{"id":28770,"date":"2025-05-22T17:30:56","date_gmt":"2025-05-22T09:30:56","guid":{"rendered":"http:\/\/192.168.10.115\/?p=28770"},"modified":"2025-05-22T17:30:56","modified_gmt":"2025-05-22T09:30:56","slug":"2025-05-22-%e7%ab%af%e5%88%b0%e7%ab%af%e7%a2%b0%e6%92%9e%e7%8e%87%e6%9a%b4%e5%a2%9e%ef%bc%81%e6%b8%85%e5%8d%8e%e5%90%89%e5%88%a9challenger%e6%a1%86%e6%9e%b6%ef%bc%9a%e4%bd%8e%e6%88%90%e6%9c%ac","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/05\/22\/28770\/","title":{"rendered":"2025-05-22 \u7aef\u5230\u7aef\u78b0\u649e\u7387\u66b4\u589e\uff01\u6e05\u534e&\u5409\u5229Challenger\u6846\u67b6\uff1a\u4f4e\u6210\u672c\u81ea\u52a8\u751f\u6210\u590d\u6742\u5bf9\u6297\u6027\u9a7e\u9a76\u573a\u666f~"},"content":{"rendered":"\n

\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/zhuanlan.zhihu.com\/p\/1908667895145279797<\/a><\/p>\n\n\n\n

\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5728\u5bf9\u6297\u6027\u573a\u666f\uff08Adversarial Scenarios\uff09<\/strong>\u4e2d\u7684\u53ef\u9760\u6027\u662f\u5b89\u5168\u843d\u5730\u7684\u6838\u5fc3\u6311\u6218\u3002\u5f53\u524d\u6d4b\u8bd5\u6570\u636e\u591a\u4f9d\u8d56\u771f\u5b9e\u91c7\u96c6\u7684\u5e38\u89c4\u573a\u666f\uff0c\u7f3a\u4e4f\u523b\u610f\u6784\u9020\u7684\u9ad8\u98ce\u9669\u9a7e\u9a76\u573a\u666f<\/strong>\u3002\u4e3a\u6b64\uff0c\u6e05\u534e\u5927\u5b66\u8054\u5408\u5409\u5229\u7814\u7a76\u9662<\/strong>\u63d0\u51fa\u5168\u65b0\u6846\u67b6Challenger<\/strong>\uff0c\u5b9e\u73b0\u591a\u89c6\u89d2\u3001\u9ad8\u4fdd\u771f\u5bf9\u6297\u9a7e\u9a76\u89c6\u9891\u7684\u81ea\u52a8\u5316\u751f\u6210<\/strong>\uff0c\u5728\u5176\u751f\u6210\u7684\u9ad8\u6311\u6218\u6027\u6570\u636e\u96c6\u4e0a\u9a8c\u8bc1\u663e\u793a\uff0c\u4e3b\u6d41\u7aef\u5230\u7aef\u6a21\u578b\u78b0\u649e\u7387\u6700\u9ad8\u63d0\u534726.1\u500d<\/strong>\uff01<\/p>\n\n\n\n

\n

\u8bba\u6587\u94fe\u63a5\uff1a
\u4ee3\u7801\u4ed3\u5e93(GitHub)\uff1aPixtella\/Challenger\uff1ahttps:\/\/github.com\/Pixtella\/Challenger<\/a>
\u9879\u76ee\u4e3b\u9875\uff1aChallenger\uff1ahttps:\/\/pixtella.github.io\/Challenger\/<\/a>
\u6570\u636e\u96c6(Hugging Face)\uff1aPixtella\/Adv-nuSc \u00b7 Datasets at Hugging Face\uff1ahttps:\/\/huggingface.co\/datasets\/Pixtella\/Adv-nuSc<\/a><\/p>\n<\/blockquote>\n\n\n\n

\u751f\u6210\u5bf9\u6297\u6027\u573a\u666f\u793a\u4f8b\uff1a<\/p>\n\n\n\n

\u4ea4\u66ff\u524d\u8fdb<\/h3>\n\n\n\n
\"\"<\/figure>\n\n\n\n

\u5de6\u4fa7\u8d85\u8f66<\/h3>\n\n\n\n
\"\"<\/figure>\n\n\n\n

\u6b63\u9762\u4f1a\u8f66\u3001\u6389\u5934\u3001\u4fa7\u65b9\u8d85\u8f66<\/h3>\n\n\n\n
\"\"<\/figure>\n\n\n\n

\u4ece\u5de6\u4fa7\u75be\u9a70\u800c\u8fc7<\/h3>\n\n\n\n
\"\"<\/figure>\n\n\n\n

\u62e5\u5835\u573a\u666f\u53d8\u9053<\/h3>\n\n\n\n
\"\"<\/figure>\n\n\n\n

\u4ece\u5de6\u4fa7\u52a0\u585e<\/h3>\n\n\n\n
\"\"<\/figure>\n\n\n\n

\u7814\u7a76\u80cc\u666f<\/h2>\n\n\n\n

\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\uff0c\u8bc4\u4f30\u7cfb\u7edf\u7684\u9c81\u68d2\u6027\u548c\u5b89\u5168\u6027\u662f\u81f3\u5173\u91cd\u8981\u7684\u3002\u7136\u800c\uff0c\u73b0\u6709\u7684\u5927\u89c4\u6a21\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\u96c6\uff0c\u5982nuScenes<\/a>\u3001OpenScene\u7b49\uff0c\u4e3b\u8981\u5305\u542b\u81ea\u7136\u4ea4\u901a\u6d41<\/strong>\uff0c\u7f3a\u4e4f\u523b\u610f\u8bbe\u8ba1\u7684\u5177\u6709\u6311\u6218\u6027<\/strong>\u7684\u4ea4\u4e92\u573a\u666f\u3002\u8fd9\u4e9b\u6570\u636e\u96c6\u96be\u4ee5\u7cfb\u7edf\u5730\u8bc4\u4f30\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5728\u7f55\u89c1\u4f46\u9ad8\u98ce\u9669\u4e8b\u4ef6\u4e0b\u7684\u8868\u73b0\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0c\u5148\u524d\u5de5\u4f5c\u5df2\u63d0\u51fa\u591a\u79cd\u5bf9\u6297\u6027\u573a\u666f\u751f\u6210\u65b9\u6cd5\uff0c\u4f46\u8fd9\u4e9b\u65b9\u6cd5\u5927\u591a\u57fa\u4e8e\u62bd\u8c61\u7684\u8f68\u8ff9\u6216\u9e1f\u77b0\u56fe\uff08BEV\uff09\u8868\u793a\uff0c\u65e0\u6cd5\u63d0\u4f9b\u903c\u771f\u7684\u4f20\u611f\u5668\u6570\u636e<\/strong>\u6765\u771f\u6b63\u6d4b\u8bd5\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf<\/a><\/p>\n\n\n\n

\uff08end-to-end autonomous driving system\uff09\u7684\u6781\u9650\u3002\u53e6\u6709\u90e8\u5206\u65b9\u6cd5\uff08\u5982NeuroNCAP\u7b49\uff09\u9700\u8981\u5927\u91cf\u4eba\u529b\u624b\u52a8\u8bbe\u8ba1<\/strong>\u5bf9\u6297\u6027\u573a\u666f\uff0c\u6216\u9700\u8981\u5927\u91cf\u8ba1\u7b97\u8d44\u6e90\uff0c\u96be\u4ee5\u5b9e\u73b0\u590d\u6742\u591a\u6837\u5bf9\u6297\u6027\u6d4b\u8bd5\u573a\u666f\u7684\u6279\u91cf\u751f\u6210\u3002\u56e0\u6b64\uff0c\u5982\u4f55\u81ea\u52a8\u3001\u4f4e\u5f00\u9500\u5730\u751f\u6210\u591a\u6837\u5316<\/strong>\u3001\u7269\u7406\u5408\u7406\u4e14\u903c\u771f<\/strong>\u7684\u5bf9\u6297\u6027\u9a7e\u9a76\u89c6\u9891<\/strong>\uff0c\u6210\u4e3a\u81ea\u52a8\u9a7e\u9a76\u8bc4\u4f30\u9886\u57df\u7684\u4e00\u4e2a\u91cd\u8981\u7a7a\u767d\u3002<\/p>\n\n\n\n

\u7814\u7a76\u56e2\u961f\u63d0\u51fa\u7684Challenger\u6846\u67b6\u80fd\u591f\u751f\u6210\u7269\u7406\u5408\u7406\u4e14\u903c\u771f\u7684\u5bf9\u6297\u6027\u9a7e\u9a76\u89c6\u9891\u3002\u8be5\u6846\u67b6\u901a\u8fc7\u7ed3\u5408\u57fa\u4e8e\u6269\u6563\u6a21\u578b<\/a>\u7684\u8f68\u8ff9\u751f\u6210\u5668\u3001\u7269\u7406\u611f\u77e5\u89c4\u5212\u6a21\u62df\u5668<\/a><\/p>\n\n\n\n

\u548c\u591a\u89c6\u56fe\u795e\u7ecf\u6e32\u67d3\u5668\uff0c\u5b9e\u73b0\u4e86\u57fa\u4e8e\u771f\u5b9e\u9a7e\u9a76\u573a\u666f\u81ea\u4e3b\u751f\u6210\u5bf9\u6297\u6027\u9a7e\u9a76\u573a\u666f<\/strong>\u3002\u8be5\u9879\u5de5\u4f5c\u7684\u6838\u5fc3\u8d21\u732e\u5305\u62ec\uff1a<\/p>\n\n\n\n

    \n
  1. \u63d0\u51fa\u5bf9\u6297\u6027\u9a7e\u9a76\u89c6\u9891\u751f\u6210\u4efb\u52a1<\/strong>\uff1a\u4e3a\u63d0\u5347\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u5b89\u5168\u6027\u548c\u53ef\u9760\u6027\u8bc4\u4f30\u6548\u7387\uff0c\u4f5c\u8005\u9996\u6b21\u63d0\u51fa\u5bf9\u6297\u6027\u9a7e\u9a76\u89c6\u9891\u751f\u6210\u4efb\u52a1\uff0c\u5e76\u5f00\u53d1\u4e86\u7edf\u4e00\u6846\u67b6Challenger\u3002\u8be5\u6846\u67b6\u901a\u8fc7\u591a\u8f6e\u7269\u7406\u611f\u77e5\u8f68\u8ff9\u4f18\u5316\u548c\u6e32\u67d3\u517c\u5bb9\u7684\u5bf9\u6297\u6027\u8bc4\u5206\uff0c\u5b9e\u73b0\u4e86\u4f4e\u6210\u672c\u7684\u5bf9\u6297\u6027\u89c6\u9891\u751f\u6210\u3002<\/li>\n\n\n\n
  2. \u5728nuScenes\u6570\u636e\u96c6\u4e0a\u9a8c\u8bc1\u6709\u6548\u6027<\/strong>\uff1a\u5728nuScenes\u6570\u636e\u96c6\u4e0a\uff0cChallenger\u6210\u529f\u751f\u6210\u4e86\u6db5\u76d6\u52a0\u585e\u3001\u5c3e\u968f\u3001\u963b\u6321<\/strong>\u7b49\u591a\u79cd\u5bf9\u6297\u6027\u9a7e\u9a76\u884c\u4e3a\u7684\u591a\u6837\u5316\u4e14\u903c\u771f\u7684\u89c6\u9891\u3002\u8fd9\u4e9b\u89c6\u9891\u8986\u76d6\u4e86\u5305\u62ec\u5341\u5b57\u8def\u53e3\u3001\u73af\u5f62\u4ea4\u53c9\u8def\u53e3\u4ee5\u53ca\u505c\u8f66\u573a\u7b49\u5728\u5185\u7684\u591a\u79cd\u52a8\u6001\u4ea4\u901a\u573a\u666f\u3002<\/li>\n\n\n\n
  3. \u663e\u8457\u964d\u4f4e\u5148\u8fdb\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u6027\u80fd\u5e76\u63ed\u793a\u53ef\u8f6c\u79fb\u7684\u5931\u8d25\u6a21\u5f0f<\/strong>\uff1aChallenger\u751f\u6210\u7684\u89c6\u9891\u4f7f\u5f53\u524d\u6700\u5148\u8fdb\u7684\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\uff08\u5982UniAD\u3001VAD\u3001SparseDrive\u548cDiffusionDrive\uff09\u7684\u6027\u80fd\u663e\u8457\u4e0b\u964d\uff0c\u5e76\u63ed\u793a\u4e86\u8fd9\u4e9b\u6a21\u578b\u4e4b\u95f4\u53ef\u8f6c\u79fb<\/strong>\u7684\u5931\u8d25\u6a21\u5f0f\uff0c\u4e3a\u7814\u7a76\u4eba\u5458\u63d0\u4f9b\u4e86\u6df1\u5165\u4e86\u89e3\u6a21\u578b\u8106\u5f31\u6027\u7684\u673a\u4f1a\u3002<\/li>\n<\/ol>\n\n\n\n

    \u65b9\u6cd5<\/h2>\n\n\n\n
    \"\"\/
    \u56fe1\uff1aChallenger\u7cfb\u7edf\u6846\u67b6\u56fe<\/figcaption><\/figure>\n\n\n\n

    Challenger \u65b9\u6cd5\u6d41\u7a0b\u7b80\u8ff0<\/h3>\n\n\n\n

    Challenger \u9996\u5148\u8bfb\u53d6\u771f\u5b9e\u6570\u636e\u96c6\uff08\u5982 nuScenes\uff09\u4e2d\u4ea4\u901a\u53c2\u4e0e\u8005\u7684 3D\u8fb9\u754c\u6846<\/strong>\uff08bounding boxes\uff09 \u4e0e \u9e1f\u77b0\u56fe\u5730\u56fe\uff08BEV Map\uff09<\/strong> \u6765\u521d\u59cb\u5316\u9a7e\u9a76\u573a\u666f\u3002\u5728\u6b64\u57fa\u7840\u4e0a\uff0c\u7cfb\u7edf\u968f\u673a\u9009\u53d6\u4e00\u8f86\u80cc\u666f\u8f66\u8f86\u4f5c\u4e3a\u5bf9\u6297\u667a\u80fd\u4f53\uff08adversarial agent\uff09<\/strong>\uff0c\u5176\u4f59\u4ea4\u901a\u53c2\u4e0e\u8005\u4fdd\u6301\u4e0d\u53d8\u3002<\/p>\n\n\n\n

    \u968f\u540e\uff0cChallenger \u4f1a\u5728\u4e00\u7cfb\u5217\u5173\u952e\u5e27\uff08keyframes\uff09<\/strong>\u4e0a\u5bf9\u8be5\u5bf9\u6297\u8f66\u8f86\u7684\u884c\u4e3a\u8f68\u8ff9\u8fdb\u884c\u89c4\u5212\uff0c\u5e76\u5728\u5173\u952e\u5e27\u4e4b\u95f4\u8fde\u7eed\u6267\u884c<\/strong>\u8fd9\u4e9b\u8f68\u8ff9\u3002\u5728\u6bcf\u4e00\u4e2a\u5173\u952e\u5e27\u5904\uff0cChallenger \u4f1a\u6267\u884c\u4e00\u4e2a\u591a\u8f6e\u8f68\u8ff9\u4f18\u5316\uff08multi-round refinement\uff09<\/strong>\u7684\u8fc7\u7a0b\uff0c\u4ee5\u9ad8\u6548\u641c\u7d22\u5bf9\u6297\u6027\u8f68\u8ff9\u7a7a\u95f4<\/strong>\uff0c\u5177\u4f53\u6b65\u9aa4\u5982\u4e0b\uff1a<\/p>\n\n\n\n

      \n
    1. \u7b2c\u4e00\u8f6e<\/strong>\uff0c\u4ece\u4e00\u4e2a\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u7684\u8f68\u8ff9\u751f\u6210\u5668\uff08diffusion-based trajectory generator\uff09\u4e2d\u91c7\u6837\u4e00\u6279\u8f68\u8ff9\u5019\u9009<\/strong>\uff1b<\/li>\n\n\n\n
    2. \u5019\u9009\u8f68\u8ff9\u8f93\u5165\u7269\u7406\u611f\u77e5\u7684\u89c4\u5212\u6a21\u62df\u5668\uff08physics-aware planning simulator\uff09<\/strong> \uff0c\u5229\u7528LQR \u63a7\u5236\u5668<\/strong> \u4e0e \u8f66\u8f86\u8fd0\u52a8\u5b66\u6a21\u578b<\/strong>\u6a21\u62df\u5bf9\u6297\u8f66\u8f86\u7684\u884c\u9a76\u8f68\u8ff9\uff1b<\/li>\n\n\n\n
    3. \u8f68\u8ff9\u8bc4\u5206\u5668<\/strong>\u5bf9\u6a21\u62df\u8f68\u8ff9\u8fdb\u884c\u8bc4\u4f30\uff0c\u9009\u51fa\u8868\u73b0\u6700\u4f18\u7684\u4e00\u6279\u8f68\u8ff9\uff1b<\/li>\n\n\n\n
    4. \u8fd9\u6279\u8f68\u8ff9\u88ab\u91cd\u590d\u91c7\u6837\u3001\u52a0\u5165\u6270\u52a8\u566a\u58f0\u3001\u518d\u901a\u8fc7\u6269\u6563\u6a21\u578b\u53bb\u566a\u91cd\u5efa<\/strong>\uff0c\u4f5c\u4e3a\u4e0b\u4e00\u8f6e\u7684\u8f93\u5165\uff1b<\/li>\n\n\n\n
    5. \u4ee5\u4e0a\u6b65\u9aa4\u91cd\u590d\u8fdb\u884c\u82e5\u5e72\u8f6e\uff0c\u4ee5\u9010\u6b65\u6536\u655b\u81f3\u6700\u4f18\u5bf9\u6297\u8f68\u8ff9<\/strong>\u3002<\/li>\n<\/ol>\n\n\n\n

      \u6700\u7ec8\uff0c\u6311\u9009\u51fa\u6700\u4f18\u8f68\u8ff9\u4f5c\u4e3a\u5f53\u524d\u5173\u952e\u5e27\u7684\u5bf9\u6297\u8ba1\u5212\uff0c\u5e76\u5c06\u5176\u4f5c\u7528\u5230\u9a7e\u9a76\u573a\u666f\u4e2d\u3002\u8be5\u8fc7\u7a0b\u5c06\u5728\u6240\u6709\u5173\u952e\u5e27\u4e0a\u91cd\u590d\u8fdb\u884c\uff0c\u751f\u6210\u5b8c\u6574\u7684\u6270\u52a8\u884c\u4e3a\u5e8f\u5217\u3002<\/p>\n\n\n\n

      \u5728\u8f68\u8ff9\u89c4\u5212\u5b8c\u6210\u540e\uff0cChallenger \u5229\u7528\u4e00\u4e2a\u591a\u89c6\u89d2\u795e\u7ecf\u6e32\u67d3\u5668<\/a><\/strong><\/p>\n\n\n\n

      \uff08multiview neural renderer\uff09<\/strong>\uff0c\u5c06\u8fd9\u4e9b\u5bf9\u6297\u6027\u573a\u666f\u8f6c\u6362\u4e3a\u903c\u771f\u7684\u591a\u6444\u50cf\u5934\u89c6\u9891\u8f93\u51fa<\/strong>\uff0c\u5c06\u7528\u4e8e\u540e\u7eed\u8bc4\u6d4b\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u3002<\/p>\n\n\n\n

      \u6269\u6563\u8f68\u8ff9\u751f\u6210\u5668<\/h3>\n\n\n\n

      Challenger\u9996\u5148\u8bad\u7ec3\u4e00\u4e2a\u65e0\u6761\u4ef6\u6269\u6563\u6a21\u578b<\/strong>\uff08unconditional diffusion model\uff09\uff0c\u5b66\u4e60\u81ea\u7136\u9a7e\u9a76\u8f68\u8ff9\u7684\u5206\u5e03<\/p>\n\n\n\n

      \u3002\u6bcf\u6761\u8f68\u8ff9\u8868\u793a\u4e3a\u81ea\u8f66\u5750\u6807\u7cfb\u4e0b\u7684\u4e8c\u7ef4\u8def\u5f84\u5e8f\u5217\u3002\u8bad\u7ec3\u6570\u636e\u6765\u81ea nuPlan \u6570\u636e\u96c6\uff0c\u5305\u542b\u5927\u91cf\u771f\u5b9e\u8f68\u8ff9\u6837\u672c\u3002<\/p>\n\n\n\n

      \u5728\u751f\u6210\u8fc7\u7a0b\u4e2d\uff0c\u6a21\u578b\u4ece\u9ad8\u65af\u566a\u58f0\u51fa\u53d1\uff0c\u901a\u8fc7\u9010\u6b65\u53bb\u566a\uff0c\u751f\u6210\u7b26\u5408\u4eba\u7c7b\u9a7e\u9a76\u98ce\u683c\u7684\u8f68\u8ff9\u3002\u5b83\u8fd8\u53ef\u7528\u4e8e\u8f68\u8ff9\u5fae\u8c03<\/strong>\uff0c\u5373\u5bf9\u5df2\u6709\u8f68\u8ff9\u52a0\u566a\u540e\u518d\u53bb\u566a\uff0c\u4ece\u800c\u5b9e\u73b0\u591a\u6837\u5316\u8f93\u51fa\u3002<\/p>\n\n\n\n

      \u7269\u7406\u611f\u77e5\u7684\u89c4\u5212\u6a21\u62df\u5668<\/h3>\n\n\n\n

      \u4e3a\u4e86\u786e\u4fdd\u751f\u6210\u8f68\u8ff9\u7684\u7269\u7406\u53ef\u884c\u6027<\/strong>\uff0cChallenger\u5f15\u5165\u4e86\u4e00\u4e2a\u7269\u7406\u611f\u77e5\u4eff\u771f\u5668\uff1a<\/p>\n\n\n\n

        \n
      • \u4f7f\u7528LQR \u63a7\u5236\u5668<\/strong>\u751f\u6210\u8f66\u8f86\u63a7\u5236\u6307\u4ee4\uff08\u8f6c\u5411\u4e0e\u52a0\u901f\u5ea6\uff09\u3002<\/li>\n\n\n\n
      • \u7528\u81ea\u884c\u8f66\u8fd0\u52a8\u5b66\u6a21\u578b\uff08Kinematic Bicycle Model\uff09<\/strong>\u6a21\u62df\u8f66\u8f86\u8fd0\u52a8\u3002<\/li>\n<\/ul>\n\n\n\n

        \u8be5\u6a21\u5757\u786e\u4fdd\u8f68\u8ff9\u80fd\u88ab\u73b0\u5b9e\u8f66\u8f86\u52a8\u6001\u6267\u884c\uff0c\u4e14\u9002\u914d\u5f53\u524d\u80cc\u666f\u8f66\u8f86\u7684\u7269\u7406\u7279\u6027\uff08\u5982\u8f74\u8ddd\u3001\u8f6e\u8ddd\u7b49\uff09\u3002<\/p>\n\n\n\n

        \u8f68\u8ff9\u8bc4\u5206\u5668<\/h3>\n\n\n\n

        \u4e3a\u4e86\u9ad8\u6548\u9009\u62e9\u5177\u6709\u6311\u6218\u6027\u7684\u8f68\u8ff9\uff0cChallenger\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u590d\u5408\u8bc4\u5206\u51fd\u6570<\/strong>\uff0c\u8bc4\u4ef7\u6bcf\u6761\u8f68\u8ff9\u7684\u53ef\u884c\u6027\u4e0e\u5bf9\u81ea\u8f66\u7684\u6311\u6218\u7a0b\u5ea6\uff1a<\/p>\n\n\n\n

          \n
        1. \u9053\u8def\u7ea6\u675f\u6027<\/strong>\uff1a\u504f\u79bb\u53ef\u9a7e\u9a76\u533a\u57df\u7684\u8f68\u8ff9\u5c06\u88ab\u60e9\u7f5a\uff1b<\/li>\n\n\n\n
        2. \u78b0\u649e\u7387<\/strong>\uff1a\u5bfc\u81f4\u5bf9\u6297\u8f66\u8f86\u4e0e\u5176\u4ed6\u4ea4\u901a\u53c2\u4e0e\u8005\u78b0\u649e\u7684\u8f68\u8ff9\u5c06\u88ab\u60e9\u7f5a\uff1b<\/li>\n\n\n\n
        3. \u5bf9\u6297\u6027<\/strong>\uff1a\u4e0e\u81ea\u8f66\u53d1\u751f\u5371\u9669\u63a5\u8fd1\u884c\u4e3a\uff08\u4f46\u672a\u53d1\u751f\u78b0\u649e\uff09\u7684\u8f68\u8ff9\u5c06\u83b7\u5f97\u5956\u52b1\u3002<\/li>\n<\/ol>\n\n\n\n

          \u8be5\u8bc4\u5206\u673a\u5236\u65e0\u9700\u6e32\u67d3\u56fe\u50cf\u5373\u53ef\u5feb\u901f\u8bc4\u4f30\u8f68\u8ff9\uff0c\u6709\u5229\u4e8e\u9ad8\u6548\u641c\u7d22\u3002<\/p>\n\n\n\n

          \u591a\u8f6e\u8f68\u8ff9\u4f18\u5316<\/h3>\n\n\n\n

          Challenger\u91c7\u7528\u591a\u8f6e\u8fed\u4ee3\u91c7\u6837\u4f18\u5316\u7b56\u7565<\/strong>\u63d0\u5347\u8f68\u8ff9\u8d28\u91cf\uff1a<\/p>\n\n\n\n

            \n
          • \u7b2c0\u8f6e\uff1a\u4ece\u6269\u6563\u6a21\u578b\u91c7\u6837\u4e00\u7c07\u521d\u59cb\u8f68\u8ff9\uff1b<\/li>\n\n\n\n
          • \u6bcf\u8f6e\uff1a\n
              \n
            • \u7528\u4eff\u771f\u5668\u6a21\u62df\u8f68\u8ff9\uff1b<\/li>\n\n\n\n
            • \u4f7f\u7528\u8f68\u8ff9\u8bc4\u5206\u5668\u5bf9\u8f68\u8ff9\u6253\u5206\uff1b<\/li>\n\n\n\n
            • \u91cd\u91c7\u6837\uff08Resample\uff09<\/strong>\u5f97\u5206\u9ad8\u7684\u8f68\u8ff9\uff1b<\/li>\n\n\n\n
            • \u52a0\u566a + \u6269\u6563\u6a21\u578b\u53bb\u566a\uff0c\u751f\u6210\u65b0\u7684\u8f68\u8ff9\u7c07\uff1b<\/li>\n\n\n\n
            • \u8fdb\u5165\u4e0b\u4e00\u8f6e\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n

              \u8be5\u8fc7\u7a0b\u9010\u6b65\u6536\u655b\u5230\u65e2\u7269\u7406\u53ef\u884c\u53c8\u5177\u5bf9\u6297\u6027\u7684\u8f68\u8ff9\u3002<\/p>\n\n\n\n

              \"\"\/
              \u56fe2\uff1a\u591a\u8f6e\u8f68\u8ff9\u4f18\u5316\u3001\u8f68\u8ff9\u8bc4\u5206\u5668\uff08Trajectory Scoring\uff09\u7684\u5b9a\u6027\u793a\u610f\u7ed3\u679c<\/figcaption><\/figure>\n\n\n\n

              \u591a\u89c6\u89d2\u795e\u7ecf\u6e32\u67d3\u5668<\/h3>\n\n\n\n

              \u6700\u7ec8\uff0cChallenger\u4f7f\u7528MagicDriveDiT<\/strong>\u4f5c\u4e3a\u795e\u7ecf\u6e32\u67d3\u5668\uff0c\u5c06\u751f\u6210\u7684BEV\u8f68\u8ff9\u4e0e3D\u5305\u56f4\u76d2\u8f6c\u5316\u4e3a\u516d\u89c6\u89d2\u771f\u5b9e\u611f\u89c6\u9891\u3002\u5176\u5177\u5907\uff1a<\/p>\n\n\n\n

                \n
              • \u9ad8\u5206\u8fa8\u7387\uff1b<\/li>\n\n\n\n
              • \u8de8\u65f6\u57df\u4e00\u81f4\u6027\uff1b<\/li>\n\n\n\n
              • \u80fd\u6e32\u67d3\u590d\u6742\u7684\u57ce\u5e02\u573a\u666f\u4e0e\u5bf9\u6297\u884c\u4e3a\u3002<\/li>\n<\/ul>\n\n\n\n

                \u6b64\u6e32\u67d3\u5668\u4fdd\u8bc1\u6700\u7ec8\u89c6\u9891\u7684\u89c6\u89c9\u8d28\u91cf\uff0c\u9002\u7528\u4e8e\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u7684\u6d4b\u8bd5\u8f93\u5165\u3002<\/p>\n\n\n\n

                \u6269\u5c55\u81f3\u591a\u5bf9\u6297\u8f66\u8f86<\/h3>\n\n\n\n
                \"\"\/
                \u56fe3\uff1aChallenger\u751f\u6210\u5305\u542b\u591a\u8f86\u5bf9\u6297\u8f66\u8f86\u7684\u7a0b\u5e8f\u6846\u56fe<\/figcaption><\/figure>\n\n\n\n

                \u867d\u7136\u5f53\u524d\u7248\u672c\u7684Challenger\u5c1a\u672a\u5f15\u5165\u5bf9\u6297\u667a\u80fd\u4f53\u4e4b\u95f4\u7684\u9ad8\u5c42\u6b21\u4ea4\u4e92\u5173\u7cfb\uff0c\u4f46\u5176\u63d0\u4f9b\u4e86\u4e00\u79cd\u7ed3\u6784\u6e05\u6670\u3001\u53ef\u590d\u7528\u7684\u6269\u5c55\u6d41\u7a0b<\/strong>\u4ee5\u652f\u6301\u5305\u542b\u591a\u8f86\u5bf9\u6297\u8f66\u8f86<\/strong>\u7684\u573a\u666f\u751f\u6210\u3002\u5177\u4f53\u800c\u8a00\uff1a<\/p>\n\n\n\n

                  \n
                1. \u521d\u59cb\u5bf9\u6297\u751f\u6210<\/strong>\uff1a\u9996\u5148\uff0c\u4f7f\u7528 Challenger \u751f\u6210\u4e00\u4e2a\u5305\u542b\u5355\u4e2a\u5bf9\u6297\u8f66\u8f86\u7684\u9a7e\u9a76\u573a\u666f\uff1b<\/li>\n\n\n\n
                2. \u91cd\u65b0\u6ce8\u5165\u573a\u666f<\/strong>\uff1a\u5728\u795e\u7ecf\u6e32\u67d3\u4e4b\u524d\uff0c\u5c06\u8be5\u573a\u666f\u91cd\u65b0\u8f93\u5165 Challenger\uff0c\u5e76\u9009\u5b9a\u53e6\u4e00\u4e2a\u80cc\u666f\u8f66\u8f86\u4f5c\u4e3a\u65b0\u7684\u5bf9\u6297\u667a\u80fd\u4f53<\/strong>\uff1b<\/li>\n\n\n\n
                3. \u91cd\u590d\u8fed\u4ee3<\/strong>\uff1a\u91cd\u590d\u4e0a\u8ff0\u8fc7\u7a0b\uff0c\u5f53\u524d\u8f6e\u751f\u6210\u7684\u5bf9\u6297\u8f66\u8f86\u4f1a\u5c06\u5148\u524d\u7684\u5bf9\u6297\u8f66\u8f86\u89c6\u4e3a\u73af\u5883\u4e2d\u7684\u4e00\u90e8\u5206\uff0c\u4ece\u800c\u9010\u6b65\u5f15\u5165\u591a\u4e2a\u5bf9\u6297\u53c2\u4e0e\u8005\uff1b<\/li>\n\n\n\n
                4. \u6700\u7ec8\u6e32\u67d3<\/strong>\uff1a\u5728\u6240\u6709\u5bf9\u6297\u667a\u80fd\u4f53\u884c\u4e3a\u5747\u89c4\u5212\u5b8c\u6210\u540e\uff0c\u7edf\u4e00\u6267\u884c\u591a\u89c6\u89d2\u6e32\u67d3\uff0c\u751f\u6210\u6700\u7ec8\u7684\u89c6\u9891\u8f93\u51fa\u3002<\/li>\n<\/ol>\n\n\n\n

                  \u5b9e\u9a8c<\/h2>\n\n\n\n

                  \u5b9e\u9a8c\u8bbe\u7f6e<\/h3>\n\n\n\n

                  \u6570\u636e\u96c6<\/h3>\n\n\n\n

                  \u672c\u7814\u7a76\u57fa\u4e8enuScenes<\/strong>\u6570\u636e\u96c6\u6784\u5efa\u5b9e\u9a8c\u73af\u5883\u3002nuScenes\u662f\u4e00\u4e2a\u5927\u89c4\u6a21\u7684\u591a\u6a21\u6001\u611f\u77e5\u6570\u636e\u96c6\uff0c\u5305\u542b1000 \u4e2a\u573a\u666f<\/strong>\uff0c\u6bcf\u4e2a\u573a\u666f\u65f6\u957f\u4e3a 20 \u79d2<\/strong>\uff0c\u6807\u6ce8\u9891\u7387\u4e3a2Hz<\/strong>\uff0c\u542b\u6709\u8f66\u8f86\u3001\u884c\u4eba\u7b49\u7269\u4f53\u76843D\u8fb9\u754c\u6846\uff083D bounding boxes\uff09<\/strong>\u6807\u6ce8\uff0c\u662f\u5f53\u524d\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7814\u7a76\u4e2d\u7684\u5e38\u7528\u6570\u636e\u96c6\u3002<\/p>\n\n\n\n

                  \u5177\u4f53\u5730\uff1a<\/p>\n\n\n\n

                    \n
                  • \u7814\u7a76\u56e2\u961f\u4f7f\u7528nuScenes\u9a8c\u8bc1\u96c6<\/strong>\uff0c\u5171\u5305\u542b 150 \u4e2a\u573a\u666f\uff0c6019 \u4e2a\u6837\u672c<\/strong>\uff0c\u4f5c\u4e3a Challenger \u7684\u5b9e\u9a8c\u57fa\u7840\uff1b<\/li>\n\n\n\n
                  • \u4e3a\u8bc4\u4f30\u795e\u7ecf\u6e32\u67d3\u5668\u5e26\u6765\u7684\u89c6\u89c9\u6548\u679c\u5dee\u5f02\uff0c\u4f5c\u8005\u5c06\u539f\u59cb\u9a8c\u8bc1\u96c6\u7528Challenger\u6846\u67b6\u4e2d\u7684\u591a\u89c6\u89d2\u795e\u7ecf\u6e32\u67d3\u5668<\/strong>\u91cd\u65b0\u6e32\u67d3\uff0c\u79f0\u4e3a nuScenes-val-R<\/strong>\uff1b<\/li>\n\n\n\n
                  • \u53e6\u5916\uff0c\u4f5c\u8005\u4f7f\u7528 Challenger \u751f\u6210\u4e86\u65b0\u7684\u5bf9\u6297\u6027\u6570\u636e\u96c6 Adv-nuSc<\/strong>\uff0c\u5305\u542b156 \u4e2a\u573a\u666f\uff0c6115 \u4e2a\u6837\u672c<\/strong>\uff0c\u8be5\u6570\u636e\u96c6\u5305\u542b\u5e26\u6709\u6311\u6218\u884c\u4e3a\u7684\u80cc\u666f\u8f66\u8f86\uff0c\u7528\u4e8e\u6d4b\u8bd5\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u9c81\u68d2\u6027\u3002<\/li>\n<\/ul>\n\n\n\n
                    \"\"\/
                    \u56fe4\uff1a\u6765\u81ea\u4e09\u4e2a\u6570\u636e\u96c6\u7684\u793a\u4f8b\u6570\u636e<\/figcaption><\/figure>\n\n\n\n

                    \u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b<\/h3>\n\n\n\n

                    \u7814\u7a76\u56e2\u961f\u8bc4\u4f30\u4e86\u56db\u4e2a\u5f53\u524d\u4e3b\u6d41\u7684\u57fa\u4e8e\u89c6\u89c9\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\uff0c\u5305\u62ecUniAD<\/strong>\uff0cVAD<\/strong>\uff0cSparseDrive<\/strong>\uff0cDiffusionDrive<\/strong>\u3002<\/p>\n\n\n\n

                    \u8fd9\u4e9b\u6a21\u578b\u5747\u57fa\u4e8e\u591a\u89c6\u89d2\u76f8\u673a\u56fe\u50cf\uff08multi-view camera images\uff09<\/strong> \u8f93\u5165\uff0c\u9884\u6d4b\u672a\u67653 \u79d2\u5185\u7684\u81ea\u8f66\u8f68\u8ff9\uff08ego trajectory\uff09<\/strong>\u3002\u6240\u6709\u6a21\u578b\u91c7\u7528\u5b98\u65b9\u516c\u5f00\u7684\u9884\u8bad\u7ec3\u6743\u91cd\u8fdb\u884c\u8bc4\u4f30\u3002<\/p>\n\n\n\n

                    \u5b9a\u91cf\u5b9e\u9a8c\u7ed3\u679c<\/h3>\n\n\n\n
                    \"\"\/
                    \u88681\uff1a\u4e3b\u6d41\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u5728\u5404\u6570\u636e\u96c6\u4e0a\u7684\u78b0\u649e\u7387<\/figcaption><\/figure>\n\n\n\n

                    \u8bc4\u4f30\u6307\u6807\u91c7\u7528\u4e09\u79d2\u78b0\u649e\u7387\uff08collision rate\uff09<\/strong>\uff0c\u5373\u9884\u6d4b\u8f68\u8ff9\u5728\u672a\u67653 \u79d2\u4e0e\u4efb\u4f55\u5176\u4ed6\u7269\u4f53\u53d1\u751f\u78b0\u649e\u7684\u6837\u672c\u6bd4\u4f8b\u3002<\/p>\n\n\n\n

                    \u5b9e\u9a8c\u53d1\u73b0\uff1a<\/p>\n\n\n\n

                      \n
                    • \u5728nuScenes\u539f\u59cb\u6570\u636e<\/strong> \u548cnuScenes-val-R<\/strong>\u4e0a\uff0c\u5404\u6a21\u578b\u6027\u80fd\u57fa\u672c\u6301\u5e73<\/strong>\uff0c\u78b0\u649e\u7387\u53d8\u5316\u8f83\u5c0f<\/strong>\uff0c\u8bf4\u660e\u867d\u7136\u795e\u7ecf\u6e32\u67d3\u5e26\u6765\u4e86\u4e00\u5b9a\u7684\u5206\u5e03\u6f02\u79fb\uff0c\u4f46\u5176\u5f71\u54cd\u975e\u5e38\u6709\u9650<\/strong>\u3002<\/li>\n\n\n\n
                    • \u5728\u5bf9\u6297\u6027\u6570\u636e\u96c6 Adv-nuSc<\/strong> \u4e0a\uff0c\u6240\u6709\u6a21\u578b\u7684\u78b0\u649e\u7387\u663e\u8457\u4e0a\u5347<\/strong>\uff0c\u66b4\u9732\u51fa\u5728\u9762\u4e34\u6311\u6218\u6027\u884c\u4e3a\u65f6\u7684\u8106\u5f31\u6027\u4e0e\u6cdb\u5316\u80fd\u529b\u4e0d\u8db3<\/strong>\u3002<\/li>\n<\/ul>\n\n\n\n

                      \u8be5\u5b9e\u9a8c\u7ed3\u679c\u6e05\u6670\u8868\u660e\uff1aChallenger \u80fd\u591f\u6709\u6548\u6784\u9020\u66b4\u9732\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5931\u8d25\u6a21\u5f0f\u7684\u573a\u666f<\/strong>\u3002<\/p>\n\n\n\n

                      \u653b\u51fb\u53ef\u8f6c\u79fb\u6027\u5b9e\u9a8c<\/h3>\n\n\n\n

                      \u4e3a\u8fdb\u4e00\u6b65\u9a8c\u8bc1 Challenger<\/strong> \u6240\u751f\u6210\u7684\u5bf9\u6297\u573a\u666f\u662f\u5426\u5bf9\u672a\u77e5\u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf<\/strong> \u4e5f\u80fd\u4ea7\u751f\u7834\u574f\u6548\u679c\uff0c\u672c\u8282\u5f15\u5165\u4e86\u653b\u51fb\u53ef\u8fc1\u79fb\u6027\uff08transferability\uff09<\/strong>\u7684\u8bc4\u4f30\u5b9e\u9a8c\u3002<\/p>\n\n\n\n

                      \u5b9e\u9a8c\u8bbe\u8ba1\uff1a<\/p>\n\n\n\n

                        \n
                      1. \u5f15\u5165\u66ff\u4ee3\u6a21\u578b\uff08Surrogate Model\uff09<\/strong>\uff1a\u5728Challenger\u7cfb\u7edf\u4e2d\u9009\u5b9a\u4e00\u4e2a\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u4f5c\u4e3a\u66ff\u4ee3\u6a21\uff0c\u968f\u540e\u751f\u6210\u4e00\u6279\u5bf9\u6297\u6027\u573a\u666f\u5e76\u6d4b\u8bd5\u66ff\u4ee3\u6a21\u578b\u7684\u8868\u73b0<\/li>\n\n\n\n
                      2. \u6837\u672c\u7b5b\u9009<\/strong>\uff1a\u4ec5\u4fdd\u7559\u90a3\u4e9b\u66ff\u4ee3\u6a21\u578b\u5728\u81f3\u5c11\u4e00\u4e2a\u6837\u672c\u4e2d\u65e0\u6cd5\u5b89\u5168\u901a\u884c\uff08\u53d1\u751f\u78b0\u649e\uff09\u7684\u573a\u666f\uff1b\u8fd9\u4e00\u7b56\u7565\u65e8\u5728\u805a\u7126\u66f4\u5177\u6311\u6218\u6027\u7684\u5bf9\u6297\u573a\u666f\uff0c\u4ece\u800c\u63d0\u5347\u5176\u5bf9\u5176\u4ed6\u6a21\u578b\u9020\u6210\u5931\u8d25\u7684\u53ef\u80fd\u6027\u3002<\/li>\n\n\n\n
                      3. \u8de8\u6a21\u578b\u8bc4\u4f30<\/strong>\uff1a\u5bf9\u4fdd\u7559\u4e0b\u6765\u7684\u573a\u666f\uff0c\u7528\u5176\u4f59\u4e09\u4e2a\u6a21\u578b\u5206\u522b\u8bc4\u4f30\uff1b\u5982\u679c\u8fd9\u4e9b\u6a21\u578b\u5728\u81f3\u5c11\u4e00\u4e2a\u6837\u672c\u4e2d\u4e5f\u53d1\u751f\u78b0\u649e\uff0c\u5219\u8bf4\u660e\u8be5\u653b\u51fb\u5bf9\u5176\u5177\u6709\u8fc1\u79fb\u6027<\/strong>\u3002<\/li>\n<\/ol>\n\n\n\n
                        \"\"\/
                        \u56fe5\uff1aChallenger\u53ef\u4ee5\u5bf9\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u8fdb\u884c\u53ef\u8f6c\u79fb\u7684\u653b\u51fb<\/figcaption><\/figure>\n\n\n\n

                        \u591a\u7ec4\u5bf9\u6bd4\u7ed3\u679c\u663e\u793a\uff1a\u5927\u91cf\u5bf9\u6297\u573a\u666f\u4e0d\u4ec5\u80fd\u8bf1\u5bfc\u66ff\u4ee3\u6a21\u578b\u5931\u8d25\uff0c\u4e5f\u4f1a\u5bfc\u81f4\u5176\u5b83\u672a\u89c1\u6a21\u578b\u53d1\u751f\u78b0\u649e\uff1b\u653b\u51fb\u53ef\u5728\u6a21\u578b\u95f4\u8fc1\u79fb<\/strong>\uff0c\u5728\u9ed1\u76d2\uff08black-box\uff09\u6761\u4ef6\u4e0b\u4f9d\u7136\u6709\u6548\uff1b\u8fd9\u8868\u660e\u76ee\u524d\u591a\u79cd\u4e3b\u6d41\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u53ef\u80fd\u5b58\u5728\u5171\u540c\u8106\u5f31\u6027<\/strong>\u3002<\/p>\n\n\n\n

                        \u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u5931\u8d25\u6a21\u5f0f<\/h3>\n\n\n\n

                        \u7814\u7a76\u56e2\u961f\u901a\u8fc7\u5bf9\u4e3b\u6d41\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u5728Adv-nuSc\u6570\u636e\u96c6\u4e0a\u7684\u90e8\u5206\u5931\u8d25\u6837\u672c\u7684\u4eba\u5de5\u5ba1\u67e5\uff0c\u8bc6\u522b\u51fa\u4e86\u4e24\u79cd\u5178\u578b\u7684\u5931\u6548\u7c7b\u578b\uff1a<\/p>\n\n\n\n

                        \u9884\u6d4b\u5931\u8d25\uff08Misforecasting\uff09<\/strong>\uff1a\u5373\u4f7f\u5468\u56f4\u73af\u5883\u5df2\u660e\u786e\u5c55\u73b0\u6f5c\u5728\u98ce\u9669\uff0c\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u672a\u80fd\u6b63\u786e\u9884\u6d4b<\/strong>\u5176\u4ed6\u4ea4\u901a\u53c2\u4e0e\u8005\u7684\u884c\u4e3a\u8f68\u8ff9\uff0c\u5bfc\u81f4\u78b0\u649e\u3002\u8fd9\u4e00\u95ee\u9898\u4e3b\u8981\u5f52\u56e0\u4e8eChallenger\u6240\u751f\u6210\u7684\u5bf9\u6297\u6027\u573a\u666f\u4e0e\u539f\u59cb\u8bad\u7ec3\u6570\u636e\u4e4b\u95f4\u5b58\u5728\u534f\u53d8\u91cf\u504f\u79fb\uff08covariate shift\uff09<\/strong>\u3002<\/p>\n\n\n\n

                        \u89c4\u5212\u5931\u8d25\uff08Misplanning\uff09<\/strong>\uff1a\u6307\u5373\u4fbf\u6a21\u578b\u5bf9\u5468\u56f4\u73af\u5883\u7684\u9884\u6d4b\u8f83\u4e3a\u51c6\u786e\uff0c\u4f46\u6700\u7ec8\u751f\u6210\u7684\u9a7e\u9a76\u51b3\u7b56\u5b58\u5728\u4e25\u91cd\u98ce\u9669<\/strong>\uff0c\u53cd\u6620\u51fa\u89c4\u5212\u6a21\u5757\u5bf9\u4e8e\u590d\u6742\u4ea4\u4e92\u573a\u666f\u7f3a\u4e4f\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n

                        \"\"\/<\/figure>\n\n\n\n
                        \"\"\/
                        \u56fe6\uff1a\u90e8\u5206\u5bf9\u6297\u6027\u573a\u666f\u4e0b\uff0c\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u9519\u8bef\u9884\u6d4b\u4ed6\u8f66\u8f68\u8ff9<\/figcaption><\/figure>\n\n\n\n
                        \"\"\/<\/figure>\n\n\n\n
                        \"\"\/
                        \u56fe7\uff1a\u90e8\u5206\u5bf9\u6297\u6027\u573a\u666f\u4e0b\uff0c\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u65e0\u6cd5\u4f5c\u51fa\u5b89\u5168\u7684\u9a7e\u9a76\u51b3\u7b56<\/figcaption><\/figure>\n\n\n\n

                        \u7ed3\u8bba<\/h2>\n\n\n\n

                        \u8be5\u9879\u5de5\u4f5c\u63d0\u51fa\u4e86\u4e00\u79cd\u540d\u4e3aChallenger<\/strong>\u7684\u521b\u65b0\u6846\u67b6\uff0c\u5b83\u80fd\u591f\u4ee5\u4f4e\u6210\u672c\u751f\u6210\u591a\u6837\u5316\u3001\u590d\u6742\u4e14\u9ad8\u5ea6\u903c\u771f\u7684\u9a7e\u9a76\u573a\u666f\u3002\u8be5\u6846\u67b6\u7ed3\u5408\u4e86\u57fa\u4e8e\u6269\u6563\u7684\u8f68\u8ff9\u751f\u6210\u5668<\/strong>\u3001\u5177\u5907\u7269\u7406\u610f\u8bc6\u7684\u89c4\u5212\u6a21\u62df\u5668<\/strong>\u4ee5\u53ca\u591a\u89c6\u89d2\u795e\u7ecf\u6e32\u67d3\u5668<\/strong>\uff0c\u4ece\u800c\u5408\u6210\u4f20\u611f\u5668\u7ea7\u522b\u7684\u89c6\u9891\u6570\u636e\uff0c\u4ee5\u6311\u6218\u5f53\u524d\u6700\u5148\u8fdb\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\uff08E2E AD\uff09\u7cfb\u7edf<\/strong>\u3002\u7814\u7a76\u7ed3\u679c\u8868\u660e\uff0cChallenger\u751f\u6210\u7684\u9a7e\u9a76\u573a\u666f\u4f7f\u5f97\u73b0\u6709E2E AD\u6a21\u578b\u7684\u78b0\u649e\u7387\u6fc0\u589e\uff0c\u51f8\u663e\u4e86\u8fd9\u4e9b\u7cfb\u7edf\u5728\u5e94\u5bf9\u5bf9\u6297\u6027\u4ea4\u901a\u4ea4\u4e92<\/strong>\u65f6\u7684\u8106\u5f31\u6027\u3002\u6b64\u5916\uff0c\u7814\u7a76\u53d1\u73b0\uff0c\u8fd9\u4e9b\u5bf9\u6297\u653b\u51fb\u901a\u5e38\u53ef\u4ee5\u5728\u4e0d\u540c\u7684\u6a21\u578b\u67b6\u6784<\/strong>\u4e4b\u95f4\u8fc1\u79fb\uff0c\u8fd9\u8fdb\u4e00\u6b65\u63ed\u793a\u4e86\u5f53\u524d\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u53ef\u80fd\u5b58\u5728\u7684\u5171\u540c\u6f0f\u6d1e<\/strong>\u3002\u5e0c\u671b\u8fd9\u9879\u7814\u7a76\u80fd\u4e3a\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u7684\u9c81\u68d2\u6027<\/strong>\u548c\u6cdb\u5316\u80fd\u529b<\/strong>\u63d0\u4f9b\u66f4\u6df1\u5165\u7684\u6d1e\u5bdf\uff0c\u4ee5\u5e94\u5bf9\u73b0\u5b9e\u4e16\u754c\u7684\u590d\u6742\u6027\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

                        \u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/zhuanlan.z […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-28770","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":1,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/28770"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=28770"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/28770\/revisions"}],"predecessor-version":[{"id":28779,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/28770\/revisions\/28779"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=28770"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=28770"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=28770"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}