让视觉语言模型在开放世界中识别新物体，解决误检和漏检问题。

Traditional object detection methods operate under the closed-set assumption, where models can only detect a fixed number of objects predefined in the training set. Recent works on open vocabulary object detection (OVD) enable the detection of objects defined by an in-principle unbounded vocabulary, which reduces the cost of training models for specific tasks. However, OVD heavily relies on accurate prompts provided by an ``oracle'', which limits their use in critical applications such as driving scene perception. OVD models tend to misclassify near-out-of-distribution (NOOD) objects that have similar features to known classes, and ignore far-out-of-distribution (FOOD) objects. To address these limitations, we propose a framework that enables OVD models to operate in open world settings, by identifying and incrementally learning previously unseen objects. To detect FOOD objects, we propose Open World Embedding Learning (OWEL) and introduce the concept of Pseudo Unknown Embedding which infers the location of unknown classes in a continuous semantic space based on the information of known classes. We also propose Multi-Scale Contrastive Anchor Learning (MSCAL), which enables the identification of misclassified unknown objects by promoting the intra-class consistency of object embeddings at different scales. The proposed method achieves state-of-the-art performance on standard open world object detection and autonomous driving benchmarks while maintaining its open vocabulary object detection capability.