7\u8854\u63a5）\u2014\u2014\u542c\u89c9\u901a\u9053\u662f"\u8bed\u8a00\u611f\u77e5"\u7684\u4e3b\u8981\u5165\u53e3[15,17]\u3002\u8bed\u97f3\u8bc6\u522b\u8f93\u51fa\u643a\u5e26\u65f6\u95f4\u6233（\u9010\u8bcd\u65f6\u95f4\u5bf9\u9f50），\u652f\u6491"\u8c01\u5728\u4ec0\u4e48\u65f6\u5019\u8bf4\u4e86\u4ec0\u4e48"\u7684\u7ed3\u6784\u5316\u8868\u793a[15,17]\u3002\u8bed\u97f3\u8bc6\u522b\u8f93\u51fa\u643a\u5e26\u65f6\u95f4\u6233（\u9010\u8bcd\u65f6\u95f4\u5bf9\u9f50），\u652f\u6491"\u8c01\u5728\u4ec0\u4e48\u65f6\u5019\u8bf4\u4e86\u4ec0\u4e48"\u7684\u7ed3\u6784\u5316\u8868\u793a[15,17]\u3002<\/p>\n

\u8bed\u4e49\u63d0\u53d6：\u8bed\u97f3\u6587\u672c\u7ecf\u8bed\u4e49\u89e3\u6790（\u4e0e\u6587\u672c\u611f\u77e5\u901a\u9053\u76f8\u540c）\u8f6c\u5316\u4e3a\u4e16\u754c\u72b6\u6001\u7684\u8bed\u8a00\u4e8b\u4ef6\u2014\u2014"\u7528\u6237\u8bf4\u2019\u628a\u676f\u5b50\u9012\u7ed9\u6211\u2019"\u2192\u4e8b\u4ef6{\u7c7b\u578b:\u8bf7\u6c42, \u5bf9\u8c61:\u676f\u5b50, \u52a8\u4f5c:\u9012\u9001}[17]\u3002<\/p>\n

5.4 \u58f0\u5b66\u4e8b\u4ef6\u68c0\u6d4b\u4e0e\u573a\u666f\u5206\u6790<\/h4>\n

\u58f0\u5b66\u4e8b\u4ef6\u68c0\u6d4b（AED）\u8bc6\u522b\u73af\u5883\u58f0\u97f3[15]：\u8b66\u62a5\u58f0\u3001\u811a\u6b65\u58f0\u3001\u73bb\u7483\u788e\u88c2\u58f0\u3001\u72ac\u5420\u7b49\u3002AED\u7684\u6a21\u578b：\u97f3\u9891\u9891\u8c31Transformer（AST）\u5c06\u97f3\u9891\u9891\u8c31\u56fe\u5206\u5757\u7f16\u7801，\u5b9e\u73b0\u591a\u6807\u7b7e\u58f0\u5b66\u4e8b\u4ef6\u5206\u7c7b[15]\u3002AED\u5728\u5b89\u5168\u573a\u666f\u7684\u4ef7\u503c\u7a81\u51fa：\u89c6\u89c9\u4e0d\u53ef\u89c1\u7684\u5371\u9669（\u70df\u96fe\u8b66\u62a5\u3001\u73bb\u7483\u7834\u788e）\u7531\u542c\u89c9\u901a\u9053\u6355\u83b7[15,17]\u3002\u97f3\u9891\u9891\u8c31Transformer（AST）\u7b49\u6a21\u578b\u5b9e\u73b0\u591a\u6807\u7b7e\u58f0\u5b66\u4e8b\u4ef6\u5206\u7c7b[15]\u3002<\/p>\n

\u58f0\u5b66\u573a\u666f\u5206\u6790：\u8bc6\u522b\u73af\u5883\u58f0\u573a\u7c7b\u578b（\u8857\u9053\u3001\u5ba4\u5185\u3001\u5de5\u5382）[15]；\u58f0\u6e90\u5b9a\u4f4d（\u9ea6\u514b\u98ce\u9635\u5217\u7684\u5230\u8fbe\u65f6\u5deeTDOA\u4f30\u8ba1\u58f0\u6e90\u65b9\u5411）[15]\u3002\u58f0\u6e90\u5b9a\u4f4d\u4e0e\u89c6\u89c9\u7684\u534f\u540c：\u58f0\u6e90\u65b9\u5411\u5f15\u5bfc\u89c6\u89c9\u6ce8\u610f\u529b（\u201c\u542c\u5230\u58f0\u97f3\u2192\u770b\u5411\u58f0\u6e90\u201d）\u2014\u2014\u89c6\u542c\u878d\u5408\u7684\u6ce8\u610f\u529b\u5b9a\u5411\u673a\u5236[15,17]\u3002\u58f0\u5b66\u4e8b\u4ef6\u4e0e\u89c6\u89c9\u4e8b\u4ef6\u4e92\u8865：\u89c6\u89c9"\u770b\u5230"\u7269\u4f53，\u542c\u89c9"\u542c\u5230"\u58f0\u97f3\u2014\u2014"\u770b\u4e0d\u89c1\u7684\u8b66\u62a5\u58f0"\u7531\u542c\u89c9\u901a\u9053\u6355\u83b7[15,17]\u3002<\/p>\n

5.5 \u542c\u89c9\u4e0e\u8bed\u8a00\u7684\u8854\u63a5<\/h4>\n

\u542c\u89c9\u901a\u9053\u4e0e\u8bed\u8a00\u7406\u89e3\u7684\u8854\u63a5\u662f\u7c7b\u8111\u5927\u6a21\u578b\u7684\u7279\u6709\u9700\u6c42[15,17]：\u8bed\u97f3\u2192\u6587\u672c\u2192\u8bed\u4e49（ASR+\u8bed\u8a00\u7406\u89e3），\u6216\u8bed\u97f3\u2192\u8bed\u4e49（\u7aef\u5230\u7aef\u8bed\u97f3\u7406\u89e3\u6a21\u578b，\u8df3\u8fc7\u4e2d\u95f4\u6587\u672c）[15]\u3002\u542c\u89c9\u901a\u9053\u540c\u65f6\u63d0\u4f9b\u97f5\u5f8b\u4fe1\u606f（\u8bed\u8c03\u3001\u60c5\u611f），\u652f\u6491\u60c5\u611f\u611f\u77e5（\u201c\u7528\u6237\u8bed\u6c14\u6124\u6012\u201d）[15,20]\u3002<\/p>\n

\u5728\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u4e2d，\u542c\u89c9\u8f93\u51fa\u6620\u5c04\u4e3a\u4e16\u754c\u72b6\u6001\u7684\u4e8b\u4ef6\u4e0e\u5bf9\u8c61：\u8bed\u97f3\u4e8b\u4ef6（\u8bf4\u8bdd\u5185\u5bb9\u3001\u8bf4\u8bdd\u4eba）\u3001\u58f0\u5b66\u4e8b\u4ef6（\u8b66\u62a5\u3001\u5f02\u5e38\u58f0）\u3001\u73af\u5883\u58f0\u573a[15,17]\u3002\u8bed\u97f3\u4e8b\u4ef6\u7684\u8bed\u4e49\u5316：\u8bed\u97f3\u7ecfASR\u8f6c\u6587\u672c\u3001\u518d\u7ecf\u8bed\u4e49\u89e3\u6790\u4e3a\u4e8b\u4ef6（"\u7528\u6237\u8bf4：\u628a\u706f\u6253\u5f00"\u2192\u4e8b\u4ef6{\u7c7b\u578b:\u6307\u4ee4, \u5bf9\u8c61:\u706f, \u52a8\u4f5c:\u5f00\u542f}）[15,17]\u3002\u58f0\u5b66\u4e8b\u4ef6\u7684\u8bed\u4e49\u5316：\u8b66\u62a5\u58f0\u2192\u4e8b\u4ef6{\u7c7b\u578b:\u5371\u9669\u4fe1\u53f7, \u6765\u6e90:\u70df\u96fe\u62a5\u8b66\u5668}[15,17]\u3002\u73af\u5883\u58f0\u573a\u2192\u60c5\u5883\u5143\u7d20{\u573a\u6240:\u8857\u9053, \u5608\u6742\u5ea6:\u9ad8}[15,17]\u3002<\/p>\n

5.6 \u542c\u89c9\u611f\u77e5\u7684\u9c81\u68d2\u6027<\/h4>\n

\u542c\u89c9\u611f\u77e5\u7684\u9c81\u68d2\u6027\u6311\u6218[15,17]：\u566a\u58f0\u73af\u5883（\u8857\u9053\u3001\u5de5\u5382）\u2014\u2014\u7f13\u89e3：\u6ce2\u675f\u6210\u5f62（\u9ea6\u514b\u98ce\u9635\u5217\u6307\u5411\u58f0\u6e90）\u3001\u8bed\u97f3\u589e\u5f3a（\u964d\u566a\u6a21\u578b）；\u591a\u8bf4\u8bdd\u4eba（\u9e21\u5c3e\u9152\u4f1a\u6548\u5e94）\u2014\u2014\u7f13\u89e3：\u8bf4\u8bdd\u4eba\u5206\u79bb（\u58f0\u7eb9\u533a\u5206）；\u56de\u58f0\u4e0e\u6df7\u54cd\u2014\u2014\u7f13\u89e3：\u53bb\u6df7\u54cd\u5904\u7406[15,17]\u3002\u542c\u89c9\u9c81\u68d2\u6027\u8bc4\u4f30：SNR（\u4fe1\u566a\u6bd4）\u4e0b\u964d\u65f6\u7684\u8bc6\u522b\u7387\u4fdd\u6301\u66f2\u7ebf[15,17]\u3002<\/p>\n

5.7 \u542c\u89c9\u611f\u77e5\u7684\u60c5\u611f\u97f5\u5f8b<\/h4>\n

\u542c\u89c9\u901a\u9053\u540c\u65f6\u662f\u60c5\u611f\u611f\u77e5\u7684\u901a\u9053[15,20]：\u8bed\u97f3\u97f5\u5f8b（\u8bed\u8c03\u3001\u8bed\u901f\u3001\u97f3\u91cf）\u643a\u5e26\u60c5\u611f\u4fe1\u606f\u2014\u2014\u201c\u6124\u6012\u7684\u8bed\u6c14\u201d\u201c\u6e29\u67d4\u7684\u8bed\u8c03\u201d[15,20]\u3002\u591a\u6a21\u6001\u60c5\u7eea\u8bc6\u522b\u7814\u7a76\u8868\u660e，\u878d\u5408\u9762\u90e8\u8868\u60c5\u3001\u8bed\u97f3\u4e0e\u8bed\u8a00\u7b49\u591a\u6a21\u6001\u4fe1\u53f7\u53ef\u663e\u8457\u63d0\u5347\u60c5\u7eea\u8bc6\u522b\u6027\u80fd\u2014\u2014\u542c\u89c9\u60c5\u611f\u611f\u77e5\u4e0e\u89c6\u89c9\u8868\u60c5\u611f\u77e5\u7684\u878d\u5408\u662f\u60c5\u7eea\u8bc6\u522b\u7684\u4e3b\u6d41\u65b9\u5411[14,20]\u3002\u542c\u89c9\u60c5\u611f\u611f\u77e5\u7684\u8f93\u51fa（\u5bf9\u65b9\u60c5\u611f\u72b6\u6001）\u8fdb\u5165\u60c5\u611f\u8bc4\u4f30\u5b50\u7f51，\u652f\u6491\u5171\u60c5\u4ea4\u4e92[20]\u3002\u97f5\u5f8b\u611f\u77e5\u4e0e\u8bed\u4e49\u611f\u77e5\u7684\u534f\u540c：\u8bed\u4e49\u8bf4"\u6211\u6ca1\u4e8b"\u4f46\u97f5\u5f8b\u663e\u793a\u4f4e\u843d\u2014\u2014\u97f5\u5f8b\u4f18\u5148\u5224\u5b9a\u771f\u5b9e\u60c5\u611f\u72b6\u6001[15,20]\u3002<\/p>\n

6 \u89e6\u89c9\u4e0e\u5185\u611f\u611f\u77e5\u901a\u9053<\/h3>\n

6.1 \u89e6\u89c9\u611f\u77e5\u7684\u72ec\u7279\u4ef7\u503c<\/h4>\n

\u89e6\u89c9\u662f\u552f\u4e00\u63d0\u4f9b\u76f4\u63a5\u7269\u7406\u63a5\u89e6\u53cd\u9988\u7684\u611f\u77e5\u901a\u9053[7,9,16]\u3002\u89c6\u89c9"\u770b"\u7269\u4f53，\u89e6\u89c9"\u6478"\u7269\u4f53\u2014\u2014\u89e6\u89c9\u63d0\u4f9b\u63a5\u89e6\u51e0\u4f55（\u5f62\u72b6）\u3001\u6750\u6599\u7279\u6027（\u786c\u5ea6\u3001\u7c97\u7cd9\u5ea6\u3001\u6e29\u5ea6）\u4e0e\u4ea4\u4e92\u52a8\u6001（\u6ed1\u52a8\u3001\u529b）\u7684\u76f4\u63a5\u4fe1\u606f[7,9]\u3002\u89e6\u89c9\u611f\u77e5\u7684\u72ec\u7279\u6027：\u5b83\u662f"\u53cc\u5411"\u7684\u2014\u2014\u4e0d\u4ec5\u611f\u77e5\u7269\u4f53，\u8fd8\u9a8c\u8bc1\u884c\u52a8（\u6293\u53d6\u662f\u5426\u6210\u529f\u3001\u63a5\u89e6\u662f\u5426\u7a33\u5b9a）[7,9,19]\u3002\u5728\u7269\u7406AI\u7684\u611f\u77e5\u67b6\u6784\u4e2d，\u89e6\u89c9\u662f"\u63a5\u89e6\u9a71\u52a8\u7684\u611f\u77e5\u8303\u5f0f"（contact-driven paradigm）\u7684\u57fa\u7840，\u4e0e\u89c6\u89c9-\u8bed\u8a00\u8303\u5f0f\u5e76\u5217[9]\u3002\u5728\u89c6\u89c9\u906e\u6321\u573a\u666f（\u6293\u624b\u76f2\u533a）\u4e0e\u7cbe\u7ec6\u64cd\u4f5c（\u88c5\u914d\u3001\u624b\u672f）\u4e2d，\u89e6\u89c9\u4e0d\u53ef\u66ff\u4ee3[7,9,19]\u3002<\/p>\n

\u89e6\u89c9\u611f\u77e5\u7684\u751f\u7269\u5b66\u57fa\u7840：\u76ae\u80a4\u611f\u53d7\u5668（\u89e6\u89c9\u5c0f\u4f53\u3001\u73af\u5c42\u5c0f\u4f53\u3001\u6e29\u5ea6\u611f\u53d7\u5668\u3001\u4f24\u5bb3\u611f\u53d7\u5668）\u7f16\u7801\u538b\u529b\u3001\u632f\u52a8\u3001\u6e29\u5ea6\u4e0e\u75bc\u75db[7,9,16]\u3002<\/p>\n

6.2 \u89e6\u89c9\u4f20\u611f\u5668\u4e0e\u89e6\u89c9\u8868\u5f81<\/h4>\n

\u89e6\u89c9\u4f20\u611f\u5668\u7684\u4e24\u7c7b\u4e3b\u6d41\u65b9\u6848[7,9]：\u7269\u7406\u5f0f\u89e6\u89c9\u4f20\u611f\u5668（\u538b\u963b\u3001\u7535\u5bb9\u3001\u538b\u7535）\u2014\u2014\u76f4\u63a5\u6d4b\u91cf\u529b\/\u538b\u529b\u5206\u5e03；\u89c6\u89c9\u5f0f\u89e6\u89c9\u4f20\u611f\u5668（GelSight\u7c7b）\u2014\u2014\u901a\u8fc7\u76f8\u673a\u62cd\u6444\u5f39\u6027\u4f53\u5f62\u53d8\u56fe\u50cf，\u5b9e\u73b0\u9ad8\u5206\u8fa8\u7387\u89e6\u89c9\u6210\u50cf[7,9]\u3002<\/p>\n

\u89e6\u89c9\u8868\u5f81[7,9]：\u89e6\u89c9\u56fe\u50cf（\u89c6\u89c9\u5f0f\u4f20\u611f\u5668\u7684\u8f93\u51fa，\u53ef\u7528CNN\u5904\u7406）\u3001\u538b\u529b\u5206\u5e03\u77e9\u9635（\u7269\u7406\u5f0f\u4f20\u611f\u5668）\u3001\u529b\/\u529b\u77e9\u5411\u91cf（\u8155\u90e8\u529b\u4f20\u611f\u5668）\u3001\u632f\u52a8\u4fe1\u53f7（\u52a0\u901f\u5ea6\u8ba1）[7,9]\u3002\u89e6\u89c9\u8868\u5f81\u7684\u6807\u51c6\u5316\u662f\u5f53\u524d\u6311\u6218：\u4e0d\u540c\u89e6\u89c9\u4f20\u611f\u5668\u7684\u8868\u5f81\u7a7a\u95f4\u5dee\u5f02\u5927（\u89e6\u89c9\u56fe\u50cfvs\u538b\u529b\u77e9\u9635），\u8de8\u4f20\u611f\u5668\u6cdb\u5316\u56f0\u96be[7,9]\u3002\u89c6\u89c9\u89e6\u89c9\u667a\u80fd（vision-based tactile intelligence）\u7684\u7814\u7a76\u63d0\u51fa\u4e86\u89e6\u89c9-\u89c6\u89c9\u7edf\u4e00\u8868\u5f81\u7684\u65b9\u5411\u2014\u2014\u4ee5\u89e6\u89c9\u56fe\u50cf\u4e3a\u4e2d\u95f4\u8868\u793a，\u5b9e\u73b0\u89e6\u89c9\u611f\u77e5\u4e0e\u89c6\u89c9\u611f\u77e5\u7684\u5171\u4eab\u7279\u5f81\u7a7a\u95f4[7,9]\u3002<\/p>\n

6.3 \u89e6\u89c9\u611f\u77e5\u4efb\u52a1<\/h4>\n

\u89e6\u89c9\u611f\u77e5\u7684\u6838\u5fc3\u4efb\u52a1[7,9]：<\/p>\n

\u6750\u8d28\u8bc6\u522b：\u901a\u8fc7\u89e6\u89c9\u56fe\u50cf\/\u529b\u4fe1\u53f7\u8bc6\u522b\u6750\u8d28（\u91d1\u5c5e\u3001\u6728\u6750\u3001\u7ec7\u7269）[7,9]\u3002<\/p>\n

\u63a5\u89e6\u72b6\u6001\u4f30\u8ba1：\u4f30\u8ba1\u63a5\u89e6\u7c7b\u578b（\u70b9\u63a5\u89e6\u3001\u9762\u63a5\u89e6）\u3001\u63a5\u89e6\u529b\u5927\u5c0f\u4e0e\u65b9\u5411\u3001\u6ed1\u52a8\u72b6\u6001[7,9]\u3002\u63a5\u89e6\u72b6\u6001\u662f\u7cbe\u7ec6\u64cd\u4f5c（\u6293\u53d6\u3001\u88c5\u914d）\u7684\u5173\u952e\u53cd\u9988[7,9,19]\u3002\u63a5\u89e6\u72b6\u6001\u4f30\u8ba1\u7684\u5b9e\u73b0：\u529b\/\u529b\u77e9\u4f20\u611f\u5668\u76f4\u63a5\u6d4b\u91cf（\u8155\u90e8\u529b\u4f20\u611f\u5668），\u6216\u4ece\u89e6\u89c9\u56fe\u50cf\u63a8\u65ad（CNN\u56de\u5f52\u63a5\u89e6\u529b）[7,9]\u3002\u6ed1\u52a8\u68c0\u6d4b：\u89e6\u89c9\u56fe\u50cf\u7684\u65f6\u5e8f\u53d8\u5316（\u7eb9\u7406\u9519\u4f4d）\u6216\u529b\u4fe1\u53f7\u7684\u9ad8\u9891\u6296\u52a8\u2014\u2014\u6ed1\u52a8\u68c0\u6d4b\u89e6\u53d1\u6293\u53d6\u529b\u8c03\u6574（\u9632\u6ed1）[7,9,19]\u3002<\/p>\n

\u7269\u4f53\u8bc6\u522b：\u4ec5\u51ed\u89e6\u89c9\u8bc6\u522b\u7269\u4f53（\u76f2\u64cd\u4f5c\u573a\u666f）\u2014\u2014\u201c\u6478\u51fa\u662f\u94a5\u5319\u201d（\u5f62\u72b6+\u6750\u8d28）[7,9]\u3002<\/p>\n

\u89e6\u89c9-\u89c6\u89c9\u878d\u5408：\u89c6\u89c9\u89e6\u89c9\u667a\u80fd（vision-based tactile intelligence）\u5c06\u89e6\u89c9\u56fe\u50cf\u4e0e\u89c6\u89c9\u56fe\u50cf\u8054\u5408\u2014\u2014\u89c6\u89c9\u63d0\u4f9b\u5168\u5c40\u5f62\u72b6，\u89e6\u89c9\u63d0\u4f9b\u5c40\u90e8\u63a5\u89e6\u7ec6\u8282[7,9]\u3002\u878d\u5408\u7684\u5178\u578b\u4efb\u52a1：\u7269\u4f53\u6293\u53d6\u4e2d\u7684"\u89c6\u89c9\u9884\u5224+\u89e6\u89c9\u9a8c\u8bc1"（\u89c6\u89c9\u5224\u65ad\u6293\u53d6\u70b9\u3001\u89e6\u89c9\u9a8c\u8bc1\u63a5\u89e6\u8d28\u91cf）\u3001\u6750\u8d28\u8bc6\u522b\u7684"\u89c6\u89c9\u521d\u5224+\u89e6\u89c9\u786e\u8ba4"（\u89c6\u89c9\u731c\u6750\u8d28\u3001\u89e6\u89c9\u9a8c\u8bc1）[7,9]\u3002<\/p>\n

6.4 \u672c\u4f53\u611f\u89c9\u4e0e\u5185\u611f\u53d7\u901a\u9053<\/h4>\n

\u672c\u4f53\u611f\u89c9\u4e0e\u5185\u611f\u53d7\u901a\u9053\u56de\u7b54"\u6211\u81ea\u5df1\u7684\u8eab\u4f53\u72b6\u6001\u5982\u4f55"\u2014\u2014\u8fd9\u662f\u4e16\u754c\u72b6\u6001\u4e2d"\u81ea\u6211\u5143\u7d20"\u7684\u6765\u6e90，\u4e5f\u662f\u533a\u5206"\u5916\u90e8\u4e16\u754c"\u4e0e"\u81ea\u8eab"\u7684\u611f\u77e5\u57fa\u7840[16-17]\u3002<\/p>\n

\u672c\u4f53\u611f\u89c9（proprioception）\u611f\u77e5\u8eab\u4f53\u4f4d\u5f62[16]：\u5173\u8282\u89d2\u5ea6（\u7f16\u7801\u5668）\u3001\u8eab\u4f53\u59ff\u6001（IMU）\u3001\u5173\u8282\u529b\/\u529b\u77e9（\u7535\u6d41）\u2014\u2014\u652f\u6491"\u95ed\u773c\u4e5f\u77e5\u9053\u624b\u5728\u54ea\u91cc"[16]\u3002\u672c\u4f53\u611f\u89c9\u662f\u4e16\u754c\u72b6\u6001\u4e2d"\u81ea\u6211\u72b6\u6001"\u7684\u6765\u6e90，\u4e5f\u662f\u4e16\u754c\u6a21\u578b\u63a8\u6f14\u8eab\u4f53\u52a8\u529b\u5b66\u7684\u57fa\u7840[16-17]\u3002<\/p>\n

\u524d\u5ead\u611f\u89c9（vestibular）\u611f\u77e5\u5e73\u8861\u4e0e\u52a0\u901f\u5ea6[16]：IMU\u63d0\u4f9b\u7ebf\u52a0\u901f\u5ea6\u4e0e\u89d2\u901f\u5ea6\u2014\u2014\u652f\u6491\u53cc\u8db3\u5e73\u8861\u3001\u5934\u90e8\u7a33\u5b9a\u4e0e\u89c6\u89c9\u8865\u507f（VOR）[16]\u3002<\/p>\n

\u5185\u611f\u53d7（interoception）\u611f\u77e5\u751f\u7406\u72b6\u6001[16]：\u6e29\u5ea6\u3001\u7535\u91cf\u3001\u8d1f\u8f7d\u2014\u2014\u652f\u6491\u4f53\u5185\u7a33\u6001\u8c03\u8282\u4e0e\u60c5\u611f\u5185\u611f\u53d7（\u60c5\u7eea\u7684\u8eab\u4f53\u53cd\u5e94）[16,20]\u3002\u5185\u611f\u53d7\u7684\u5de5\u7a0b\u5b9e\u73b0：\u6e29\u5ea6\u4f20\u611f\u5668（\u8bbe\u5907\u53d1\u70ed\u76d1\u63a7）\u3001\u7535\u91cf\u76d1\u6d4b（\u7535\u6e90\u7ba1\u7406）\u3001\u8d1f\u8f7d\u76d1\u6d4b（\u5173\u8282\u7535\u6d41\u2014\u2014\u673a\u68b0\u75b2\u52b3\u9884\u8b66）[16]\u3002\u5185\u611f\u53d7\u4e0e\u751f\u5b58\u5c42\u7684\u8854\u63a5：\u751f\u7406\u72b6\u6001\u5f02\u5e38（\u8fc7\u70ed\u3001\u4f4e\u7535\u91cf）\u89e6\u53d1\u751f\u5b58\u5c42\u4fdd\u62a4\u52a8\u4f5c（\u964d\u9891\u3001\u5145\u7535\u3001\u505c\u673a）[16,18]\u3002<\/p>\n

\u672c\u4f53\/\u524d\u5ead\/\u5185\u611f\u53d7\u7684\u8f93\u51fa\u6620\u5c04\u4e3a\u4e16\u754c\u72b6\u6001\u4e2d\u7684\u81ea\u6211\u5143\u7d20：{\u81ea\u4f53\u4f4d\u59ff, \u5173\u8282\u72b6\u6001, \u751f\u7406\u72b6\u6001}[16-17]\u3002\u81ea\u6211\u5143\u7d20\u5728\u4e16\u754c\u6a21\u578b\u63a8\u6f14\u4e2d\u7684\u89d2\u8272：\u4e16\u754c\u6a21\u578b\u9884\u6d4b"\u5982\u679c\u6211\u79fb\u52a8\u624b\u81c2，\u5173\u8282\u72b6\u6001\u5982\u4f55\u53d8\u5316"\u2014\u2014\u672c\u4f53\u611f\u89c9\u63d0\u4f9b\u63a8\u6f14\u7684\u8eab\u4f53\u57fa\u51c6[16-17]\u3002\u5185\u611f\u53d7（\u6e29\u5ea6\u3001\u7535\u91cf\u3001\u75b2\u52b3）\u4e3a\u751f\u5b58\u5c42\u63d0\u4f9b\u751f\u7406\u72b6\u6001\u76d1\u63a7，\u4e5f\u4e3a\u60c5\u611f\u5b50\u7f51\u63d0\u4f9b\u5185\u611f\u53d7\u901a\u9053（\u60c5\u7eea\u7684\u8eab\u4f53\u53cd\u5e94）[16,20]\u3002<\/p>\n

6.5 \u89e6\u89c9\u901a\u9053\u7684\u6311\u6218\u4e0e\u7f13\u89e3<\/h4>\n

\u89e6\u89c9\u611f\u77e5\u7684\u6311\u6218[7,9]：\u4f20\u611f\u5668\u6210\u672c\u4e0e\u8010\u7528\u6027（\u89c6\u89c9\u5f0f\u89e6\u89c9\u4f20\u611f\u5668\u9700\u5f39\u6027\u4f53\u7ef4\u62a4）；\u6570\u636e\u7a00\u7f3a（\u89e6\u89c9\u6807\u6ce8\u6570\u636e\u96be\u83b7\u53d6）\u2014\u2014\u7f13\u89e3：\u4eff\u771f\u89e6\u89c9（\u89e6\u89c9\u6e32\u67d3\u5668）\u3001\u81ea\u76d1\u7763\u5b66\u4e60[7,9]；\u8de8\u4f20\u611f\u5668\u6cdb\u5316（\u4e0d\u540c\u89e6\u89c9\u4f20\u611f\u5668\u8868\u5f81\u5dee\u5f02\u5927）\u2014\u2014\u7f13\u89e3：\u6807\u51c6\u5316\u89e6\u89c9\u8868\u5f81[7,9]\u3002\u89e6\u89c9\u6570\u636e\u7a00\u7f3a\u7684\u7834\u89e3\u8def\u5f84：\u89e6\u89c9\u4eff\u771f（Tactile Gym\u7c7b\u4eff\u771f\u73af\u5883\u5408\u6210\u89e6\u89c9\u6570\u636e）\u3001\u9065\u64cd\u4f5c\u91c7\u96c6（\u4eba\u7c7b\u6f14\u793a\u7684\u89e6\u89c9\u6570\u636e）\u3001\u8de8\u57df\u8fc1\u79fb（\u4eff\u771f\u5230\u771f\u5b9e）[7,9]\u3002<\/p>\n

6.6 \u89e6\u89c9\u611f\u77e5\u4e0e\u64cd\u4f5c\u95ed\u73af<\/h4>\n

\u89e6\u89c9\u611f\u77e5\u4e0e\u64cd\u4f5c\u6267\u884c\u6784\u6210\u95ed\u73af[7,9,19]：\u611f\u77e5\u63a5\u89e6\u72b6\u6001\u2192\u8c03\u6574\u64cd\u4f5c\u53c2\u6570（\u6293\u53d6\u529b\u3001\u79fb\u52a8\u901f\u5ea6）\u2192\u64cd\u4f5c\u53cd\u9988\u2192\u66f4\u65b0\u63a5\u89e6\u72b6\u6001[7,9,19]\u3002\u89e6\u89c9-\u64cd\u4f5c\u95ed\u73af\u662f\u7cbe\u7ec6\u64cd\u4f5c（\u88c5\u914d\u3001\u7f1d\u5408\u3001\u7a7f\u9488）\u7684\u5173\u952e[7,9]\u3002\u95ed\u73af\u7684\u5b9e\u65f6\u6027：\u89e6\u89c9\u53cd\u9988\u5468\u671f（5-20 ms）\u8fdc\u5feb\u4e8e\u89c6\u89c9（30-100 ms）\u2014\u2014\u89e6\u89c9\u652f\u6491\u6beb\u79d2\u7ea7\u7684\u529b\u63a7\u5236[7,9,19]\u3002IROS\u7814\u7a76\u5df2\u5c55\u793a\u57fa\u4e8e\u5b66\u4e60\u7684\u6293\u53d6\u63a7\u5236\u5668（6 ms\u5468\u671f）\u5728\u672a\u77e5\u7269\u4f53\u4e0a\u7684\u7a33\u5b9a\u591a\u63a5\u89e6\u6293\u53d6[19]\u3002<\/p>\n

6.7 \u672c\u4f53\u611f\u89c9\u4e0e\u524d\u5ead\u611f\u89c9\u7684\u5de5\u7a0b\u5b9e\u73b0<\/h4>\n

\u672c\u4f53\u611f\u89c9\u4e0e\u524d\u5ead\u611f\u89c9\u7684\u5de5\u7a0b\u5b9e\u73b0[16-17]：\u5173\u8282\u7f16\u7801\u5668（\u5173\u8282\u89d2\u5ea6）\u3001IMU（\u89d2\u901f\u5ea6+\u7ebf\u52a0\u901f\u5ea6）\u3001\u5173\u8282\u7535\u6d41（\u529b\u77e9\u4f30\u8ba1）\u2014\u2014\u878d\u5408\u4e3a\u8eab\u4f53\u4f4d\u5f62\u4f30\u8ba1（\u5361\u5c14\u66fc\u6ee4\u6ce2）[16-17]\u3002\u8eab\u4f53\u4f4d\u5f62\u4f30\u8ba1\u4e3a\u4e16\u754c\u6a21\u578b\u7684\u81ea\u6211\u72b6\u6001\u63d0\u4f9b\u57fa\u51c6，\u4e3a\u5c0f\u8111\u90e8\u4f4d\u6a21\u578b\u63d0\u4f9b\u72b6\u6001\u8f93\u5165[16-17]\u3002\u524d\u5ead-\u89c6\u89c9\u534f\u540c：\u5934\u90e8\u8fd0\u52a8\u65f6\u7684\u89c6\u89c9\u8865\u507f（VOR）\u2014\u2014\u56fe\u50cf\u7a33\u50cf（\u9640\u87ba\u4eea\u6570\u636e\u9a71\u52a8\u7684\u753b\u9762\u8865\u507f）[16]\u3002<\/p>\n

7 \u591a\u6a21\u6001\u878d\u5408\u4e0e\u8bed\u4e49\u5316\u611f\u77e5<\/h3>\n

7.1 \u4e09\u7ea7\u878d\u5408\u67b6\u6784<\/h4>\n

\u591a\u6a21\u6001\u878d\u5408\u91c7\u7528"\u7279\u5f81\u7ea7+\u8bed\u4e49\u7ea7+\u51b3\u7b56\u7ea7"\u4e09\u7ea7\u67b6\u6784[8,10,12]：<\/p>\n

\u7279\u5f81\u7ea7\u878d\u5408（early fusion）：\u591a\u901a\u9053\u7279\u5f81\u5728\u5e95\u5c42\u62fc\u63a5\/\u6ce8\u610f\u529b\u878d\u5408\u2014\u2014\u89c6\u89c9\u7279\u5f81+\u542c\u89c9\u7279\u5f81+\u89e6\u89c9\u7279\u5f81\u8054\u5408\u7f16\u7801[8,12]\u3002\u4f18\u52bf：\u8de8\u6a21\u6001\u4f4e\u5c42\u5173\u8054（\u89c6\u542c\u540c\u6b65）；\u52a3\u52bf：\u8ba1\u7b97\u91cf\u5927\u3001\u9700\u4e25\u683c\u65f6\u95f4\u5bf9\u9f50[8,12]\u3002<\/p>\n

\u8bed\u4e49\u7ea7\u878d\u5408（intermediate fusion）：\u5404\u6a21\u6001\u5148\u72ec\u7acb\u89e3\u6790\u4e3a\u8bed\u4e49\u5143\u7d20（\u5bf9\u8c61\u3001\u4e8b\u4ef6），\u518d\u5728\u8bed\u4e49\u7a7a\u95f4\u878d\u5408\u2014\u2014\u89c6\u89c9"\u770b\u5230\u676f\u5b50"\u4e0e\u89e6\u89c9"\u6478\u5230\u676f\u5b50"\u5728\u8bed\u4e49\u5c42\u5408\u5e76\u4e3a\u540c\u4e00\u5bf9\u8c61[8,12]\u3002\u4f18\u52bf：\u8bed\u4e49\u4e00\u81f4\u6027\u68c0\u9a8c（\u8de8\u6a21\u6001\u5370\u8bc1）；\u52a3\u52bf：\u4f9d\u8d56\u5404\u6a21\u6001\u8bed\u4e49\u89e3\u6790\u8d28\u91cf[8,12]\u3002<\/p>\n

\u51b3\u7b56\u7ea7\u878d\u5408（late fusion）：\u5404\u6a21\u6001\u72ec\u7acb\u51b3\u7b56\u540e\u52a0\u6743\u6295\u7968\u2014\u2014\u89c6\u89c9\u68c0\u6d4b"\u524d\u65b9\u6709\u969c\u788d"（\u7f6e\u4fe1\u5ea60.8）+\u6fc0\u5149\u96f7\u8fbe\u786e\u8ba4（\u7f6e\u4fe1\u5ea60.9）\u2192\u878d\u5408\u51b3\u7b56"\u524d\u65b9\u6709\u969c\u788d"（\u7f6e\u4fe1\u5ea60.95）[8,12]\u3002\u4f18\u52bf：\u9c81\u68d2（\u5355\u6a21\u6001\u5931\u6548\u4ecd\u53ef\u51b3\u7b56）；\u52a3\u52bf：\u4e22\u5931\u8de8\u6a21\u6001\u5173\u8054[8,12]\u3002<\/p>\n

\u4e09\u7ea7\u878d\u5408\u6309\u9700\u7ec4\u5408：\u9ad8\u53ef\u9760\u6027\u573a\u666f（\u5b89\u5168）\u91c7\u7528"\u7279\u5f81+\u8bed\u4e49+\u51b3\u7b56"\u5168\u878d\u5408，\u5b9e\u65f6\u573a\u666f（\u907f\u969c）\u91c7\u7528\u51b3\u7b56\u7ea7\u5feb\u901f\u878d\u5408[8,12,17]\u3002\u878d\u5408\u7ea7\u522b\u7684\u9009\u62e9\u6743\u8861：\u7279\u5f81\u7ea7\u878d\u5408\u4fe1\u606f\u6700\u5b8c\u6574\u4f46\u8ba1\u7b97\u91cf\u5927\u4e14\u9700\u4e25\u683c\u540c\u6b65；\u51b3\u7b56\u7ea7\u878d\u5408\u9c81\u68d2\u9ad8\u6548\u4f46\u4e22\u5931\u8de8\u6a21\u6001\u5173\u8054；\u8bed\u4e49\u7ea7\u878d\u5408\u5c45\u4e2d[8,12]\u3002\u878d\u5408\u7b56\u7565\u7684\u52a8\u6001\u914d\u7f6e：\u6309\u573a\u666f\u9700\u6c42\u5b9e\u65f6\u5207\u6362\u878d\u5408\u7ea7\u522b\u2014\u2014\u5b89\u5168\u573a\u666f（\u7d27\u6025\u907f\u9669）\u7528\u51b3\u7b56\u7ea7\u5feb\u901f\u878d\u5408（\u6beb\u79d2\u54cd\u5e94）\u3001\u590d\u6742\u573a\u666f（\u7cbe\u7ec6\u64cd\u4f5c）\u7528\u7279\u5f81\u7ea7\u5168\u878d\u5408（\u4fe1\u606f\u5b8c\u6574）[8,12,17]\u3002\u591a\u6a21\u6001\u611f\u77e5\u878d\u5408\u7efc\u8ff0\u6307\u51fa，\u878d\u5408\u7b56\u7565\u7684\u9009\u578b\u8fd8\u9700\u8003\u8651\u4f20\u611f\u5668\u7279\u6027（\u5f02\u6784\u7a0b\u5ea6）\u4e0e\u4efb\u52a1\u9700\u6c42（\u5b9e\u65f6\u6027\/\u53ef\u9760\u6027）[8,12]\u3002\u591a\u6a21\u6001\u611f\u77e5\u7cfb\u7edf\u7efc\u8ff0\u8868\u660e，\u878d\u5408\u7b56\u7565\u5e94"\u56e0\u4efb\u52a1\u800c\u5f02"\u2014\u2014\u68c0\u6d4b\u4efb\u52a1\u5e38\u7528\u7279\u5f81\u7ea7，\u8bc6\u522b\u4efb\u52a1\u5e38\u7528\u8bed\u4e49\u7ea7，\u51b3\u7b56\u4efb\u52a1\u5e38\u7528\u51b3\u7b56\u7ea7[8,12]\u3002<\/p>\n

7.2 \u6a21\u6001\u5bf9\u9f50\u4e0e\u8de8\u6a21\u6001\u4e00\u81f4\u6027<\/h4>\n

\u6a21\u6001\u5bf9\u9f50\u5c06\u5f02\u6784\u6a21\u6001\u6620\u5c04\u5230\u7edf\u4e00\u8bed\u4e49\u7a7a\u95f4[8,11]：\u5bf9\u6bd4\u5b66\u4e60（CLIP\u8303\u5f0f）\u5c06\u56fe\u50cf\u4e0e\u6587\u672c\u5bf9\u9f50\u2014\u2014"\u732b\u7684\u56fe\u7247"\u4e0e"cat"\u6587\u672c\u5728\u5d4c\u5165\u7a7a\u95f4\u90bb\u8fd1[8,11]\u3002\u5bf9\u9f50\u7a7a\u95f4\u652f\u6491\u8de8\u6a21\u6001\u68c0\u7d22（\u6587\u5b57\u627e\u56fe）\u3001\u8de8\u6a21\u6001\u751f\u6210（\u56fe\u751f\u6587）\u4e0e\u8bed\u4e49\u878d\u5408（\u591a\u6a21\u6001\u7684\u8bed\u4e49\u5143\u7d20\u5bf9\u9f50）[8,11]\u3002<\/p>\n

\u8de8\u6a21\u6001\u4e00\u81f4\u6027\u68c0\u9a8c[8,10,12]：\u89c6\u89c9"\u770b\u5230\u676f\u5b50\u5728\u684c\u4e0a"\u4e0e\u672c\u4f53\u611f\u89c9"\u624b\u5728\u684c\u4e0a\u65b9"\u4e00\u81f4\u2192\u7f6e\u4fe1\u5ea6\u63d0\u5347；\u4e0d\u4e00\u81f4（\u89c6\u89c9\u770b\u5230\u676f\u5b50\u3001\u89e6\u89c9\u6478\u5230\u7a7a\u6c14）\u2192\u89e6\u53d1\u4e3b\u52a8\u611f\u77e5（\u91cd\u65b0\u89c2\u6d4b）[17]\u3002\u4e00\u81f4\u6027\u68c0\u9a8c\u7684\u5de5\u7a0b\u5b9e\u73b0：\u5404\u6a21\u6001\u7684\u8bed\u4e49\u5143\u7d20（\u5bf9\u8c61\/\u4e8b\u4ef6）\u7ecf\u5bf9\u9f50\u5d4c\u5165\u6620\u5c04\u5230\u7edf\u4e00\u7a7a\u95f4，\u8ba1\u7b97\u8de8\u6a21\u6001\u76f8\u4f3c\u5ea6；\u76f8\u4f3c\u5ea6\u4f4e\u4e8e\u9608\u503c\u5224\u5b9a\u51b2\u7a81[8,12]\u3002\u51b2\u7a81\u5904\u7406\u7b56\u7565：\u9ad8\u7f6e\u4fe1\u6a21\u6001\u4f18\u5148（\u89c6\u89c9\u7f6e\u4fe1\u5ea60.9 vs \u89e6\u89c90.5\u2192\u4ee5\u89c6\u89c9\u4e3a\u51c6）\u3001\u89e6\u53d1\u590d\u6838（\u4e3b\u52a8\u611f\u77e5\u91cd\u65b0\u89c2\u6d4b\u51b2\u7a81\u533a\u57df）\u3001\u7f6e\u4fe1\u5ea6\u8870\u51cf（\u51b2\u7a81\u672a\u89e3\u51b3\u5219\u964d\u6743）[8,12,17]\u3002\u4e00\u81f4\u6027\u68c0\u9a8c\u662f\u591a\u6a21\u6001\u611f\u77e5\u53ef\u9760\u6027\u7684\u4fdd\u969c[8,12]\u3002<\/p>\n

7.3 \u8bed\u4e49\u5316\u4e16\u754c\u72b6\u6001\u7684\u751f\u6210<\/h4>\n

\u591a\u6a21\u6001\u878d\u5408\u7684\u6700\u7ec8\u8f93\u51fa\u662f\u8bed\u4e49\u5316\u4e16\u754c\u72b6\u6001[16-17]：\u878d\u5408\u7684\u5bf9\u8c61\/\u5173\u7cfb\/\u4e8b\u4ef6\u5143\u7d20\u7ecf\u573a\u666f\u56fe\u6784\u5efa（scene graph）\u7ec4\u7ec7\u4e3a\u7ed3\u6784\u5316\u7684\u4e16\u754c\u72b6\u6001[11-12,17]\u3002\u573a\u666f\u56fe：\u8282\u70b9\u4e3a\u5bf9\u8c61，\u8fb9\u4e3a\u5173\u7cfb（\u5728\u2026\u4e0a\u3001\u5305\u542b\u3001\u9760\u8fd1），\u9644\u4e8b\u4ef6\u8282\u70b9（\u52a8\u6001\u53d8\u5316）[11-12,17]\u3002<\/p>\n

\u4e16\u754c\u72b6\u6001\u7684\u66f4\u65b0\u7b56\u7565[17]：\u589e\u91cf\u66f4\u65b0（\u65b0\u611f\u77e5\u53ea\u66f4\u65b0\u53d8\u5316\u90e8\u5206）\u3001\u7f6e\u4fe1\u5ea6\u8870\u51cf（\u65e7\u4fe1\u606f\u968f\u65f6\u95f4\u964d\u6743）\u3001\u51b2\u7a81\u4ef2\u88c1（\u65b0\u611f\u77e5\u4e0e\u65e7\u72b6\u6001\u51b2\u7a81\u65f6\u7684\u5904\u7406\u2014\u2014\u9ad8\u7f6e\u4fe1\u5ea6\u65b0\u611f\u77e5\u8986\u76d6，\u5426\u5219\u4fdd\u7559\u65e7\u72b6\u6001\u5f85\u9a8c\u8bc1）[17]\u3002\u72b6\u6001\u66f4\u65b0\u7684\u65f6\u5e8f\u7ba1\u7406：\u611f\u77e5\u4e8b\u4ef6\u5e26\u65f6\u95f4\u6233，\u72b6\u6001\u66f4\u65b0\u65f6\u95f4\u7ebf\u7ef4\u62a4（\u5f53\u524d\u72b6\u6001\u3001\u5386\u53f2\u72b6\u6001\u3001\u9884\u6d4b\u72b6\u6001）[17]\u3002\u72b6\u6001\u66f4\u65b0\u7684\u9891\u7387\u63a7\u5236：\u9759\u6001\u573a\u666f\u4f4e\u9891\u66f4\u65b0（\u51cf\u5c11\u8ba1\u7b97）\u3001\u52a8\u6001\u573a\u666f\u9ad8\u9891\u66f4\u65b0（\u8ddf\u8e2a\u53d8\u5316）\u2014\u2014\u66f4\u65b0\u9891\u7387\u7531"\u72b6\u6001\u53d8\u5316\u68c0\u6d4b"\u9a71\u52a8（\u65e0\u53d8\u5316\u4e0d\u66f4\u65b0）[17]\u3002\u72b6\u6001\u66f4\u65b0\u7684\u6eaf\u6e90：\u6bcf\u4e2a\u72b6\u6001\u5143\u7d20\u8bb0\u5f55\u6765\u6e90（\u54ea\u4e2a\u4f20\u611f\u5668\u3001\u4f55\u65f6\u611f\u77e5\u3001\u7f6e\u4fe1\u5ea6\u591a\u5c11）\u2014\u2014\u652f\u6491\u72b6\u6001\u5ba1\u8ba1\u4e0e\u611f\u77e5\u7ea0\u9519[17]\u3002<\/p>\n

7.4 \u611f\u77e5\u7684\u6ce8\u610f\u529b\u673a\u5236<\/h4>\n

\u611f\u77e5\u6ce8\u610f\u529b\u51b3\u5b9a"\u770b\u54ea\u91cc\u3001\u542c\u54ea\u91cc\u3001\u6478\u54ea\u91cc"[3,17]：\u81ea\u5e95\u5411\u4e0a\u6ce8\u610f\u529b（saliency）\u2014\u2014\u663e\u8457\u523a\u6fc0（\u8fd0\u52a8\u3001\u989c\u8272\u5bf9\u6bd4\u3001\u5f02\u5e38\u58f0）\u81ea\u52a8\u5438\u5f15\u611f\u77e5\u8d44\u6e90[3,17]；\u81ea\u9876\u5411\u4e0b\u6ce8\u610f\u529b（task-driven）\u2014\u2014\u8ba4\u77e5\u9700\u6c42\u6307\u5b9a\u5173\u6ce8\u76ee\u6807（"\u627e\u94a5\u5319"\u2192\u805a\u7126\u684c\u9762）[17]；\u9884\u6d4b\u8bef\u5dee\u6ce8\u610f\u529b\u2014\u2014\u9884\u6d4b\u8bef\u5dee\u5927\u7684\u533a\u57df\u4f18\u5148\u611f\u77e5（\u9884\u6d4b\u7f16\u7801\u7684\u6ce8\u610f\u5b9e\u73b0）[3,17]\u3002<\/p>\n

\u611f\u77e5\u6ce8\u610f\u529b\u7684\u5de5\u7a0b\u5b9e\u73b0：\u89c6\u89c9（\u533a\u57df\u88c1\u526a\/\u76ee\u6807\u5019\u9009\u4f18\u5148\u5904\u7406）\u3001\u542c\u89c9（\u6ce2\u675f\u6210\u5f62\u6307\u5411\u58f0\u6e90）\u3001\u89e6\u89c9（\u91cd\u70b9\u533a\u57df\u9ad8\u91c7\u6837\u7387）[15,17]\u3002\u6ce8\u610f\u529b\u5206\u914d\u4e0e\u9884\u6d4b\u7f16\u7801\u7684\u534f\u540c：\u9884\u6d4b\u8bef\u5dee\u5927\u7684\u533a\u57df\u81ea\u52a8\u83b7\u5f97\u9ad8\u6ce8\u610f\u914d\u989d（\u201c\u610f\u5916\u5438\u5f15\u6ce8\u610f\u201d）[3,17]\u3002\u6ce8\u610f\u529b\u7684\u8d44\u6e90\u9884\u7b97：\u611f\u77e5\u603b\u7b97\u529b\u6309\u4efb\u52a1\u91cd\u8981\u6027\u5728\u901a\u9053\u95f4\u5206\u914d\u2014\u2014\u4efb\u52a1\u5173\u952e\u901a\u9053\u83b7\u5f97\u66f4\u591a\u7b97\u529b（\u9ad8\u5206\u8fa8\u7387\u3001\u9ad8\u5e27\u7387）[17]\u3002\u6ce8\u610f\u529b\u7684\u52a8\u6001\u8c03\u5ea6：\u611f\u77e5\u8d44\u6e90\u6309"\u5f53\u524d\u4efb\u52a1+\u663e\u8457\u523a\u6fc0+\u9884\u6d4b\u8bef\u5dee"\u4e09\u7ef4\u8bc4\u5206\u5206\u914d\u2014\u2014\u4efb\u52a1\u76f8\u5173\u76ee\u6807\u4f18\u5148\u3001\u663e\u8457\u523a\u6fc0\u62a2\u5360\u3001\u9884\u6d4b\u8bef\u5dee\u5927\u7684\u533a\u57df\u83b7\u5f97\u989d\u5916\u5904\u7406[3,17]\u3002\u6ce8\u610f\u529b\u5206\u914d\u7684\u91cf\u5316：\u5404\u611f\u77e5\u533a\u57df\u7684\u7b97\u529b\u914d\u989d（\u5904\u7406\u5e27\u7387\u3001\u5206\u8fa8\u7387\u3001\u6a21\u578b\u89c4\u6a21）[17]\u3002<\/p>\n

7.5 \u611f\u77e5\u9c81\u68d2\u6027\u4e0e\u4e3b\u52a8\u611f\u77e5<\/h4>\n

\u611f\u77e5\u9c81\u68d2\u6027\u8bbe\u8ba1[8,12,17]：\u4f20\u611f\u5668\u5197\u4f59（\u591a\u4f20\u611f\u5668\u4e92\u4e3a\u5907\u4efd）\u3001\u6545\u969c\u68c0\u6d4b（\u5f02\u5e38\u611f\u77e5\u8f93\u51fa\u7684\u8bc6\u522b）\u3001\u9000\u5316\u6a21\u5f0f（\u4f20\u611f\u5668\u5931\u6548\u65f6\u7684\u611f\u77e5\u964d\u7ea7\u2014\u2014\u89c6\u89c9\u5931\u6548\u4f9d\u8d56\u6fc0\u5149\u96f7\u8fbe\u4e0e\u89e6\u89c9）[8,12,17]\u3002\u9c81\u68d2\u6027\u9a8c\u8bc1：\u538b\u529b\u6d4b\u8bd5（\u6076\u52a3\u5149\u7167\u3001\u566a\u58f0\u3001\u906e\u6321\u3001\u4f20\u611f\u5668\u90e8\u5206\u5931\u6548）\u4e0b\u8bc4\u4f30\u611f\u77e5\u6027\u80fd\u4fdd\u6301\u7387（\u7b2c9\u7ae0\u8bc4\u4f30\u7ef4\u5ea6）[8,12]\u3002\u9c81\u68d2\u6027\u8bbe\u8ba1\u7684\u76ee\u6807：\u4efb\u4f55\u5355\u70b9\u4f20\u611f\u5668\u5931\u6548\u90fd\u4e0d\u5bfc\u81f4\u611f\u77e5\u5d29\u6e83\u2014\u2014\u201c\u611f\u77e5\u6c38\u4e0d\u5355\u70b9\u6545\u969c\u201d[8,12,17]\u3002<\/p>\n

\u4e3b\u52a8\u611f\u77e5（active perception）[10,16-17]：\u611f\u77e5\u4e0d\u786e\u5b9a\u6027\u9ad8\u65f6\u4e3b\u52a8\u83b7\u53d6\u4fe1\u606f\u2014\u2014\u79fb\u52a8\u89c6\u89d2（\u8f6c\u52a8\u4e91\u53f0）\u3001\u9760\u8fd1\u89c2\u5bdf（\u79fb\u52a8\u8eab\u4f53）\u3001\u89e6\u89c9\u63a2\u67e5（\u4f38\u624b\u89e6\u6478）[10,17]\u3002\u4e3b\u52a8\u611f\u77e5\u7684\u51b3\u7b56：\u611f\u77e5\u4e0d\u786e\u5b9a\u6027（\u7b2c3\u7ae0）\u8d85\u8fc7\u9608\u503c\u65f6，\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u7ecfGWS\u5411\u5c0f\u8111\/\u80a2\u4f53\u5c42\u53d1\u9001"\u611f\u77e5\u52a8\u4f5c\u8bf7\u6c42"（\u8f6c\u5411\u3001\u79fb\u52a8\u3001\u89e6\u6478）[16-17]\u3002\u4e3b\u52a8\u611f\u77e5\u7684\u4fe1\u606f\u589e\u76ca\u8bc4\u4f30：\u5019\u9009\u611f\u77e5\u52a8\u4f5c\u7684\u9884\u671f\u4fe1\u606f\u589e\u76ca（\u4e0d\u786e\u5b9a\u6027\u964d\u4f4e\u91cf）\u2014\u2014\u9009\u62e9\u4fe1\u606f\u589e\u76ca\u6700\u5927\u7684\u52a8\u4f5c（\u4fe1\u606f\u6700\u5927\u5316\u539f\u5219）[10,17]\u3002\u4e3b\u52a8\u611f\u77e5\u4f7f\u611f\u77e5\u4ece"\u88ab\u52a8\u63a5\u6536"\u8d70\u5411"\u4e3b\u52a8\u63a2\u7d22"，\u4e0e"\u591a\u611f\u5b98\u667a\u80fd"（multisensory intelligence）\u7684\u7814\u7a76\u65b9\u5411\u4e00\u81f4[10]\u3002\u4e3b\u52a8\u611f\u77e5\u5c06"\u88ab\u52a8\u63a5\u6536"\u53d8\u4e3a"\u4e3b\u52a8\u91c7\u6837"，\u663e\u8457\u63d0\u5347\u611f\u77e5\u8d28\u91cf[10,17]\u3002<\/p>\n

7.6 \u611f\u77e5\u7684\u8fdb\u5316\u5b66\u4e60<\/h4>\n

\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u5177\u5907\u8fdb\u5316\u5b66\u4e60\u80fd\u529b[17]：\u5728\u7ebf\u9002\u5e94\u2014\u2014\u90e8\u7f72\u4e2d\u611f\u77e5\u8bef\u5dee\u9a71\u52a8\u6a21\u578b\u53c2\u6570\u5fae\u8c03（\u9002\u5e94\u65b0\u73af\u5883\u3001\u65b0\u7269\u4f53）；\u589e\u91cf\u5b66\u4e60\u2014\u2014\u65b0\u7c7b\u522b\/\u65b0\u573a\u666f\u7684\u6301\u7eed\u5b66\u4e60（\u7c7b\u522b\u589e\u91cf：\u53ea\u5b66\u65b0\u7c7b\u522b\u4e0d\u9057\u5fd8\u65e7\u7c7b\u522b）；\u7ecf\u9a8c\u6c89\u6dc0\u2014\u2014\u611f\u77e5\u7ecf\u9a8c\u5199\u5165\u8bb0\u5fc6\u7cfb\u7edf，\u4f9b\u540e\u7eed\u611f\u77e5\u590d\u7528（\u7ecf\u9a8c\u611f\u77e5，\u89c1\u7b2c8\u7ae0）[17]\u3002\u8fdb\u5316\u5b66\u4e60\u7684\u7ea6\u675f：\u884c\u4e3a\u4e00\u81f4\u6027\u6821\u9a8c（\u8fdb\u5316\u540e\u611f\u77e5\u4e0d\u9000\u5316\u2014\u2014\u65b0\u65e7\u6a21\u578b\u5728\u6807\u51c6\u6d4b\u8bd5\u96c6\u4e0a\u7684\u5bf9\u6bd4）[17]\u3002<\/p>\n

7.7 \u611f\u77e5\u7684\u5b89\u5168\u4e0e\u9690\u79c1<\/h4>\n

\u611f\u77e5\u5b89\u5168\u4e0e\u9690\u79c1\u8bbe\u8ba1[17-18]：\u611f\u77e5\u6570\u636e\u5b89\u5168\u2014\u2014\u6444\u50cf\u5934\/\u9ea6\u514b\u98ce\u6570\u636e\u542b\u654f\u611f\u4fe1\u606f（\u4eba\u8138\u3001\u8bed\u97f3\u3001\u5bb6\u5ead\u573a\u666f），\u9700\u52a0\u5bc6\u5b58\u50a8\u4e0e\u8bbf\u95ee\u63a7\u5236[18]；\u611f\u77e5\u6ee5\u7528\u9632\u62a4\u2014\u2014\u611f\u77e5\u80fd\u529b\u4e0d\u5f97\u7528\u4e8e\u975e\u6cd5\u76d1\u63a7（\u611f\u77e5\u6743\u9650\u5206\u7ea7）[18]；\u611f\u77e5\u6545\u969c\u5b89\u5168\u2014\u2014\u611f\u77e5\u5931\u6548\u65f6\u7684\u7cfb\u7edf\u964d\u7ea7（\u4f9d\u8d56\u5197\u4f59\u4f20\u611f\u5668\u3001\u5b89\u5168\u505c\u9760）[17-18]\u3002\u5b89\u5168\u4e0e\u9690\u79c1\u7ea6\u675f\u7ecfL5\u751f\u5b58\u5c42\u4e0eL6\u793e\u4f1a\u5c42\u6ce8\u5165\u611f\u77e5\u7406\u89e3\u5b50\u7f51[18]\u3002<\/p>\n

8 \u611f\u77e5-\u8ba4\u77e5\u8026\u5408<\/h3>\n

8.1 \u611f\u77e5\u7406\u89e3\u5b50\u7f51\u4e0e\u56db\u5b50\u7f51\u7684\u63a5\u53e3<\/h4>\n

\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u662f\u5927\u8111\u4e94\u5b50\u7f51\u7684"\u8f93\u5165\u95e8\u6237"，\u5176\u8f93\u51fa\u7ecfGWS\u5e7f\u64ad\u7ed9\u5176\u4f59\u5b50\u7f51[16-17]：\u611f\u77e5\u6d88\u606f\u7684\u683c\u5f0f\u8bbe\u8ba1\u2014\u2014PerceptionState = {objects, relations, events, timestamp, confidence}，\u7edf\u4e00\u643a\u5e26\u65f6\u95f4\u6233\u4e0e\u7f6e\u4fe1\u5ea6，\u4fdd\u8bc1\u4e0b\u6e38\u5b50\u7f51\u53ef\u8bc4\u4f30\u611f\u77e5\u53ef\u9760\u6027[17]\u3002<\/p>\n

\u4e0e\u4e16\u754c\u6a21\u578b\u5b50\u7f51：\u611f\u77e5\u8f93\u51fa\u5f53\u524d\u72b6\u6001StS_t<\/span><\/span>S<\/span><\/span>t<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>（\u4e16\u754c\u6a21\u578b\u7684\u63a8\u6f14\u8f93\u5165）；\u4e16\u754c\u6a21\u578b\u7684\u9884\u6d4b\u5148\u9a8chatSt+1\\\\\\\\hat{S}_{t+1}<\/span><\/span><\/span>ha<\/span>t<\/span>S<\/span><\/span><\/span>t<\/span>+<\/span>1<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u53cd\u5411\u8c03\u5236\u611f\u77e5（\u9884\u6d4b\u7f16\u7801）[3-4,17]\u3002<\/p>\n

\u4e0e\u8ba4\u77e5\u63a8\u7406\u5b50\u7f51：\u611f\u77e5\u8f93\u51fa\u63d0\u4f9b\u51b3\u7b56\u6240\u9700\u7684\u60c5\u5883\u4fe1\u606f（\u201c\u684c\u4e0a\u6709\u676f\u5b50\u3001\u6c34\u58f6\u201d）；\u8ba4\u77e5\u9700\u6c42\u53cd\u5411\u6307\u5b9a\u611f\u77e5\u4efb\u52a1（"\u627e\u676f\u5b50"\u2192\u611f\u77e5\u805a\u7126）[17]\u3002\u611f\u77e5-\u8ba4\u77e5\u7684\u8bed\u4e49\u5bf9\u9f50：\u611f\u77e5\u8f93\u51fa\u7684\u4e16\u754c\u72b6\u6001\u4e0e\u8ba4\u77e5\u63a8\u7406\u7684\u51b3\u7b56\u8f93\u5165\u4f7f\u7528\u540c\u4e00"\u5bf9\u8c61-\u5173\u7cfb-\u4e8b\u4ef6"\u8bed\u4e49\u2014\u2014\u8ba4\u77e5\u63a8\u7406\u53ef\u76f4\u63a5\u5f15\u7528\u611f\u77e5\u7ed3\u679c（\u201c\u62ff{\u5bf9\u8c61:\u676f\u5b50}，\u5b83\u5728{\u4f4d\u7f6e:\u684c\u4e0a}\u201d）[17]\u3002\u8bed\u4e49\u4e00\u81f4\u6027\u7684\u4ef7\u503c：\u6d88\u9664"\u611f\u77e5-\u8ba4\u77e5"\u7684\u8868\u793a\u8f6c\u6362\u635f\u8017（\u611f\u77e5\u8f93\u51fa\u65e0\u9700\u7ffb\u8bd1\u5373\u53ef\u88ab\u63a8\u7406\u5f15\u7528）\u3001\u652f\u6301\u8bed\u4e49\u7ea7\u63a8\u7406（\u201c\u676f\u5b50\u5728\u684c\u4e0a\u201d+\u201c\u684c\u5728\u53a8\u623f"\u2192"\u676f\u5b50\u5728\u53a8\u623f\u201d）[17]\u3002<\/p>\n

\u4e0e\u60c5\u611f\u8bc4\u4f30\u5b50\u7f51：\u611f\u77e5\u8f93\u51fa\u63d0\u4f9b\u60c5\u611f\u8bc4\u4f30\u7684\u523a\u6fc0\u4fe1\u606f（"\u770b\u5230\u5371\u9669\u7684\u753b\u9762"\u2192\u89e6\u53d1\u6050\u60e7\u8bc4\u4f30）[17,20]\u3002<\/p>\n

\u4e0e\u53cd\u601d\u673a\u5236：\u611f\u77e5\u7684\u4e0d\u786e\u5b9a\u6027\u4f9b\u53cd\u601d\u8bc4\u4f30（\u201c\u611f\u77e5\u7f6e\u4fe1\u5ea6\u4f4e\u2192\u51b3\u7b56\u9700\u8c28\u614e\u201d）；\u53cd\u601d\u53d1\u73b0\u611f\u77e5\u9519\u8bef（\u201c\u8bef\u628a\u5f71\u5b50\u5f53\u4eba\u201d）\u2192\u89e6\u53d1\u611f\u77e5\u6821\u51c6[17]\u3002<\/p>\n

\u88682\u7ed9\u51fa\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u4e0e\u56db\u5b50\u7f51\u7684\u63a5\u53e3\u6d88\u606f\u3002<\/p>\n

\u88682 \u611f\u77e5\u7406\u89e3\u5b50\u7f51\u4e0e\u56db\u5b50\u7f51\u7684\u63a5\u53e3<\/p>\n\n\u76ee\u6807\u5b50\u7f51\u611f\u77e5\u8f93\u51fa\u611f\u77e5\u8f93\u5165<\/tr>\n\n\n\n\n\n
\u4e16\u754c\u6a21\u578b<\/td>\n\u5f53\u524d\u72b6\u6001StS_t<\/span><\/span>S<\/span><\/span>t<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>（\u5bf9\u8c61\/\u5173\u7cfb\/\u4e8b\u4ef6）<\/td>\n\u9884\u6d4b\u5148\u9a8chatSt+1\\\\\\\\hat{S}_{t+1}<\/span><\/span><\/span>ha<\/span>t<\/span>S<\/span><\/span><\/span>t<\/span>+<\/span>1<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>（\u8c03\u5236\u611f\u77e5）<\/td>\n<\/tr>\n
\u8ba4\u77e5\u63a8\u7406<\/td>\n\u60c5\u5883\u4fe1\u606f\u3001\u5bf9\u8c61\u4f4d\u7f6e<\/td>\n\u611f\u77e5\u4efb\u52a1\u6307\u4ee4（\u627e\u4ec0\u4e48\/\u5173\u6ce8\u4ec0\u4e48）<\/td>\n<\/tr>\n
\u60c5\u611f\u8bc4\u4f30<\/td>\n\u523a\u6fc0\u4e8b\u4ef6（\u573a\u666f\/\u5371\u9669\/\u6109\u60a6）<\/td>\n\u60c5\u611f\u72b6\u6001（\u8c03\u5236\u6ce8\u610f\u504f\u5411）<\/td>\n<\/tr>\n
\u53cd\u601d\u673a\u5236<\/td>\n\u611f\u77e5\u7f6e\u4fe1\u5ea6\u3001\u4e0d\u786e\u5b9a\u6027<\/td>\n\u611f\u77e5\u6821\u51c6\u6307\u4ee4\u3001\u7ea0\u9519\u53cd\u9988<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

8.2 \u611f\u77e5-\u4e16\u754c\u6a21\u578b\u95ed\u73af<\/h4>\n

\u611f\u77e5\u4e0e\u4e16\u754c\u6a21\u578b\u7684\u95ed\u73af\u662f"\u4f9d\u6258\u4e16\u754c\u6a21\u578b"\u8bbe\u8ba1\u7684\u6838\u5fc3[4,16-17]：<\/p>\n

\u9884\u6d4b\u8c03\u5236\u611f\u77e5：\u4e16\u754c\u6a21\u578b\u9884\u6d4b"\u4e0b\u4e00\u65f6\u523b\u89c6\u91ce\u4e2d\u5e94\u51fa\u73b0\u4ec0\u4e48"\u2192\u611f\u77e5\u5728\u9884\u6d4b\u533a\u57df\u7cbe\u52a0\u5de5[3,17]\u3002\u5b9e\u73b0\u7684\u7ec6\u8282：\u4e16\u754c\u6a21\u578b\u7684\u9884\u6d4b\u72b6\u6001S^t+1\\\\hat{S}_{t+1}<\/span><\/span><\/span>S<\/span><\/span><\/span>^<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>t<\/span>+<\/span>1<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u7ecf"\u72b6\u6001\u5230\u4f20\u611f\u5668"\u6295\u5f71（\u6e32\u67d3\u5668）\u751f\u6210\u9884\u671f\u611f\u77e5\u56fe（expected percept）；\u611f\u77e5\u6d41\u6c34\u7ebf\u5c06\u5b9e\u9645\u8f93\u5165\u4e0e\u9884\u671f\u611f\u77e5\u9010\u533a\u57df\u6bd4\u8f83，\u4ec5\u5bf9\u5dee\u5f02\u533a\u57df（\u9884\u6d4b\u8bef\u5dee\u533a\u57df）\u542f\u52a8\u6df1\u5ea6\u5904\u7406[3,17]\u3002\u8fd9\u4e00\u673a\u5236\u5bf9\u5e94\u9884\u6d4b\u7f16\u7801\u7684"\u53ea\u5904\u7406\u610f\u5916"\u539f\u5219\u2014\u2014\u663e\u8457\u964d\u4f4e\u611f\u77e5\u7b97\u529b[3,17]\u3002\u5b9e\u73b0：\u9884\u6d4b\u72b6\u6001hatSt+1\\\\\\\\hat{S}_{t+1}<\/span><\/span><\/span>ha<\/span>t<\/span>S<\/span><\/span><\/span>t<\/span>+<\/span>1<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u6295\u5f71\u5230\u4f20\u611f\u5668\u7a7a\u95f4，\u751f\u6210"\u9884\u671f\u611f\u77e5"；\u611f\u77e5\u5c06\u5b9e\u9645\u8f93\u5165\u4e0e\u9884\u671f\u6bd4\u8f83，\u4ec5\u5bf9\u5dee\u5f02\u533a\u57df\u6df1\u5165\u5904\u7406[3,17]\u3002<\/p>\n

\u611f\u77e5\u66f4\u65b0\u9884\u6d4b：\u611f\u77e5\u9a8c\u8bc1\/\u4fee\u6b63\u4e16\u754c\u6a21\u578b\u7684\u9884\u6d4b\u2014\u2014\u9884\u6d4b\u6b63\u786e\u5219\u9884\u6d4b\u7f6e\u4fe1\u5ea6\u63d0\u5347（\u4e16\u754c\u6a21\u578b\u53ef\u4fe1），\u9884\u6d4b\u9519\u8bef\u5219\u8bef\u5dee\u56de\u4f20（\u4e16\u754c\u6a21\u578b\u53c2\u6570\u66f4\u65b0）[4,17]\u3002\u8bef\u5dee\u56de\u4f20\u7684\u4e24\u79cd\u6a21\u5f0f：\u5728\u7ebf\u5fae\u8c03（\u9884\u6d4b\u8bef\u5dee\u9a71\u52a8\u4e16\u754c\u6a21\u578b\u53c2\u6570\u7684\u5728\u7ebf\u66f4\u65b0，\u9002\u5e94\u73af\u5883\u53d8\u5316）\u4e0e\u79bb\u7ebf\u91cd\u8bad（\u79ef\u7d2f\u7684\u8bef\u5dee\u6570\u636e\u5b9a\u671f\u91cd\u8bad）[4,17]\u3002\u611f\u77e5-\u9884\u6d4b\u7684\u4e00\u81f4\u6027\u5ea6\u91cf：\u611f\u77e5\u72b6\u6001\u4e0e\u4e16\u754c\u6a21\u578b\u9884\u6d4b\u72b6\u6001\u7684\u5339\u914d\u5ea6（\u5bf9\u8c61\u91cd\u5408\u7387\u3001\u72b6\u6001\u8f6c\u79fb\u7b26\u5408\u5ea6）[17]\u3002<\/p>\n

\u95ed\u73af\u7684\u5de5\u7a0b\u4ef7\u503c：\u611f\u77e5\u6548\u7387（\u53ea\u5904\u7406\u610f\u5916，\u964d\u4f4e\u7b97\u529b）\u3001\u611f\u77e5\u9c81\u68d2（\u9884\u6d4b\u8865\u5168\u906e\u6321\/\u7f3a\u5931\u8f93\u5165）\u3001\u4e16\u754c\u6a21\u578b\u8fdb\u5316（\u611f\u77e5\u8bef\u5dee\u9a71\u52a8\u66f4\u65b0）[3-4,17]\u3002\u8be5\u95ed\u73af\u4e0e"\u4e16\u754c\u6a21\u578b=AI\u7684\u6162\u601d\u8003"\u7814\u7a76\u89c6\u89d2\u4e00\u81f4：\u4e16\u754c\u6a21\u578b\u7684\u9884\u6d4b\u5148\u9a8c\u4f7f\u611f\u77e5\u4ece"\u53cd\u5e94\u5f0f"\u8d70\u5411"\u9884\u671f\u5f0f"\u2014\u2014\u611f\u77e5\u4e0d\u518d\u662f"\u770b\u5230\u624d\u4fe1"，\u800c\u662f"\u9884\u671f+\u9a8c\u8bc1"[23]\u3002\u611f\u77e5-\u9884\u6d4b\u95ed\u73af\u7684\u6210\u719f\u5ea6\u6307\u6807：\u9884\u6d4b\u8bef\u5dee\u7387（\u9884\u671f\u4e0e\u5b9e\u9645\u7684\u5dee\u5f02）\u3001\u9884\u6d4b\u5bf9\u611f\u77e5\u7684\u52a0\u901f\u6bd4（\u9884\u6d4b\u8c03\u5236\u540e\u7684\u611f\u77e5\u8017\u65f6\u964d\u4f4e）[17]\u3002<\/p>\n

8.3 \u611f\u77e5-\u8ba4\u77e5\u534f\u540c<\/h4>\n

\u611f\u77e5\u4e0e\u8ba4\u77e5\u63a8\u7406\u7684\u534f\u540c\u4f53\u73b0\u4e3a"\u611f\u77e5\u5f15\u5bfc\u8ba4\u77e5\u3001\u8ba4\u77e5\u5f15\u5bfc\u611f\u77e5"[16-17]：<\/p>\n

\u611f\u77e5\u5f15\u5bfc\u8ba4\u77e5：\u611f\u77e5\u8f93\u51fa\u7684\u4e16\u754c\u72b6\u6001\u662f\u8ba4\u77e5\u63a8\u7406\u7684\u8f93\u5165\u60c5\u5883\u2014\u2014\u201c\u611f\u77e5\u5230\u969c\u788d\u7269\u2192\u8ba4\u77e5\u89c4\u5212\u7ed5\u884c\u8def\u5f84\u201d[17]\u3002<\/p>\n

\u8ba4\u77e5\u5f15\u5bfc\u611f\u77e5：\u8ba4\u77e5\u9700\u6c42\u4e0b\u53d1\u611f\u77e5\u4efb\u52a1\u2014\u2014\u201c\u8981\u62ff\u676f\u5b50\u2192\u611f\u77e5\u805a\u7126\u676f\u5b50\u7684\u4f4d\u7f6e\u4e0e\u628a\u624b\u671d\u5411\u201d[17]\u3002\u8ba4\u77e5\u5f15\u5bfc\u4f7f\u611f\u77e5\u8d44\u6e90\u805a\u7126\u4e8e\u4efb\u52a1\u76f8\u5173\u533a\u57df，\u63d0\u5347\u611f\u77e5\u6548\u7387[17]\u3002<\/p>\n

\u5feb\u6162\u611f\u77e5\u8def\u5f84[17,21]：System 1\u5feb\u901f\u611f\u77e5\u8def\u5f84\u2014\u2014\u4f4e\u5c42\u7279\u5f81\u76f4\u8fde\u51b3\u7b56（\u969c\u788d\u7269\u7a81\u73b0\u2192\u7d27\u6025\u907f\u969c，\u6beb\u79d2\u7ea7）；System 2\u6df1\u5ea6\u611f\u77e5\u8def\u5f84\u2014\u2014\u5b8c\u6574\u8bed\u4e49\u89e3\u6790（\u573a\u666f\u7406\u89e3\u2192\u4efb\u52a1\u89c4\u5212，\u79d2\u7ea7）[17,21]\u3002\u5feb\u6162\u8def\u5f84\u7684\u5207\u6362：\u611f\u77e5\u4efb\u52a1\u6307\u4ee4\u643a\u5e26\u65f6\u9650\u8981\u6c42\u2014\u2014\u7d27\u6025\u6307\u4ee4\u8d70System 1（\u5feb\u901f\u3001\u4f4e\u5c42\u3001\u5c0f\u6a21\u578b），\u5e38\u89c4\u6307\u4ee4\u8d70System 2（\u5b8c\u6574\u3001\u9ad8\u5c42\u3001\u5927\u6a21\u578b）[17,21]\u3002\u4e24\u6761\u8def\u5f84\u5e76\u884c：System 1\u6301\u7eed\u76d1\u63a7（\u5f02\u5e38\u68c0\u6d4b），System 2\u6309\u9700\u542f\u52a8（\u4efb\u52a1\u76f8\u5173）\u2014\u2014\u201c\u968f\u65f6\u8b66\u89c9，\u6309\u9700\u6df1\u601d\u201d[17,21]\u3002<\/p>\n

8.4 \u611f\u77e5-\u60c5\u611f\u8026\u5408<\/h4>\n

\u611f\u77e5\u4e0e\u60c5\u611f\u7684\u8026\u5408\u4f53\u73b0\u5728\u53cc\u5411\u8c03\u5236[17,20]：<\/p>\n

\u60c5\u611f\u8c03\u5236\u611f\u77e5：\u60c5\u611f\u72b6\u6001\u5f71\u54cd\u611f\u77e5\u5904\u7406\u2014\u2014\u6050\u60e7\u653e\u5927\u5a01\u80c1\u89e3\u8bfb（\u6a21\u7cca\u523a\u6fc0\u504f\u5411\u654c\u610f）\u3001\u6109\u60a6\u6269\u5927\u6ce8\u610f\u8303\u56f4[20]\u3002\u5b9e\u73b0：\u60c5\u611f\u72b6\u6001\u4f5c\u4e3a\u611f\u77e5\u5206\u7c7b\u7684\u6761\u4ef6\u4e0a\u4e0b\u6587（\u60c5\u611f\u5148\u9a8c\u6ce8\u5165）[17,20]\u3002<\/p>\n

\u611f\u77e5\u89e6\u53d1\u60c5\u611f：\u611f\u77e5\u5230\u7684\u523a\u6fc0\u4e8b\u4ef6\u89e6\u53d1\u60c5\u611f\u8bc4\u4f30\u2014\u2014"\u770b\u5230\u4eb2\u4eba"\u2192\u559c\u3001"\u542c\u5230\u8b66\u62a5"\u2192\u6050\u60e7[20]\u3002\u5b9e\u73b0：\u611f\u77e5\u4e8b\u4ef6\u7ecfGWS\u5e7f\u64ad\u7ed9\u60c5\u611f\u8bc4\u4f30\u5b50\u7f51[17,20]\u3002<\/p>\n

\u611f\u77e5-\u60c5\u611f-\u884c\u52a8\u7684\u5feb\u901f\u56de\u8def：\u611f\u77e5\u5371\u9669\u523a\u6fc0\u2192\u60c5\u611f\u5feb\u901f\u8bc4\u4f30（\u6050\u60e7）\u2192\u751f\u5b58\u5c42\u89e6\u53d1\u56de\u907f\u884c\u52a8（\u4e0d\u7ecf\u6df1\u5ea6\u8ba4\u77e5）\u2014\u2014\u201c\u611f\u89c9\u4e0d\u5bf9\u5c31\u8eb2\u5f00\u201d[17,20-21]\u3002\u8be5\u56de\u8def\u7684\u5de5\u7a0b\u5b9e\u73b0：\u611f\u77e5\u7684\u4f4e\u5c42\u7279\u5f81（\u5982\u7a81\u7136\u9760\u8fd1\u7684\u7269\u4f53）\u76f4\u8fde\u751f\u5b58\u5c42\u7684\u7d27\u6025\u54cd\u5e94\u6a21\u5757（\u4e0d\u7ecf\u611f\u77e5\u8bed\u4e49\u89e3\u6790\u4e0e\u8ba4\u77e5\u63a8\u7406），\u54cd\u5e94\u5ef6\u8fdf\u63a7\u5236\u5728\u6beb\u79d2\u7ea7[17,21]\u3002\u60c5\u611f\u5b50\u7f51\u5728\u56de\u8def\u4e2d\u63d0\u4f9b"\u60c5\u611f\u6807\u8bb0"（\u5371\u9669\u523a\u6fc0\u7684\u6050\u60e7\u6807\u7b7e），\u52a0\u901f\u751f\u5b58\u5c42\u5224\u5b9a[20-21]\u3002<\/p>\n

8.5 \u611f\u77e5-\u53cd\u601d\u8026\u5408<\/h4>\n

\u53cd\u601d\u673a\u5236\u76d1\u63a7\u611f\u77e5\u8d28\u91cf[17]：\u611f\u77e5\u7f6e\u4fe1\u5ea6\u5ba1\u8ba1（\u4f4e\u7f6e\u4fe1\u5ea6\u8f93\u51fa\u662f\u5426\u88ab\u8fc7\u5ea6\u4fe1\u4efb）\u3001\u611f\u77e5\u504f\u5dee\u68c0\u6d4b（\u7cfb\u7edf\u6027\u611f\u77e5\u9519\u8bef\u2014\u2014\u201c\u603b\u662f\u628a\u9634\u5f71\u5f53\u969c\u788d\u201d）\u3001\u611f\u77e5\u6821\u51c6（\u504f\u5dee\u68c0\u6d4b\u540e\u89e6\u53d1\u611f\u77e5\u6a21\u578b\u66f4\u65b0）[17]\u3002<\/p>\n

\u53cd\u601d\u4e0e\u611f\u77e5\u7684\u4ea4\u4e92\u6d41\u7a0b：\u53cd\u601d\u68c0\u6d4b\u5230\u611f\u77e5\u5f02\u5e38（\u7f6e\u4fe1\u5ea6\u6301\u7eed\u4f4e\/\u4e0e\u9884\u671f\u6301\u7eed\u4e0d\u7b26）\u2192\u89e6\u53d1\u4e3b\u52a8\u611f\u77e5（\u91cd\u65b0\u89c2\u6d4b）\u6216\u611f\u77e5\u6a21\u578b\u6821\u51c6\u2192\u611f\u77e5\u8d28\u91cf\u6062\u590d\u2192\u53cd\u601d\u8bb0\u5f55\u6821\u51c6\u65e5\u5fd7[17]\u3002\u53cd\u601d-\u611f\u77e5\u7684\u534f\u540c\u4ef7\u503c：\u9632\u6b62\u611f\u77e5\u7684"\u81ea\u6b3a"（\u7cfb\u7edf\u8bef\u4ee5\u4e3a\u611f\u77e5\u6b63\u786e）\u2014\u2014\u53cd\u601d\u4ee5\u9884\u6d4b\u4e00\u81f4\u6027\u3001\u8bb0\u5fc6\u4e00\u81f4\u6027\u4e3a\u6807\u5c3a，\u72ec\u7acb\u5ba1\u8ba1\u611f\u77e5\u8d28\u91cf[17]\u3002<\/p>\n

8.6 \u611f\u77e5-\u8bb0\u5fc6\u8026\u5408<\/h4>\n

\u611f\u77e5\u4e0e\u8bb0\u5fc6\u7cfb\u7edf\u7684\u8026\u5408[16-17]：\u611f\u77e5\u8f93\u51fa\u5199\u5165\u60c5\u666f\u8bb0\u5fc6（\u201c\u611f\u77e5\u5230\u7684\u573a\u666f\u201d）；\u8bb0\u5fc6\u5148\u9a8c\u8c03\u5236\u611f\u77e5（\u719f\u6089\u573a\u666f\u52a0\u901f\u8bc6\u522b\u2014\u2014\u201c\u6765\u8fc7\u8fd9\u4e2a\u623f\u95f4\u201d）[17]；\u611f\u77e5-\u8bb0\u5fc6\u7684\u4e00\u81f4\u6027\u68c0\u9a8c（\u611f\u77e5\u573a\u666f\u4e0e\u8bb0\u5fc6\u573a\u666f\u7684\u5339\u914d\u2014\u2014\u5f02\u5e38\u68c0\u6d4b：\u201c\u8fd9\u4e2a\u623f\u95f4\u7684\u5e03\u7f6e\u53d8\u4e86\u201d）[17]\u3002<\/p>\n

\u611f\u77e5-\u8bb0\u5fc6\u8026\u5408\u4f7f\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u5177\u5907"\u7ecf\u9a8c\u611f\u77e5"\u80fd\u529b：\u719f\u6089\u7684\u573a\u666f\u611f\u77e5\u66f4\u5feb\u3001\u66f4\u51c6，\u611f\u77e5\u7ecf\u9a8c\u968f\u8bb0\u5fc6\u79ef\u7d2f\u800c\u6210\u719f[17]\u3002\u7ecf\u9a8c\u611f\u77e5\u7684\u5b9e\u73b0：\u60c5\u666f\u8bb0\u5fc6\u5b58\u50a8"\u573a\u666f-\u611f\u77e5\u7ed3\u679c"\u914d\u5bf9；\u611f\u77e5\u65f6\u5148\u68c0\u7d22\u8bb0\u5fc6\u4e2d\u7684\u76f8\u4f3c\u573a\u666f，\u4ee5\u8bb0\u5fc6\u7ed3\u679c\u4e3a\u611f\u77e5\u5148\u9a8c（\u52a0\u901f\u8bc6\u522b）；\u65b0\u573a\u666f\u5219\u5b8c\u6574\u611f\u77e5\u5e76\u5199\u5165\u8bb0\u5fc6[17]\u3002\u7ecf\u9a8c\u611f\u77e5\u7684\u91cf\u5316\u6536\u76ca：\u719f\u6089\u573a\u666f\u7684\u611f\u77e5\u8017\u65f6\u964d\u4f4e（\u5bf9\u6bd4\u5b9e\u9a8c\u6d4b\u91cf）\u3001\u8bc6\u522b\u51c6\u786e\u7387\u63d0\u5347（\u8bb0\u5fc6\u5148\u9a8c\u8865\u5168）[17]\u3002\u7ecf\u9a8c\u611f\u77e5\u7684\u8fb9\u754c：\u8bb0\u5fc6\u5148\u9a8c\u53ef\u80fd\u9020\u6210"\u9884\u671f\u504f\u5dee"（\u7528\u65e7\u7ecf\u9a8c\u89e3\u91ca\u65b0\u573a\u666f）\u2014\u2014\u53cd\u601d\u673a\u5236\u76d1\u63a7\u7ecf\u9a8c\u5148\u9a8c\u7684\u9002\u7528\u6027[17]\u3002<\/p>\n

<\/h2>\n

8.7 \u611f\u77e5\u4e0e\u751f\u5b58\u5c42\u7684\u8854\u63a5<\/h4>\n

\u611f\u77e5\u4e0e\u751f\u5b58\u5c42（L5）\u7684\u8854\u63a5\u4f53\u73b0\u4e3a\u5b89\u5168\u611f\u77e5\u901a\u9053[17-18]：\u5371\u9669\u611f\u77e5\u7684\u5feb\u901f\u901a\u9053\u2014\u2014\u611f\u77e5\u7684\u4f4e\u5c42\u7279\u5f81\u76f4\u8fde\u751f\u5b58\u5c42（\u7a81\u7136\u63a5\u8fd1\u7684\u7269\u4f53\u3001\u8b66\u62a5\u58f0\u3001\u70df\u96fe）\u89e6\u53d1\u7d27\u6025\u54cd\u5e94，\u4e0d\u7ecf\u6df1\u5ea6\u8bed\u4e49\u89e3\u6790[17-18]；\u611f\u77e5\u7684\u5b89\u5168\u964d\u7ea7\u2014\u2014\u611f\u77e5\u6545\u969c\u65f6\u751f\u5b58\u5c42\u89e6\u53d1\u5b89\u5168\u6a21\u5f0f（\u51cf\u901f\u3001\u505c\u9760\u3001\u8bf7\u6c42\u4eba\u7c7b\u534f\u52a9）[17-18]；\u611f\u77e5\u7684\u5b89\u5168\u8fb9\u754c\u2014\u2014\u611f\u77e5\u80fd\u529b\u53d7\u751f\u5b58\u5c42\u7ea6\u675f（\u4e0d\u611f\u77e5\u53d7\u9650\u533a\u57df\u3001\u4e0d\u91c7\u96c6\u654f\u611f\u6570\u636e）[18]\u3002<\/p>\n

9 \u8bc4\u4f30\u4e0e\u5e94\u7528<\/h3>\n

9.1 \u611f\u77e5\u8d28\u91cf\u4e94\u7ef4\u8bc4\u4f30\u4f53\u7cfb<\/h4>\n

\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u7684\u8bc4\u4f30\u9700\u8986\u76d6\u611f\u77e5\u5168\u94fe\u8def，\u672c\u6587\u63d0\u51fa\u4e94\u7ef4\u8bc4\u4f30\u4f53\u7cfb[8,12,17]：\u4e94\u7ef4\u8986\u76d6"\u901a\u9053-\u72b6\u6001-\u6821\u51c6-\u9c81\u68d2-\u8d21\u732e"\u5b8c\u6574\u94fe\u8def\u2014\u2014\u611f\u77e5\u7cbe\u5ea6\u8861\u91cf"\u770b\u5f97\u51c6\u4e0d\u51c6"\u3001\u72b6\u6001\u5b8c\u6574\u6027\u8861\u91cf"\u5efa\u5f97\u5168\u4e0d\u5168"\u3001\u4e0d\u786e\u5b9a\u6027\u6821\u51c6\u8861\u91cf"\u4fe1\u5f97\u5bf9\u4e0d\u5bf9"\u3001\u9c81\u68d2\u6027\u8861\u91cf"\u625b\u5f97\u4f4f\u4e0d\u4f4f"\u3001\u8ba4\u77e5\u8d21\u732e\u8861\u91cf"\u7528\u5f97\u503c\u4e0d\u503c"[8,12,17]\u3002\u8bc4\u4f30\u7684\u5b9e\u65bd\u5468\u671f：\u5f00\u53d1\u671f（\u57fa\u51c6\u6570\u636e\u96c6\u8fed\u4ee3\u8bc4\u6d4b）\u3001\u90e8\u7f72\u671f（\u771f\u5b9e\u573a\u666f\u6301\u7eed\u76d1\u63a7）\u3001\u8fdb\u5316\u671f（\u5347\u7ea7\u540e\u56de\u5f52\u6d4b\u8bd5）[8,12,17]\u3002<\/p>\n

\u611f\u77e5\u7cbe\u5ea6：\u5404\u901a\u9053\u8bc6\u522b\u4efb\u52a1\u7684\u51c6\u786e\u7387\u2014\u2014\u76ee\u6807\u68c0\u6d4b（mAP）\u3001\u8bed\u4e49\u5206\u5272（mIoU）\u3001\u8bed\u97f3\u8bc6\u522b（WER）\u3001\u6750\u8d28\u8bc6\u522b（\u51c6\u786e\u7387）[2,11,13,15]\u3002\u7cbe\u5ea6\u7684\u5206\u573a\u666f\u8bc4\u4f30：\u6807\u51c6\u6570\u636e\u96c6\u8bc4\u6d4b（\u5b9e\u9a8c\u5ba4\u6761\u4ef6）+\u771f\u5b9e\u573a\u666f\u8bc4\u6d4b（\u90e8\u7f72\u6761\u4ef6）\u2014\u2014\u771f\u5b9e\u573a\u666f\u7684\u7cbe\u5ea6\u624d\u662f\u6709\u6548\u6307\u6807[11,17]\u3002\u57fa\u51c6\u6570\u636e\u96c6\u7684\u9009\u62e9：\u89c6\u89c9（COCO\u3001ADE20K）\u3001\u8bed\u97f3（LibriSpeech\u3001AudioSet）\u3001\u89e6\u89c9（\u89e6\u89c9\u56fe\u50cf\u6570\u636e\u96c6）[11,15,17]\u3002<\/p>\n

\u72b6\u6001\u5b8c\u6574\u6027：\u4e16\u754c\u72b6\u6001\u5bf9\u771f\u5b9e\u573a\u666f\u7684\u8986\u76d6\u5ea6\u2014\u2014\u6f0f\u68c0\u7387（\u6f0f\u6389\u7684\u5bf9\u8c61\/\u4e8b\u4ef6\u6bd4\u4f8b）\u3001\u72b6\u6001\u66f4\u65b0\u53ca\u65f6\u6027[17]\u3002\u5b8c\u6574\u6027\u7684\u8bc4\u4f30\u65b9\u6cd5：\u4ee5\u4eba\u5de5\u6807\u6ce8\u7684\u573a\u666f\u771f\u503c（ground truth）\u4e3a\u57fa\u51c6，\u5bf9\u6bd4\u4e16\u754c\u72b6\u6001\u7684\u5bf9\u8c61\/\u5173\u7cfb\/\u4e8b\u4ef6\u8986\u76d6\u7387[17]\u3002\u5b8c\u6574\u6027\u4e0e\u7cbe\u5ea6\u7684\u6743\u8861：\u63d0\u9ad8\u5b8c\u6574\u6027（\u68c0\u6d4b\u66f4\u591a\u5bf9\u8c61）\u53ef\u80fd\u5f15\u5165\u8bef\u68c0（\u7cbe\u5ea6\u4e0b\u964d）\u2014\u2014\u8bc4\u4f30\u65f6\u7efc\u5408F1\u6307\u6807[17]\u3002<\/p>\n

\u4e0d\u786e\u5b9a\u6027\u6821\u51c6：\u7f6e\u4fe1\u5ea6\u4e0e\u771f\u5b9e\u51c6\u786e\u7387\u7684\u4e00\u81f4\u6027\u2014\u2014\u6821\u51c6\u8bef\u5dee（ECE）：\u9ad8\u7f6e\u4fe1\u5ea6\u8f93\u51fa\u662f\u5426\u771f\u7684\u9ad8\u51c6\u786e[12,17]\u3002\u6821\u51c6\u8bc4\u4f30\u7684\u5de5\u7a0b\u5b9e\u73b0：\u7f6e\u4fe1\u5ea6\u5206\u7bb1（\u5c06\u8f93\u51fa\u6309\u7f6e\u4fe1\u5ea6\u520610\u7bb1，\u7edf\u8ba1\u6bcf\u7bb1\u7684\u5b9e\u9645\u51c6\u786e\u7387），\u7ed8\u5236\u6821\u51c6\u66f2\u7ebf，\u8ba1\u7b97ECE（\u671f\u671b\u6821\u51c6\u8bef\u5dee）[12,17]\u3002\u6821\u51c6\u4e0d\u826f\u7684\u540e\u679c：\u8fc7\u81ea\u4fe1（\u9ad8\u7f6e\u4fe1\u5ea6\u4f4e\u51c6\u786e）\u5bfc\u81f4\u4e0b\u6e38\u51b3\u7b56\u76f2\u76ee\u4fe1\u4efb\u611f\u77e5\u2014\u2014\u53cd\u601d\u673a\u5236\u9700\u76d1\u63a7[12,17]\u3002<\/p>\n

\u9c81\u68d2\u6027：\u6076\u52a3\u6761\u4ef6\u4e0b\u7684\u611f\u77e5\u9000\u5316\u7a0b\u5ea6\u2014\u2014\u5149\u7167\u53d8\u5316\u3001\u566a\u58f0\u73af\u5883\u3001\u4f20\u611f\u5668\u90e8\u5206\u5931\u6548\u65f6\u7684\u6027\u80fd\u4fdd\u6301[8,12]\u3002\u9c81\u68d2\u6027\u8bc4\u4f30\u7684\u6d4b\u8bd5\u77e9\u9635：\u5149\u7167（\u6b63\u5e38\/\u5f31\u5149\/\u9006\u5149）\u3001\u566a\u58f0（\u5b89\u9759\/\u5608\u6742）\u3001\u906e\u6321（\u65e0\/\u90e8\u5206\/\u4e25\u91cd）\u3001\u4f20\u611f\u5668\u5931\u6548（\u5355\/\u591a\u901a\u9053）\u2014\u2014\u6d4b\u8bd5\u77e9\u9635\u5404\u6761\u4ef6\u4e0b\u7684\u6027\u80fd\u4fdd\u6301\u7387[8,12,17]\u3002<\/p>\n

\u8ba4\u77e5\u8d21\u732e：\u611f\u77e5\u5bf9\u4e0b\u6e38\u4efb\u52a1\u7684\u4ef7\u503c\u2014\u2014\u611f\u77e5\u7ed3\u679c\u5bf9\u4e16\u754c\u6a21\u578b\u63a8\u6f14\u7cbe\u5ea6\u3001\u8ba4\u77e5\u51b3\u7b56\u8d28\u91cf\u7684\u63d0\u5347[17]\u3002\u8ba4\u77e5\u8d21\u732e\u7684\u8bc4\u4f30\u65b9\u6cd5：\u5bf9\u7167\u5b9e\u9a8c（\u6709\/\u65e0\u611f\u77e5\u6a21\u5757\u7684\u4e16\u754c\u6a21\u578b\u63a8\u6f14\u7cbe\u5ea6\u5bf9\u6bd4；\u611f\u77e5\u8d28\u91cf\u63d0\u5347\u5bf9\u4efb\u52a1\u6210\u529f\u7387\u7684\u5f71\u54cd）[17]\u3002\u8ba4\u77e5\u8d21\u732e\u662f\u611f\u77e5\u8bc4\u4f30\u7684"\u7ec8\u6781\u6307\u6807"\u2014\u2014\u611f\u77e5\u7684\u4ef7\u503c\u6700\u7ec8\u4f53\u73b0\u5728\u5bf9\u8ba4\u77e5\u4efb\u52a1\u7684\u652f\u6491[17]\u3002<\/p>\n

\u88683\u7ed9\u51fa\u4e94\u7ef4\u8bc4\u4f30\u7684\u6307\u6807\u4e0e\u6d4b\u5ea6\u65b9\u6cd5\u3002<\/p>\n

\u88683 \u611f\u77e5\u8d28\u91cf\u4e94\u7ef4\u8bc4\u4f30\u4f53\u7cfb<\/p>\n\n\u7ef4\u5ea6\u6307\u6807\u6d4b\u5ea6\u65b9\u6cd5<\/tr>\n\n\n\n\n\n\n
\u611f\u77e5\u7cbe\u5ea6<\/td>\nmAP\u3001mIoU\u3001WER<\/td>\n\u6807\u51c6\u6570\u636e\u96c6\u8bc4\u6d4b<\/td>\n<\/tr>\n
\u72b6\u6001\u5b8c\u6574\u6027<\/td>\n\u6f0f\u68c0\u7387\u3001\u66f4\u65b0\u5ef6\u8fdf<\/td>\n\u573a\u666f\u72b6\u6001\u5bf9\u6bd4<\/td>\n<\/tr>\n
\u4e0d\u786e\u5b9a\u6027\u6821\u51c6<\/td>\nECE\u3001\u7f6e\u4fe1\u5ea6-\u51c6\u786e\u7387\u66f2\u7ebf<\/td>\n\u6821\u51c6\u5206\u6790<\/td>\n<\/tr>\n
\u9c81\u68d2\u6027<\/td>\n\u6027\u80fd\u4fdd\u6301\u7387<\/td>\n\u6076\u52a3\u6761\u4ef6\u538b\u529b\u6d4b\u8bd5<\/td>\n<\/tr>\n
\u8ba4\u77e5\u8d21\u732e<\/td>\n\u4e0b\u6e38\u4efb\u52a1\u589e\u76ca<\/td>\n\u6709\/\u65e0\u611f\u77e5\u6a21\u5757\u5bf9\u7167<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

9.2 \u5e94\u7528\u573a\u666f<\/h4>\n

\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u7684\u5e94\u7528\u573a\u666f\u8986\u76d6\u7c7b\u8111\u5927\u6a21\u578b\u7684\u5404\u4e2a\u843d\u5730\u65b9\u5411[16-19]：\u5e94\u7528\u9009\u578b\u7684\u539f\u5219\u2014\u2014\u6309\u573a\u666f\u7684\u611f\u77e5\u9700\u6c42\u914d\u7f6e\u901a\u9053\u4e0e\u878d\u5408\u7ea7\u522b：\u7b80\u5355\u573a\u666f（\u5355\u4e00\u89c6\u89c9\u901a\u9053+\u51b3\u7b56\u7ea7\u878d\u5408）\u3001\u590d\u6742\u573a\u666f（\u591a\u901a\u9053+\u5168\u878d\u5408）[17]\u3002<\/p>\n

\u5177\u8eab\u673a\u5668\u4eba：\u591a\u6a21\u6001\u611f\u77e5\u652f\u6491\u6293\u53d6\u3001\u5bfc\u822a\u4e0e\u4eba\u673a\u4ea4\u4e92\u2014\u2014\u89c6\u89c9\u8bc6\u522b\u7269\u4f53\u3001\u89e6\u89c9\u611f\u77e5\u63a5\u89e6\u3001\u672c\u4f53\u611f\u77e5\u4f4d\u59ff[7,9,19]\u3002\u5177\u8eab\u573a\u666f\u7684\u611f\u77e5\u6311\u6218：\u52a8\u6001\u73af\u5883（\u7269\u4f53\u79fb\u52a8）\u3001\u975e\u7ed3\u6784\u5316（\u7269\u4f53\u968f\u610f\u6446\u653e）\u3001\u63a5\u89e6\u4e30\u5bcc（\u6293\u53d6\u65f6\u7684\u591a\u6a21\u6001\u53cd\u9988）[7,9,19]\u3002\u4ea7\u4e1a\u5c42\u9762，\u4e2d\u56fd\u4fe1\u901a\u9662\u5c06"\u591a\u6a21\u6001\u611f\u77e5\u878d\u5408"\u5217\u4e3a\u4eba\u5de5\u667a\u80fd\u4ea7\u4e1a\u7684\u5173\u952e\u6280\u672f\u65b9\u5411[26]；\u5177\u8eab\u667a\u80fd\u6280\u672f\u53d1\u5c55\u62a5\u544a\u4ea6\u6307\u51fa，\u611f\u77e5（\u591a\u6a21\u6001\u878d\u5408）\u662f\u5177\u8eab\u667a\u80fd"\u5927\u8111\u5c42"\u7684\u6838\u5fc3\u80fd\u529b[19,26]\u3002IROS\u7814\u7a76\u5df2\u5c55\u793a\u76f8\u5173\u8fdb\u5c55：\u57fa\u4e8e\u5b66\u4e60\u7684\u6293\u53d6\u63a7\u5236\u5668\u7ed3\u5408\u89e6\u89c9\u53cd\u9988\u5b9e\u73b0\u672a\u77e5\u7269\u4f53\u7a33\u5b9a\u6293\u53d6[19]；\u89c6\u89c9\u89e6\u89c9\u667a\u80fd\u5b9e\u73b0\u7cbe\u7ec6\u64cd\u4f5c[7,9]\u3002<\/p>\n

\u667a\u80fd\u9a7e\u9a76：\u591a\u4f20\u611f\u5668\u878d\u5408\u611f\u77e5（\u6444\u50cf\u5934+\u6fc0\u5149\u96f7\u8fbe+\u6beb\u7c73\u6ce2）\u6784\u5efa\u9a7e\u9a76\u73af\u5883\u72b6\u6001\u2014\u2014\u76ee\u6807\u68c0\u6d4b\u3001\u8f66\u9053\u8bc6\u522b\u3001\u4ea4\u901a\u4fe1\u53f7\u611f\u77e5[13,17]\u3002<\/p>\n

\u670d\u52a1\u673a\u5668\u4eba：\u573a\u666f\u7406\u89e3\u652f\u6491\u670d\u52a1\u4efb\u52a1\u2014\u2014"\u5ba2\u5385\u91cc\u6709\u6c99\u53d1\u3001\u8336\u51e0\u3001\u7535\u89c6"\u7684\u4e16\u754c\u72b6\u6001\u4f9b\u4efb\u52a1\u89c4\u5212[17,19]\u3002<\/p>\n

\u6570\u5b57\u4eba\u4e0e\u793e\u4ea4：\u4eba\u8138\u8bc6\u522b\u3001\u8868\u60c5\u611f\u77e5\u3001\u8bed\u97f3\u60c5\u611f\u611f\u77e5\u652f\u6491\u793e\u4ea4\u4ea4\u4e92[15,20]\u3002\u793e\u4ea4\u573a\u666f\u7684\u611f\u77e5\u9700\u6c42：\u4eba\u8138\u8bc6\u522b（\u533a\u5206\u4e2a\u4f53）\u3001\u8868\u60c5\u7406\u89e3（\u5224\u65ad\u60c5\u7eea）\u3001\u89c6\u7ebf\u8ffd\u8e2a（\u5224\u65ad\u6ce8\u610f\u529b）\u3001\u8bed\u97f3\u60c5\u611f（\u5224\u65ad\u8bed\u6c14）[15,20]\u3002\u793e\u4ea4\u611f\u77e5\u7684\u8f93\u51fa\u6620\u5c04\u4e3a\u4e16\u754c\u72b6\u6001\u7684\u793e\u4f1a\u5143\u7d20：{\u4e2a\u4f53\u8eab\u4efd, \u60c5\u611f\u72b6\u6001, \u6ce8\u610f\u529b\u72b6\u6001}[17,20]\u3002<\/p>\n

9.3 \u4e0e\u65e2\u6709\u65b9\u6848\u7684\u5bf9\u6bd4<\/h4>\n

\u88684\u7ed9\u51fa\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u4e0e\u65e2\u6709\u611f\u77e5\u65b9\u6848\u7684\u5bf9\u6bd4[5-6,8-12,17]\u3002<\/p>\n

\u88684 \u611f\u77e5\u7406\u89e3\u5b50\u7f51\u4e0e\u65e2\u6709\u65b9\u6848\u5bf9\u6bd4<\/p>\n\n\u7ef4\u5ea6\u591a\u6a21\u6001LLMVLA\u6a21\u578b\u4f20\u7edf\u611f\u77e5\u7cfb\u7edf\u672c\u6587\u611f\u77e5\u7406\u89e3\u5b50\u7f51<\/tr>\n\n\n\n\n\n\n
\u611f\u77e5\u76ee\u6807<\/td>\n\u751f\u6210\u63cf\u8ff0<\/td>\n\u751f\u6210\u52a8\u4f5c<\/td>\n\u68c0\u6d4b\u8bc6\u522b<\/td>\n\u6784\u5efa\u4e16\u754c\u72b6\u6001<\/td>\n<\/tr>\n
\u8f93\u51fa\u8868\u5f81<\/td>\n\u6587\u672ctoken<\/td>\n\u52a8\u4f5ctoken<\/td>\n\u68c0\u6d4b\u6846\/\u6807\u7b7e<\/td>\n\u5bf9\u8c61-\u5173\u7cfb-\u4e8b\u4ef6<\/td>\n<\/tr>\n
\u9884\u6d4b\u673a\u5236<\/td>\n\u65e0<\/td>\n\u65e0<\/td>\n\u65e0<\/td>\n\u9884\u6d4b\u7f16\u7801\u95ed\u73af<\/td>\n<\/tr>\n
\u8ba4\u77e5\u8026\u5408<\/td>\n\u5f31<\/td>\n\u5f31<\/td>\n\u65e0<\/td>\n\u56db\u5b50\u7f51\u53cc\u5411\u8026\u5408<\/td>\n<\/tr>\n
\u4e0d\u786e\u5b9a\u6027<\/td>\n\u65e0<\/td>\n\u65e0<\/td>\n\u90e8\u5206<\/td>\n\u4e09\u5c42\u5efa\u6a21<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u591a\u6a21\u6001LLM\u5f3a\u4e8e"\u63cf\u8ff0"，VLA\u5f3a\u4e8e"\u52a8\u4f5c"，\u4f20\u7edf\u611f\u77e5\u5f3a\u4e8e"\u68c0\u6d4b"，\u672c\u6587\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u4ee5"\u6784\u5efa\u4e16\u754c\u72b6\u6001"\u4e3a\u76ee\u6807，\u517c\u5177\u8bed\u4e49\u5316\u8868\u5f81\u3001\u9884\u6d4b\u7f16\u7801\u4e0e\u8ba4\u77e5\u8026\u5408[5-6,8-12,17]\u3002\u5bf9\u6bd4\u7684\u542f\u793a：\u5404\u65b9\u6848\u89e3\u51b3\u4e0d\u540c\u5c42\u9762\u7684\u95ee\u9898\u2014\u2014\u591a\u6a21\u6001LLM\u89e3\u51b3"\u4eba\u673a\u5bf9\u8bdd\u4e2d\u7684\u611f\u77e5"\u3001VLA\u89e3\u51b3"\u611f\u77e5\u5230\u52a8\u4f5c\u7684\u6620\u5c04"\u3001\u4f20\u7edf\u611f\u77e5\u89e3\u51b3"\u68c0\u6d4b\u8bc6\u522b"\u3001\u672c\u6587\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u89e3\u51b3"\u611f\u77e5\u5230\u4e16\u754c\u72b6\u6001\u7684\u6784\u5efa"\u2014\u2014\u56db\u8005\u53ef\u5171\u5b58（VLA\u53ef\u4f5c\u4e3a\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u4e0e\u52a8\u4f5c\u4e4b\u95f4\u7684\u5feb\u6377\u901a\u9053）[5-6,17]\u3002\u5171\u5b58\u67b6\u6784\u7684\u793a\u4f8b：\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u6784\u5efa\u4e16\u754c\u72b6\u6001\u2192\u8ba4\u77e5\u63a8\u7406\u51b3\u7b56\u610f\u56fe\u2192VLA\u5c06\u610f\u56fe\u6620\u5c04\u4e3a\u52a8\u4f5c\u2192\u5c0f\u8111\u6267\u884c\u2014\u2014\u5404\u5c42\u5404\u53f8\u5176\u804c，\u5f62\u6210"\u611f\u77e5-\u8ba4\u77e5-\u884c\u52a8"\u7684\u5b8c\u6574\u94fe\u8def[5-6,16-17]\u3002<\/p>\n

9.4 \u6311\u6218\u4e0e\u5c55\u671b<\/h4>\n

\u6311\u62181：\u611f\u77e5\u6570\u636e\u7684\u7a00\u7f3a\u2014\u2014\u591a\u6a21\u6001\u6807\u6ce8\u6570\u636e（\u5c24\u5176\u89e6\u89c9）\u6210\u672c\u9ad8\u6602[7,9]\u3002\u7f13\u89e3：\u4eff\u771f\u611f\u77e5（\u865a\u62df\u73af\u5883\u5408\u6210\u611f\u77e5\u6570\u636e）\u3001\u81ea\u76d1\u7763\u5b66\u4e60[7,9,17]\u3002<\/p>\n

\u6311\u62182：\u5b9e\u65f6\u6027\u2014\u2014\u56db\u7ea7\u6d41\u6c34\u7ebf\u7684\u8ba1\u7b97\u5ef6\u8fdf\u3002\u7f13\u89e3：\u6309\u9700\u5904\u7406\u6df1\u5ea6（\u7d27\u6025\u8def\u5f84\u4f4e\u5c42\u8f93\u51fa）\u3001\u6a21\u578b\u8f7b\u91cf\u5316\u3001\u8fb9\u7f18\u7b97\u529b[17]\u3002\u5b9e\u65f6\u6027\u9884\u7b97：\u7d27\u6025\u611f\u77e5\u8def\u5f84<50 ms（\u907f\u969c）\u3001\u5e38\u89c4\u611f\u77e5\u8def\u5f84<500 ms（\u573a\u666f\u66f4\u65b0）\u3001\u6df1\u5ea6\u611f\u77e5\u8def\u5f84<5 s（\u60c5\u5883\u7406\u89e3）\u2014\u2014\u5404\u8def\u5f84\u7684\u5ef6\u8fdf\u9884\u7b97\u9700\u5728\u67b6\u6784\u8bbe\u8ba1\u65f6\u5206\u914d[17]\u3002<\/p>\n

\u6311\u62183：\u957f\u5c3e\u573a\u666f\u2014\u2014\u7f55\u89c1\u573a\u666f（\u6781\u7aef\u5929\u6c14\u3001\u5f02\u5e38\u7269\u4f53）\u7684\u611f\u77e5\u9000\u5316\u3002\u7f13\u89e3：\u6570\u636e\u98de\u8f6e（\u90e8\u7f72\u4e2d\u6301\u7eed\u91c7\u96c6）\u3001\u5f02\u5e38\u68c0\u6d4b\u4e0e\u4e3b\u52a8\u611f\u77e5[8,12,17]\u3002\u957f\u5c3e\u573a\u666f\u7684\u5de5\u7a0b\u7b56\u7565：\u4eff\u771f\u5408\u6210（\u751f\u6210\u6781\u7aef\u6761\u4ef6\u6570\u636e）\u3001\u4e3b\u52a8\u91c7\u96c6（\u90e8\u7f72\u4e2d\u9047\u5230\u957f\u5c3e\u573a\u666f\u81ea\u52a8\u8bb0\u5f55\u4e0a\u62a5）\u3001\u6301\u7eed\u5b66\u4e60（\u79ef\u7d2f\u7684\u957f\u5c3e\u6570\u636e\u589e\u91cf\u8bad\u7ec3）[8,12,17]\u3002<\/p>\n

\u6311\u62184：\u611f\u77e5-\u8ba4\u77e5\u7684\u8fc7\u5ea6\u8026\u5408\u2014\u2014\u8ba4\u77e5\u504f\u89c1\u6c61\u67d3\u611f\u77e5（\u9884\u671f\u5f71\u54cd\u89c2\u6d4b）\u3002\u7f13\u89e3：\u53cd\u601d\u673a\u5236\u76d1\u63a7\u611f\u77e5\u504f\u5dee[17]\u3002\u6311\u62185：\u611f\u77e5\u6570\u636e\u7684\u9690\u79c1\u4e0e\u4f26\u7406\u2014\u2014\u591a\u6a21\u6001\u611f\u77e5\u91c7\u96c6\u654f\u611f\u4fe1\u606f（\u4eba\u8138\u3001\u8bed\u97f3\u3001\u5bb6\u5ead\u573a\u666f）\u3002\u7f13\u89e3：\u611f\u77e5\u6743\u9650\u5206\u7ea7\u3001\u6570\u636e\u672c\u5730\u5904\u7406（\u4e0d\u4e0a\u4e91）\u3001\u201c\u88ab\u9057\u5fd8\u6743\u201d（\u7528\u6237\u53ef\u8981\u6c42\u5220\u9664\u611f\u77e5\u6570\u636e）[17-18]\u3002<\/p>\n

\u5c55\u671b1：\u611f\u77e5-\u4e16\u754c\u6a21\u578b\u7aef\u5230\u7aef\u8054\u5408\u8bad\u7ec3\u2014\u2014\u611f\u77e5\u6a21\u578b\u4e0e\u4e16\u754c\u6a21\u578b\u5171\u4eab\u8868\u5f81\u7a7a\u95f4，\u8054\u5408\u4f18\u5316"\u611f\u77e5\u8bef\u5dee+\u9884\u6d4b\u8bef\u5dee"[4,17]\u3002\u8054\u5408\u8bad\u7ec3\u7684\u9884\u671f\u6536\u76ca：\u611f\u77e5\u8868\u5f81\u4e0e\u4e16\u754c\u6a21\u578b\u63a8\u6f14\u7684\u4e00\u81f4\u6027（\u611f\u77e5\u8f93\u51fa\u7684\u72b6\u6001"\u6b63\u662f"\u4e16\u754c\u6a21\u578b\u671f\u671b\u7684\u72b6\u6001）\u3001\u611f\u77e5\u9c81\u68d2\u6027\u63d0\u5347（\u9884\u6d4b\u5148\u9a8c\u8f85\u52a9\u611f\u77e5）\u3001\u4e16\u754c\u6a21\u578b\u8fdb\u5316\u52a0\u901f（\u611f\u77e5\u8bef\u5dee\u76f4\u63a5\u9a71\u52a8）[4,17]\u3002<\/p>\n

\u5c55\u671b2：\u4e3b\u52a8\u611f\u77e5\u7684\u6df1\u5316\u2014\u2014\u611f\u77e5\u4e0d\u4ec5\u662f"\u770b"，\u66f4\u662f"\u63a2\u7d22"\u2014\u2014\u597d\u5947\u9a71\u52a8（\u4fe1\u606f\u589e\u76ca\u6700\u5927\u5316）\u7684\u4e3b\u52a8\u611f\u77e5[10,17]\u3002\u597d\u5947\u9a71\u52a8\u7684\u5de5\u7a0b\u5316：\u4ee5"\u4fe1\u606f\u589e\u76ca\u6700\u5927\u5316"\u4e3a\u611f\u77e5\u52a8\u4f5c\u9009\u62e9\u51c6\u5219（\u9009\u62e9\u4e0d\u786e\u5b9a\u6027\u964d\u4f4e\u6700\u591a\u7684\u89c2\u6d4b\u52a8\u4f5c）[10,17]；\u597d\u5947\u7684\u8fb9\u754c\u2014\u2014\u63a2\u7d22\u4e0e\u5229\u7528\u7684\u5e73\u8861（\u63a2\u7d22\u65b0\u573a\u666f vs \u5229\u7528\u5df2\u77e5\u573a\u666f）[10,17]\u3002<\/p>\n

\u5c55\u671b3：\u89e6\u89c9\u7684\u89c4\u6a21\u5316\u5e94\u7528\u2014\u2014\u4f4e\u6210\u672c\u89e6\u89c9\u4f20\u611f\u5668\u4e0e\u4eff\u771f\u89e6\u89c9\u6570\u636e\u7684\u53d1\u5c55，\u4f7f\u89e6\u89c9\u4ece"\u5b9e\u9a8c\u5ba4"\u8d70\u5411"\u89c4\u6a21\u5316"[7,9]\u3002<\/p>\n

\u5c55\u671b4：\u611f\u77e5\u4e0e\u8111\u673a\u63a5\u53e3\u7684\u8854\u63a5\u2014\u2014\u795e\u7ecf\u4fe1\u53f7\u89e3\u7801\u4f5c\u4e3a\u611f\u77e5\u901a\u9053\u7684\u6269\u5c55（\u8111\u673a\u63a5\u53e3\u63d0\u4f9b\u7684\u610f\u56fe\u4fe1\u53f7\u8fdb\u5165\u611f\u77e5\u7406\u89e3\u5b50\u7f51）[16,19]\u3002\u8111\u673a\u63a5\u53e3\u7814\u7a76\u5df2\u5c55\u793a\u8fd0\u52a8\u610f\u56fe\u89e3\u7801（\u8fd0\u52a8\u76ae\u5c42\u4fe1\u53f7\u2192\u52a8\u4f5c\u610f\u56fe）\u4e0e\u611f\u77e5\u53cd\u9988（\u89e6\u89c9\u523a\u6fc0\u2192\u611f\u89c9\u76ae\u5c42）\u7684\u53cc\u5411\u901a\u8def[19]；\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u53ef\u5c06\u795e\u7ecf\u89e3\u7801\u7ed3\u679c\u4f5c\u4e3a"\u5185\u611f\u53d7\u6269\u5c55\u901a\u9053"，\u4e5f\u53ef\u5c06\u611f\u77e5\u7ed3\u679c\u7ecf\u795e\u7ecf\u523a\u6fc0\u53cd\u9988\u7ed9\u4eba\u7c7b（\u611f\u77e5\u589e\u5f3a）[16,19]\u3002<\/p>\n

9.5 \u611f\u77e5\u7406\u89e3\u5b50\u7f51\u4e0eLOPD\u4e03\u5c42\u7684\u5b8c\u6574\u6620\u5c04<\/h4>\n

\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u5728LOPD\u4e03\u5c42\u4e2d\u7684\u5b8c\u6574\u6620\u5c04[16-18]：L1\u7269\u7406\u5c42\u2014\u2014\u4f20\u611f\u5668\u9635\u5217（\u6444\u50cf\u5934\u3001\u9ea6\u514b\u98ce\u3001\u89e6\u89c9\u9635\u5217\u3001IMU）\u63d0\u4f9b\u7269\u7406\u4fe1\u53f7；L2\u80a2\u4f53\u5c42\u2014\u2014\u4f20\u611f\u5668\u7684\u5b89\u88c5\u4e0e\u9a71\u52a8（\u4e91\u53f0\u8f6c\u52a8\u3001\u5934\u90e8\u79fb\u52a8\u652f\u6491\u4e3b\u52a8\u611f\u77e5）[16]；L3\u611f\u77e5\u95e8\u6237\u2014\u2014\u4fe1\u53f7\u7684\u901a\u9053\u7ec4\u7ec7（\u89c6\u89c9\u6d41\u3001\u542c\u89c9\u6d41\u3001\u89e6\u89c9\u6d41\u3001\u672c\u4f53\u6d41）[16]；L4\u795e\u7ecf\u5c42\u2014\u2014\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u672c\u4f53（\u901a\u9053\u5904\u7406\u3001\u878d\u5408\u3001\u8bed\u4e49\u5316）[17]；L5\u751f\u5b58\u5c42\u2014\u2014\u611f\u77e5\u7684\u5b89\u5168\u7ea6\u675f（\u5371\u9669\u611f\u77e5\u7684\u5feb\u901f\u901a\u9053\u3001\u611f\u77e5\u6545\u969c\u7684\u5b89\u5168\u964d\u7ea7）[18]；L6\u793e\u4f1a\u5c42\u2014\u2014\u793e\u4f1a\u611f\u77e5（\u4eba\u8138\u8bc6\u522b\u3001\u8868\u60c5\u7406\u89e3\u3001\u793e\u4f1a\u573a\u666f\u89e3\u8bfb）[18,20]；L7\u6587\u660e\u5c42\u2014\u2014\u6587\u5316\u611f\u77e5（\u6587\u5316\u7b26\u53f7\u8bc6\u522b\u3001\u793c\u4eea\u573a\u666f\u7406\u89e3）[18]\u3002\u4e03\u5c42\u6620\u5c04\u7684\u610f\u4e49：\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u4e0d\u662f\u5b64\u7acb\u7684"\u89c6\u89c9\u7cfb\u7edf"，\u800c\u662f\u8d2f\u7a7fL1-L7\u7684\u611f\u77e5\u8ba4\u77e5\u5b50\u7cfb\u7edf\u2014\u2014\u5e95\u5c42\u4f20\u611f\u5668\u3001\u4e2d\u5c42\u5904\u7406\u3001\u4e0a\u5c42\u7ea6\u675f（\u5b89\u5168\/\u793e\u4f1a\/\u6587\u5316）\u5171\u540c\u5851\u9020\u611f\u77e5\u884c\u4e3a[16-18]\u3002<\/p>\n

10 \u7ed3\u8bba<\/h3>\n

\u672c\u6587\u57fa\u4e8e\u9762\u5411\u903b\u8f91\u601d\u7ef4\u7684\u7a0b\u5e8f\u8bbe\u8ba1\u65b9\u6cd5（LOPD）\u4e03\u5c42\u8ba4\u77e5\u5206\u6790\u5c42\u6b21\u6a21\u578b，\u63d0\u51fa\u4f9d\u6258\u4e16\u754c\u6a21\u578b\u7684\u7c7b\u8111\u5927\u6a21\u578b\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u521d\u6b65\u8bbe\u8ba1\u3002\u4e3b\u8981\u7ed3\u8bba\u5982\u4e0b：<\/p>\n

（1）\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u4ee5"\u6784\u5efa\u4e16\u754c\u72b6\u6001\u800c\u975e\u751f\u6210\u63cf\u8ff0"\u4e3a\u8bbe\u8ba1\u5b97\u65e8，\u8f93\u51fa"\u5bf9\u8c61-\u5173\u7cfb-\u4e8b\u4ef6"\u4e09\u5143\u8bed\u4e49\u7684\u7ed3\u6784\u5316\u4e16\u754c\u72b6\u6001，\u4e0e\u4e16\u754c\u6a21\u578b\u7684\u72b6\u6001\u7a7a\u95f4\u76f4\u63a5\u5bf9\u63a5[16-17]\u3002\u8fd9\u4e00\u8bbe\u8ba1\u5b97\u65e8\u4f7f\u611f\u77e5\u4ece"\u8bed\u8a00\u63cf\u8ff0"\u8d70\u5411"\u72b6\u6001\u6784\u5efa"，\u662f\u7c7b\u8111\u5927\u6a21\u578b\u4ece"\u8bed\u8a00\u667a\u80fd"\u8d70\u5411"\u7269\u7406\u4e16\u754c\u667a\u80fd"\u7684\u611f\u77e5\u4fa7\u57fa\u77f3[4,16-17]\u3002\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u7684\u521d\u6b65\u8bbe\u8ba1\u867d\u4ee5\u67b6\u6784\u65b9\u6cd5\u8bba\u4e3a\u4e3b，\u5404\u9879\u91cf\u5316\u53c2\u6570（\u7f6e\u4fe1\u5ea6\u9608\u503c\u3001\u878d\u5408\u6743\u91cd\u3001\u66f4\u65b0\u9891\u7387）\u5747\u6709\u5f85\u539f\u578b\u9a8c\u8bc1\u4e0e\u5b9e\u6d4b\u6821\u51c6\u2014\u2014\u8fd9\u662f"\u521d\u6b65\u8bbe\u8ba1"\u7684\u5b9a\u4f4d\u6240\u5728[17]\u3002<\/p>\n

（2）\u4ee5\u611f\u77e5\u95e8\u6237（L3）\u4e3a\u7ec4\u7ec7\u9aa8\u67b6，\u8bbe\u8ba1\u89c6\u89c9\u3001\u542c\u89c9\u3001\u89e6\u89c9\u4e0e\u5185\u611f\u56db\u5927\u611f\u77e5\u901a\u9053，\u5404\u901a\u9053\u7ecf"\u7279\u5f81\u63d0\u53d6\u2192\u8bed\u4e49\u89e3\u6790\u2192\u60c5\u5883\u7406\u89e3"\u4e09\u7ea7\u5904\u7406\u6d41\u6c34\u7ebf，\u8986\u76d6\u4ece\u7269\u7406\u4fe1\u53f7\u5230\u8bed\u4e49\u72b6\u6001\u7684\u5168\u94fe\u8def[16-17]\u3002\u901a\u9053\u8bbe\u8ba1\u517c\u987e\u5b8c\u5907\u6027（\u8986\u76d6LOPD\u611f\u77e5\u95e8\u6237\u7684\u5168\u90e8\u901a\u9053）\u4e0e\u5de5\u7a0b\u53ef\u884c\u6027（\u4f18\u5148\u5b9e\u73b0\u9ad8\u4ef7\u503c\u901a\u9053\u2014\u2014\u89c6\u89c9\u3001\u542c\u89c9\u3001\u89e6\u89c9）[16-17]\u3002<\/p>\n

（3）\u591a\u6a21\u6001\u878d\u5408\u91c7\u7528"\u7279\u5f81\u7ea7+\u8bed\u4e49\u7ea7+\u51b3\u7b56\u7ea7"\u4e09\u7ea7\u67b6\u6784，\u4ee5\u4e09\u5c42\u4e0d\u786e\u5b9a\u6027\u5efa\u6a21（\u611f\u77e5\/\u6a21\u578b\/\u60c5\u5883）\u4fdd\u8bc1\u611f\u77e5\u9c81\u68d2\u6027[8-12,17]\u3002<\/p>\n

（4）\u611f\u77e5-\u4e16\u754c\u6a21\u578b\u95ed\u73af（\u9884\u6d4b\u7f16\u7801\u673a\u5236）\u4f7f\u611f\u77e5\u4ece"\u88ab\u52a8\u63a5\u6536"\u8d70\u5411"\u9884\u6d4b\u68c0\u9a8c"\u2014\u2014\u9884\u6d4b\u8c03\u5236\u611f\u77e5\u3001\u611f\u77e5\u66f4\u65b0\u9884\u6d4b，\u4e8c\u8005\u534f\u540c\u8fdb\u5316[3-4,17]\u3002\u8be5\u95ed\u73af\u662f"\u4f9d\u6258\u4e16\u754c\u6a21\u578b"\u8bbe\u8ba1\u7684\u611f\u77e5\u4fa7\u5b9e\u73b0：\u611f\u77e5\u4e0d\u518d\u5b64\u7acb\u5de5\u4f5c，\u800c\u662f\u4e0e\u4e16\u754c\u6a21\u578b\u6784\u6210"\u611f\u77e5-\u9884\u6d4b-\u9a8c\u8bc1"\u7684\u6301\u7eed\u5faa\u73af[4,17]\u3002<\/p>\n

（5）\u611f\u77e5-\u8ba4\u77e5\u8026\u5408\u8bbe\u8ba1（\u4e0e\u4e16\u754c\u6a21\u578b\u3001\u8ba4\u77e5\u63a8\u7406\u3001\u60c5\u611f\u8bc4\u4f30\u3001\u53cd\u601d\u673a\u5236\u7684\u53cc\u5411\u63a5\u53e3）\u4f7f\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u6210\u4e3a\u5927\u8111\u4e94\u5b50\u7f51\u7684"\u8f93\u5165\u95e8\u6237"[16-17]\u3002\u8026\u5408\u7684\u5b8c\u5907\u6027：\u611f\u77e5\u8f93\u51fa\u8986\u76d6\u4e0b\u6e38\u5168\u90e8\u9700\u6c42（\u4e16\u754c\u6a21\u578b\u7684\u72b6\u6001\u8f93\u5165\u3001\u8ba4\u77e5\u63a8\u7406\u7684\u60c5\u5883\u8f93\u5165\u3001\u60c5\u611f\u8bc4\u4f30\u7684\u523a\u6fc0\u8f93\u5165\u3001\u53cd\u601d\u7684\u7f6e\u4fe1\u5ea6\u8f93\u5165）[16-17]\u3002\u8026\u5408\u7684\u5de5\u7a0b\u4fdd\u969c：\u63a5\u53e3\u6d88\u606f\u7684\u7248\u672c\u7ba1\u7406（\u611f\u77e5\u72b6\u6001\u683c\u5f0f\u7684\u6f14\u8fdb\u4e0d\u7834\u574f\u4e0b\u6e38\u517c\u5bb9）\u3001\u63a5\u53e3\u5ef6\u8fdf\u9884\u7b97（\u611f\u77e5\u8f93\u51fa\u5230\u4e0b\u6e38\u6d88\u8d39\u7684\u5ef6\u8fdf\u4e0a\u9650）[17]\u3002<\/p>\n

（6）\u611f\u77e5\u8d28\u91cf\u4e94\u7ef4\u8bc4\u4f30\u4f53\u7cfb（\u7cbe\u5ea6\/\u5b8c\u6574\u6027\/\u6821\u51c6\/\u9c81\u68d2\u6027\/\u8ba4\u77e5\u8d21\u732e）\u4e3a\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u7684\u91cf\u5316\u8bc4\u4f30\u63d0\u4f9b\u6846\u67b6[8,12,17]\u3002\u4e94\u7ef4\u8bc4\u4f30\u7684\u5b9e\u65bd：\u5f00\u53d1\u671f\u5728\u57fa\u51c6\u6570\u636e\u96c6（COCO\u3001LibriSpeech\u3001\u89e6\u89c9\u6570\u636e\u96c6）\u8fed\u4ee3\u8bc4\u6d4b，\u90e8\u7f72\u671f\u5728\u771f\u5b9e\u573a\u666f\u6301\u7eed\u76d1\u63a7，\u8fdb\u5316\u671f\u5728\u5347\u7ea7\u540e\u56de\u5f52\u6d4b\u8bd5\u2014\u2014\u5f62\u6210"\u5f00\u53d1-\u90e8\u7f72-\u8fdb\u5316"\u7684\u8bc4\u4f30\u95ed\u73af[8,12,15,17]\u3002<\/p>\n

\u611f\u77e5\u7406\u89e3\u5b50\u7f51\u7684\u8bbe\u8ba1\u8981\u70b9\u603b\u7ed3：\u5176\u4e00，\u4ee5"\u5bf9\u8c61-\u5173\u7cfb-\u4e8b\u4ef6"\u4e09\u5143\u8bed\u4e49\u4e3a\u7edf\u4e00\u8f93\u51fa，\u4e0e\u4e16\u754c\u6a21\u578b\u3001\u8ba4\u77e5\u63a8\u7406\u5171\u4eab\u540c\u4e00\u72b6\u6001\u7a7a\u95f4，\u6d88\u9664\u8868\u793a\u8f6c\u6362\u635f\u8017[16-17]；\u5176\u4e8c，\u4ee5\u9884\u6d4b\u7f16\u7801\u4e3a\u5de5\u4f5c\u673a\u5236，\u611f\u77e5\u4ece"\u88ab\u52a8\u63a5\u6536"\u8d70\u5411"\u9884\u6d4b\u68c0\u9a8c"，\u663e\u8457\u63d0\u5347\u611f\u77e5\u6548\u7387\u4e0e\u9c81\u68d2\u6027[3,17]；\u5176\u4e09，\u4ee5\u591a\u6a21\u6001\u878d\u5408\u4e3a\u80fd\u529b\u57fa\u7840，\u89c6\u89c9\u3001\u542c\u89c9\u3001\u89e6\u89c9\u3001\u5185\u611f\u56db\u901a\u9053\u534f\u540c，\u8986\u76d6\u4ece"\u770b\u89c1"\u5230"\u6478\u5230"\u7684\u5b8c\u6574\u611f\u77e5\u8c31\u7cfb[7-10,16-17]；\u5176\u56db，\u4ee5\u4e0d\u786e\u5b9a\u6027\u5efa\u6a21\u4e3a\u8bda\u5b9e\u4fdd\u969c，\u611f\u77e5\u8f93\u51fa\u643a\u5e26\u7f6e\u4fe1\u5ea6，\u4e0b\u6e38\u51b3\u7b56\u4e0d\u76f2\u76ee\u4fe1\u4efb\u611f\u77e5[12,17]\u3002<\/p>\n

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\n

\u53c2\u8003\u6587\u732e<\/h3>\n

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\n\u51af\u80e4\u6e05
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