{"id":30171,"date":"2026-08-26T10:05:27","date_gmt":"2026-08-26T02:05:27","guid":{"rendered":"https:\/\/aif.amtbbs.org\/?p=30171"},"modified":"2026-08-26T10:22:48","modified_gmt":"2026-08-26T02:22:48","slug":"%e4%ba%ba%e5%b7%a5%e6%99%ba%e8%83%bd%e7%9a%84%e7%a4%be%e4%bc%9a%e5%8c%96%e8%a7%89%e9%86%92%ef%bc%9a%e9%9d%9e%e7%ba%bf%e6%80%a7%e6%a8%a1%e5%9e%8b%e9%a2%84%e6%b5%8b%e6%8e%a7%e5%88%b6%e4%b8%8e%e7%a4%be","status":"publish","type":"post","link":"https:\/\/aif.amtbbs.org\/index.php\/2026\/08\/26\/30171\/","title":{"rendered":"\u4eba\u5de5\u667a\u80fd\u7684\u793e\u4f1a\u5316\u89c9\u9192\uff1a\u975e\u7ebf\u6027\u6a21\u578b\u9884\u6d4b\u63a7\u5236\u4e0e\u793e\u4f1a\u529b\u5b66\u91cd\u5851\u5bfc\u822a\u6cd5\u5219"},"content":{"rendered":"<div 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1\uff09\u3002<\/p>\n<p><img data-dominant-color=\"e8dbd6\" data-has-transparency=\"false\" style=\"--dominant-color: #e8dbd6;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-30194\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/f51932807a374d5b46296641c21c2af279b699.jpg\" width=\"1080\" height=\"718\" alt=\"Refer to caption\" title=\"Refer to caption\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/f51932807a374d5b46296641c21c2af279b699.jpg 1080w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/f51932807a374d5b46296641c21c2af279b699-300x199.jpg 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/f51932807a374d5b46296641c21c2af279b699-1024x681.jpg 1024w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/f51932807a374d5b46296641c21c2af279b699-150x100.jpg 150w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/f51932807a374d5b46296641c21c2af279b699-768x511.jpg 768w\" sizes=\"auto, (max-width: 1080px) 100vw, 1080px\" \/><span class=\"data-image-title\">Refer to caption<\/span><\/p>\n<h4>\u9884\u6d4b\u8303\u5f0f\u7684\u8ba4\u77e5\u8dc3\u8fc1\uff1a\u4ece\u9759\u6001\u5b64\u5c9b\u5230\u52a8\u6001\u8026\u5408<\/h4>\n<p>\u8981\u6df1\u523b\u7406\u89e3SFM-NMPC\u7684\u98a0\u8986\u6027\uff0c\u5fc5\u987b\u9996\u5148\u5ba1\u89c6\u4f20\u7edf\u9884\u6d4b\u63a7\u5236\u5728\u9762\u5bf9\u4eba\u7c7b\u793e\u4f1a\u65f6\u7684\u65e0\u529b\u611f\u3002\u5728\u7ecf\u5178\u7684\u6a21\u578b\u9884\u6d4b\u63a7\u5236\u6846\u67b6\u4e0b\uff0c\u63a7\u5236\u5668\u72b9\u5982\u4e00\u4f4d\u62e5\u6709\u6709\u9650\u9884\u77e5\u80fd\u529b\u7684\u68cb\u624b\uff0c\u5b83\u5728\u6bcf\u4e00\u4e2a\u79bb\u6563\u7684\u65f6\u95f4\u6b65\u957f\u5185\uff0c\u5411\u672a\u6765\u5c55\u671b\u4e00\u4e2a\u6709\u9650\u7684\u89c6\u754c\uff08Prediction Horizon\uff09\uff0c\u5e76\u5728\u6ee1\u8db3\u8f66\u8f86\u8fd0\u52a8\u5b66\u7ea6\u675f\u3001\u901f\u5ea6\u8fb9\u754c\u4e0e\u7a7a\u95f4\u969c\u788d\u7269\u9650\u5236\u7684\u91cd\u91cd\u67b7\u9501\u4e0b\uff0c\u5bfb\u627e\u4e00\u6761\u4ee3\u4ef7\u6700\u5c0f\u7684\u547d\u4ee4\u5e8f\u5217\u3002\u8fd9\u79cd\u57fa\u4e8e\u7eaf\u7cb9\u6570\u5b66\u4f18\u5316\u7684\u524d\u77bb\u6027\uff0c\u8d4b\u4e88\u4e86\u673a\u5668\u6781\u9ad8\u7684\u5b89\u5168\u5e95\u7ebf\u3002\u7136\u800c\uff0c\u5f53\u8fd9\u76d8\u68cb\u7684\u5bf9\u624b\u53d8\u6210\u4e86\u5177\u6709\u72ec\u7acb\u610f\u8bc6\u4e0e\u590d\u6742\u60c5\u7eea\u7684\u4eba\u7c7b\u65f6\uff0c\u4f20\u7edfMPC\u7684\u63a8\u6f14\u903b\u8f91\u4fbf\u51fa\u73b0\u4e86\u81f4\u547d\u7684\u88c2\u75d5\u3002<\/p>\n<p>\u4ee5\u5f80\u7684\u793e\u4f1a\u5316MPC\u65b9\u6848\uff0c\u5f80\u5f80\u9677\u5165\u4e86\u4e00\u79cd\u201c\u9884\u6d4b\u4e0e\u63a7\u5236\u5272\u88c2\u201d\u7684\u59a5\u534f\u3002\u7cfb\u7edf\u901a\u5e38\u4f9d\u8d56\u4e8e\u5916\u90e8\u7684\u8f68\u8ff9\u9884\u6d4b\u6a21\u5757\u2014\u2014\u4f8b\u5982\u9ad8\u65af\u8fc7\u7a0b\u6216\u5faa\u73af\u795e\u7ecf\u7f51\u7edc\u2014\u2014\u6765\u751f\u6210\u5468\u56f4\u4eba\u7c7b\u5728\u672a\u6765\u51e0\u79d2\u5185\u7684\u56fa\u5b9a\u79fb\u52a8\u8def\u7ebf\uff0c\u968f\u540e\u5c06\u8fd9\u4e9b\u8def\u7ebf\u4f5c\u4e3a\u4e0d\u53ef\u7be1\u6539\u7684\u65f6\u7a7a\u7ea6\u675f\u629b\u7ed9\u63a7\u5236\u5668\u3002\u8fd9\u79cd\u9759\u6001\u9884\u8bbe\u7684\u8352\u8c2c\u4e4b\u5904\u5728\u4e8e\uff0c\u5b83\u5b8c\u5168\u65e0\u89c6\u4e86\u4eba\u7c7b\u884c\u4e3a\u7684\u4ea4\u4e92\u672c\u8d28\u3002\u5728\u771f\u5b9e\u7684\u7269\u7406\u7a7a\u95f4\u4e2d\uff0c\u4eba\u7c7b\u7684\u79fb\u52a8\u7edd\u975e\u6309\u7167\u65e2\u5b9a\u8f68\u9053\u8fd0\u884c\u7684\u5217\u8f66\uff1b\u5f53\u4e00\u53f0\u673a\u5668\u4eba\u4ee5\u7279\u5b9a\u901f\u5ea6\u548c\u89d2\u5ea6\u903c\u8fd1\u65f6\uff0c\u4eba\u7c7b\u4f1a\u672c\u80fd\u5730\u8c03\u6574\u6b65\u4f10\u3001\u6539\u53d8\u822a\u5411\u751a\u81f3\u9a7b\u8db3\u89c2\u671b\u3002\u9759\u6001\u9884\u6d4b\u5c06\u4eba\u7c7b\u5b64\u7acb\u4e8e\u73af\u5883\u4e4b\u5916\uff0c\u5bfc\u81f4\u673a\u5668\u8981\u4e48\u56e0\u4e3a\u9884\u6d4b\u8fc7\u4e8e\u4fdd\u5b88\u800c\u9677\u5165\u5c40\u90e8\u6b7b\u9501\uff08Freezing Robot Problem\uff09\uff0c\u8981\u4e48\u56e0\u4e3a\u4eba\u7c7b\u504f\u79bb\u9884\u6d4b\u800c\u53d1\u751f\u5371\u9669\u7684\u8fd1\u8ddd\u79bb\u63a5\u89e6\u3002<\/p>\n<p>\u4e3a\u4e86\u5f7b\u5e95\u7f1d\u5408\u8fd9\u4e00\u8ba4\u77e5\u9e3f\u6c9f\uff0cSFM-NMPC\u5b8c\u6210\u4e86\u4e00\u6b21\u5e95\u5c42\u7684\u903b\u8f91\u91cd\u6784\uff1a\u5b83\u5c06\u5916\u90e8\u7684\u9884\u6d4b\u6a21\u5757\u5f7b\u5e95\u5185\u5316\u3002\u793e\u4f1a\u529b\u6a21\u578b\uff08Social Force Model\uff09\uff0c\u8fd9\u4e00\u6700\u521d\u7528\u4e8e\u6a21\u62df\u6050\u614c\u4eba\u7fa4\u758f\u6563\u4e0e\u5b8f\u89c2\u96c6\u805a\u73b0\u8c61\u7684\u7ecf\u5178\u7406\u8bba\uff0c\u88ab\u8d4b\u4e88\u4e86\u5fae\u89c2\u4ea4\u4e92\u7684\u65b0\u4f7f\u547d\u3002\u5728\u8be5\u6a21\u578b\u4e2d\uff0c\u4eba\u7c7b\u4e2a\u4f53\u7684\u79fb\u52a8\u4e0d\u518d\u662f\u4e0d\u53ef\u6349\u6478\u7684\u968f\u673a\u6e38\u8d70\uff0c\u800c\u662f\u88ab\u62bd\u8c61\u4e3a\u591a\u79cd\u865a\u62df\u7269\u7406\u529b\u5171\u540c\u4f5c\u7528\u7684\u786e\u5b9a\u6027\u7ed3\u679c\u3002\u4eba\u7c7b\u5bf9\u76ee\u7684\u5730\u7684\u6e34\u671b\u8f6c\u5316\u4e3a\u4e00\u79cd\u7275\u5f15\u524d\u884c\u7684\u201c\u9a71\u52a8\u529b\u201d\uff0c\u800c\u5bf9\u78b0\u649e\u7684\u6050\u60e7\u3001\u5bf9\u4e2a\u4eba\u7a7a\u95f4\u7684\u634d\u536b\uff0c\u5219\u8f6c\u5316\u4e3a\u6e90\u81ea\u969c\u788d\u7269\u548c\u5176\u4ed6\u667a\u80fd\u4f53\u7684\u201c\u6392\u65a5\u529b\u201d\u3002<\/p>\n<p>\u901a\u8fc7\u5c06\u8fd9\u79cd\u793e\u4f1a\u529b\u5b66\u5fae\u5206\u65b9\u7a0b\u76f4\u63a5\u7f16\u7ec7\u8fdbNMPC\u7684\u6eda\u52a8\u4f18\u5316\u5faa\u73af\u4e2d\uff0c\u7cfb\u7edf\u521b\u9020\u4e86\u4e00\u4e2a\u4e0e\u73b0\u5b9e\u5e73\u884c\u6f14\u8fdb\u7684\u5fae\u578b\u9884\u6d4b\u5b87\u5b99\u3002\u5728\u8fd9\u4e2a\u5b87\u5b99\u91cc\uff0c\u673a\u5668\u5728\u63a8\u6f14\u81ea\u8eab\u672a\u6765\u4f4d\u59ff\u7684\u6bcf\u4e00\u4e2a\u77ac\u95f4\uff0c\u90fd\u5728\u540c\u6b65\u8ba1\u7b97\u81ea\u8eab\u7684\u8bd5\u63a2\u6027\u52a8\u4f5c\u5c06\u5982\u4f55\u6539\u53d8\u5468\u56f4\u865a\u62df\u4eba\u7c7b\u7684\u53d7\u529b\u72b6\u6001\u3002\u673a\u5668\u4e0d\u518d\u662f\u5b64\u72ec\u7684\u89c4\u5212\u8005\uff0c\u800c\u662f\u6210\u4e3a\u4e86\u4e00\u4e2a\u4ea4\u4e92\u573a\u57df\u7684\u53c2\u4e0e\u8005\u3002\u5b83\u80fd\u591f\u6e05\u6670\u5730\u201c\u611f\u53d7\u201d\u5230\uff0c\u5982\u679c\u81ea\u5df1\u52a0\u901f\u5207\u5165\u524d\u65b9\u7684\u7a7a\u9699\uff0c\u5c06\u5bf9\u53f3\u4fa7\u884c\u4eba\u7684\u5fc3\u7406\u9632\u7ebf\u65bd\u52a0\u591a\u5927\u7684\u865a\u62df\u65a5\u529b\uff0c\u8fdb\u800c\u63a8\u6f14\u8be5\u884c\u4eba\u5c06\u5982\u4f55\u51cf\u901f\u907f\u8ba9\u3002\u8fd9\u79cd\u5c06\u4eba\u673a\u8054\u5408\u8f68\u8ff9\u4f5c\u4e3a\u5355\u4e00\u52a8\u529b\u5b66\u7cfb\u7edf\u8fdb\u884c\u9ad8\u9891\u63a8\u6f14\u7684\u52a8\u6001\u8026\u5408\u673a\u5236\uff0c\u5f7b\u5e95\u6253\u7834\u4e86\u9759\u6001\u9884\u6d4b\u7684\u5b64\u5c9b\u6548\u5e94\uff0c\u8d4b\u4e88\u4e86\u7845\u57fa\u7cfb\u7edf\u4ee5\u771f\u6b63\u7684\u201c\u793e\u4f1a\u5316\u9884\u89c1\u6027\u201d\uff08\u56fe 2\uff09\u3002<\/p>\n<p><img data-dominant-color=\"625e45\" data-has-transparency=\"true\" style=\"--dominant-color: #625e45;\" loading=\"lazy\" decoding=\"async\" class=\"has-transparency alignnone size-full wp-image-30195\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/b8cd1a25617b42af5ea314e4a43076689e5590.png\" width=\"1080\" height=\"342\" alt=\"Refer to caption\" title=\"Refer to caption\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/b8cd1a25617b42af5ea314e4a43076689e5590.png 1080w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/b8cd1a25617b42af5ea314e4a43076689e5590-300x95.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/b8cd1a25617b42af5ea314e4a43076689e5590-1024x324.png 1024w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/b8cd1a25617b42af5ea314e4a43076689e5590-150x48.png 150w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/b8cd1a25617b42af5ea314e4a43076689e5590-768x243.png 768w\" sizes=\"auto, (max-width: 1080px) 100vw, 1080px\" \/><span class=\"data-image-title\">Refer to caption<\/span><\/p>\n<h4>\u52a8\u529b\u5b66\u7ec7\u9526\u4e0e\u8fde\u7eed\u65f6\u7a7a\u7684\u79bb\u6563\u6620\u5c04<\/h4>\n<p>\u5c06\u5b8f\u5927\u7684\u793e\u4f1a\u5b66\u9690\u55bb\u8f6c\u5316\u4e3a\u7845\u57fa\u82af\u7247\u80fd\u591f\u9ad8\u901f\u541e\u5410\u7684\u6307\u4ee4\uff0c\u9700\u8981\u6781\u5176\u7cbe\u5bc6\u4e14\u9ad8\u6548\u7684\u6570\u5b66\u6865\u6881\u3002\u5728\u8fd9\u4e00\u6846\u67b6\u7684\u5e95\u5c42\uff0c\u73b0\u5b9e\u4e2d\u8fde\u7eed\u6d41\u6dcc\u7684\u65f6\u95f4\u88ab\u5207\u5206\u4e3a\u6781\u5c0f\u7684\u65f6\u95f4\u7247\uff0c\u590d\u6742\u7684\u8fde\u7eed\u65f6\u95f4\u7cfb\u7edf\u88ab\u6620\u5c04\u4e3a\u53ef\u8ba1\u7b97\u7684\u79bb\u6563\u65f6\u95f4\u4f18\u5316\u95ee\u9898\u3002\u673a\u5668\u4eba\u7684\u7269\u7406\u5b58\u5728\u88ab\u4e25\u8c28\u5730\u7ea6\u675f\u5728\u4e8c\u7ef4\u7279\u6b8a\u6b27\u51e0\u91cc\u5f97\u7fa4\u00a0\u00a0\u4e2d\uff0c\u5176\u4f4d\u59ff\u72b6\u6001\u4e0d\u4ec5\u5305\u542b\u4e86\u4e8c\u7ef4\u5e73\u9762\u4e0a\u7684\u7b1b\u5361\u5c14\u5750\u6807\uff0c\u66f4\u878d\u5408\u4e86\u51b3\u5b9a\u5176\u671d\u5411\u7684\u504f\u822a\u89d2\u3002<\/p>\n<p>\u5728\u63a8\u6f14\u672a\u6765\u7684\u6bcf\u4e00\u4e2a\u65f6\u95f4\u6b65\u957f\u5185\uff0c\u673a\u5668\u4eba\u7684\u72b6\u6001\u6f14\u8fdb\u4e25\u683c\u9075\u5faa\u975e\u5b8c\u6574\u7ea6\u675f\u7684\u72ec\u8f6e\u8f66\u8fd0\u52a8\u5b66\u6a21\u578b\u3002\u901a\u8fc7\u6b27\u62c9\u524d\u5411\u4f20\u64ad\u7b97\u6cd5\uff0c\u7ebf\u901f\u5ea6\u4e0e\u89d2\u901f\u5ea6\u8fd9\u4e24\u4e2a\u6838\u5fc3\u63a7\u5236\u6307\u4ee4\uff0c\u5982\u540c\u65e0\u5f62\u7684\u7275\u5f15\u7ef3\uff0c\u7cbe\u51c6\u5730\u9a71\u52a8\u7740\u673a\u5668\u5728\u865a\u62df\u7a7a\u95f4\u4e2d\u6ed1\u5411\u4e0b\u4e00\u4e2a\u72b6\u6001\u8282\u70b9\u3002\u7136\u800c\uff0c\u8fd9\u4ec5\u4ec5\u662f\u673a\u5668\u81ea\u8eab\u7684\u72ec\u821e\uff1b\u771f\u6b63\u7684\u6280\u672f\u6df1\u6c34\u533a\uff0c\u5728\u4e8e\u5982\u4f55\u540c\u6b65\u9a71\u52a8\u5468\u56f4\u5e9e\u6742\u4eba\u7fa4\u7684\u52a8\u6001\u6f14\u8fdb\u3002<\/p>\n<p>\u5bf9\u4e8e\u611f\u77e5\u8303\u56f4\u5185\u7684\u6bcf\u4e00\u4e2a\u4eba\u7c7b\u4e2a\u4f53\uff0c\u5176\u901f\u5ea6\u72b6\u6001\u7684\u66f4\u65b0\u4e0d\u518d\u662f\u60ef\u6027\u7684\u5ef6\u7eed\uff0c\u800c\u662f\u7531\u4e00\u4e2a\u878d\u5408\u4e86\u5fc3\u7406\u5b66\u673a\u5236\u7684\u79ef\u5206\u5fae\u5206\u65b9\u7a0b\u6240\u4e3b\u5bfc\u3002\u5728\u9884\u6d4b\u89c6\u91ce\u7684\u6bcf\u4e00\u6b21\u5fae\u5c0f\u8df3\u8dc3\u4e2d\uff0c\u4eba\u7c7b\u53d7\u5230\u7684\u5408\u529b\u88ab\u7cbe\u7ec6\u5730\u62c6\u89e3\u3002\u9a71\u52a8\u529b\uff08Relaxation 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20Hz \u5237\u65b0\u7387\u5b9e\u65f6\u6d41\u8f6c\uff0c\u5b9e\u73b0\u4e86\u7406\u8bba\u6df1\u5ea6\u4e0e\u5de5\u7a0b\u53ef\u7528\u6027\u7684\u5b8c\u7f8e\u95ed\u73af\u3002<\/p>\n<h4>\u4ee3\u4ef7\u7684\u827a\u672f\uff1a\u5c06\u4eba\u7c7b\u540c\u7406\u5fc3\u8f6c\u5316\u4e3a\u53ef\u8ba1\u7b97\u7684\u5f20\u91cf<\/h4>\n<p>\u5982\u679c\u8bf4\u52a8\u529b\u5b66\u65b9\u7a0b\u6784\u5efa\u4e86\u63a8\u6f14\u672a\u6765\u7684\u6c99\u76d8\uff0c\u90a3\u4e48\u4ee3\u4ef7\u51fd\u6570\uff08Cost 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\u7b97\u6cd5\u5c55\u73b0\u51fa\u4e86\u4e00\u79cd\u6781\u7aef\u7684\u6548\u7387\u81f3\u4e0a\u4e3b\u4e49\uff0c\u5b83\u50cf\u4e00\u53f0\u51b7\u9177\u7684\u5207\u5272\u673a\uff0c\u4ee5\u6700\u77ed\u7684\u8def\u5f84\u548c\u6700\u5feb\u7684\u901f\u5ea6\u7a7f\u900f\u4eba\u7fa4\uff0c\u4f46\u5176\u4ee3\u4ef7\u662f\u5b8c\u5168\u65e0\u89c6\u4e86\u884c\u4eba\u7684\u5fc3\u7406\u7a7a\u95f4\uff0c\u5bfc\u81f4\u793e\u4f1a\u5e72\u6270\u6307\u6807\u5c45\u9ad8\u4e0d\u4e0b\u3002\u57fa\u4e8e\u5f3a\u5316\u5b66\u4e60\u7684 SARL \u7b97\u6cd5\u867d\u7136\u5728\u51cf\u5c11\u793e\u4f1a\u6270\u52a8\u4e0a\u6709\u6240\u5efa\u6811\uff0c\u4f46\u5176\u7b56\u7565\u7684\u201c\u9ed1\u76d2\u201d\u7279\u6027\u5728\u9762\u5bf9\u672a\u77e5\u7684\u590d\u6742\u72b6\u6001\u7ec4\u5408\u65f6\uff0c\u66b4\u9732\u51fa\u4e25\u91cd\u7684\u8fc7\u5ea6\u53cd\u5e94\u4e0e\u8f68\u8ff9\u632f\u8361\u3002\u5b83\u5728\u4eba\u7fa4\u4e2d\u5f80\u5f80\u8868\u73b0\u51fa\u4e00\u79cd\u4ee4\u4eba\u4e0d\u5b89\u7684\u201c\u72b9\u8c6b\u201d\u4e0e\u201c\u9b3c\u795f\u201d\uff0c\u4e0d\u4ec5\u6781\u5927\u5730\u62c9\u957f\u4e86\u5bfc\u822a\u65f6\u95f4\uff0c\u5176\u98d8\u5ffd\u4e0d\u5b9a\u7684\u8fd0\u52a8\u610f\u56fe\u66f4\u662f\u52a0\u5267\u4e86\u5468\u56f4\u4eba\u7c7b\u7684\u8ba4\u77e5\u8d1f\u62c5\u3002\u800c\u66fe\u7ecf\u8f89\u714c\u7684 ORCA \u7b97\u6cd5\uff0c\u56e0\u4e3a\u5176\u5185\u6838\u57fa\u4e8e\u5047\u8bbe\u6240\u6709\u667a\u80fd\u4f53\u90fd\u4f1a\u9075\u5b88\u5b8c\u7f8e\u4e92\u60e0\u907f\u969c\u534f\u8bae\u7684\u4e4c\u6258\u90a6\u524d\u63d0\uff0c\u5f53\u9762\u5bf9\u53ea\u987e\u81ea\u8eab\u76ee\u6807\u524d\u884c\u3001\u4e0d\u5b8c\u5168\u914d\u5408\u7684\u201c\u81ea\u7136\u4eba\u7c7b\u201d\u65f6\uff0c\u7ecf\u5e38\u9677\u5165\u903b\u8f91\u5d29\u6e83\uff0c\u9891\u7e41\u89e6\u53d1\u6b7b\u9501\u6216\u6781\u5176\u5371\u9669\u7684\u7d27\u6025\u5236\u52a8\u3002<\/p>\n<p>\u771f\u6b63\u7684\u5206\u6c34\u5cad\uff0c\u51fa\u73b0\u5728\u8d70\u5eca\u548c\u5ba4\u5185\u623f\u95f4\u8fd9\u79cd\u7a7a\u95f4\u6781\u5176\u53d7\u9650\u3001\u4eba\u673a\u535a\u5f08\u5f02\u5e38\u6fc0\u70c8\u7684\u573a\u666f\u4e2d\u3002\u5728\u8fd9\u91cc\uff0c\u7531\u4e8e\u7f3a\u4e4f\u5bf9\u4eba\u7c7b\u52a8\u6001\u9002\u5e94\u6027\u7684\u9884\u5224\uff0c\u4f20\u7edf\u7b97\u6cd5\u7684\u6210\u529f\u7387\u906d\u9047\u4e86\u707e\u96be\u6027\u7684\u6ed1\u5761\u3002\u800c\u5728\u8fd9\u4ee4\u4eba\u7a92\u606f\u7684\u865a\u62df\u91cd\u56f4\u4e2d\uff0c\u5c06\u793e\u4f1a\u529b\u5b66\u6df1\u690d\u4e8e\u975e\u7ebf\u6027\u9884\u6d4b\u7f51\u7edc\u4e2d\u7684\u7cfb\u7edf\uff0c\u5c55\u73b0\u51fa\u4e86\u4ee4\u4eba\u53f9\u4e3a\u89c2\u6b62\u7684\u97e7\u6027\u4e0e\u4ece\u5bb9\u3002\u5728\u6240\u6709\u4e25\u82db\u6d4b\u8bd5\u7684\u7efc\u5408\u7edf\u8ba1\u4e2d\uff0c\u5b83\u4e0d\u4ec5\u4ee5\u538b\u5012\u6027\u7684\u603b\u4f53\u6210\u529f\u7387\u50b2\u89c6\u7fa4\u96c4\uff0c\u66f4\u5728\u793e\u4f1a\u5316\u8bc4\u4f30\u7ef4\u5ea6\u4e0a\u53d6\u5f97\u4e86\u7a81\u7834\u6027\u7684\u8fdb\u5c55\u3002\u5c24\u5176\u662f\u5728\u8861\u91cf\u673a\u5668\u5165\u4fb5\u4eba\u7c7b\u201c\u4eb2\u5bc6\u8ddd\u79bb\u201d\u7684\u65f6\u95f4\u5360\u6bd4\u8fd9\u4e00\u6838\u5fc3\u6307\u6807\u4e0a\uff0c\u7cfb\u7edf\u4ea4\u51fa\u4e86\u4e00\u4efd\u8fd1\u4e4e\u5b8c\u7f8e\u7684\u6570\u636e\u3002\u8fd9\u79cd\u5728\u4fdd\u8bc1\u6781\u9ad8\u4efb\u52a1\u8fbe\u6210\u7387\u7684\u540c\u65f6\uff0c\u53c8\u5c06\u5bf9\u4eba\u7c7b\u7a7a\u95f4\u7684\u4fb5\u72af\u964d\u7ef4\u81f3\u96f6\u70b9\u7684\u8868\u73b0\uff0c\u6df1\u523b\u8bc1\u660e\u4e86\u5c06\u52a8\u6001\u793e\u4f1a\u9884\u6d4b\u4e0e\u975e\u7ebf\u6027\u4f18\u5316\u5728\u5e95\u5c42\u7194\u5408\u7684\u5de8\u5927\u5a01\u529b\uff08\u56fe 3\uff0c \u8868 1\uff0c \u56fe 4\uff09\u3002<\/p>\n<p><img data-dominant-color=\"aca9a7\" data-has-transparency=\"true\" style=\"--dominant-color: #aca9a7;\" loading=\"lazy\" decoding=\"async\" class=\"has-transparency alignnone size-full wp-image-30196\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/94d31fe52b6f0e56496583cba41ffbd5d9e071.png\" width=\"1039\" height=\"1185\" alt=\"\u56fe\u7247\" title=\"\u56fe\u7247\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/94d31fe52b6f0e56496583cba41ffbd5d9e071.png 1039w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/94d31fe52b6f0e56496583cba41ffbd5d9e071-263x300.png 263w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/94d31fe52b6f0e56496583cba41ffbd5d9e071-898x1024.png 898w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/94d31fe52b6f0e56496583cba41ffbd5d9e071-132x150.png 132w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/94d31fe52b6f0e56496583cba41ffbd5d9e071-768x876.png 768w\" sizes=\"auto, (max-width: 1039px) 100vw, 1039px\" \/><span class=\"data-image-title\">\u56fe\u7247<\/span><\/p>\n<p><img data-dominant-color=\"f2f2f2\" data-has-transparency=\"false\" style=\"--dominant-color: #f2f2f2;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-30197\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/d42ae7f675930c17c7b8609810a762cb8d4a23.png\" width=\"849\" height=\"784\" alt=\"\u56fe\u7247\" title=\"\u56fe\u7247\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/d42ae7f675930c17c7b8609810a762cb8d4a23.png 849w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/d42ae7f675930c17c7b8609810a762cb8d4a23-300x277.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/d42ae7f675930c17c7b8609810a762cb8d4a23-150x139.png 150w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/d42ae7f675930c17c7b8609810a762cb8d4a23-768x709.png 768w\" sizes=\"auto, (max-width: 849px) 100vw, 849px\" \/><span class=\"data-image-title\">\u56fe\u7247<\/span><\/p>\n<p><img data-dominant-color=\"f6f4f3\" data-has-transparency=\"true\" style=\"--dominant-color: #f6f4f3;\" loading=\"lazy\" decoding=\"async\" class=\"has-transparency alignnone size-full wp-image-30198\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/73c81a017b5b31a52c555640de3d0b44005626.png\" width=\"1080\" height=\"877\" alt=\"Refer to caption\" title=\"Refer to caption\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/73c81a017b5b31a52c555640de3d0b44005626.png 1080w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/73c81a017b5b31a52c555640de3d0b44005626-300x244.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/73c81a017b5b31a52c555640de3d0b44005626-1024x832.png 1024w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/73c81a017b5b31a52c555640de3d0b44005626-150x122.png 150w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/73c81a017b5b31a52c555640de3d0b44005626-768x624.png 768w\" sizes=\"auto, (max-width: 1080px) 100vw, 1080px\" \/><span class=\"data-image-title\">Refer to caption<\/span><\/p>\n<h4>\u5265\u4e1d\u62bd\u8327\u7684\u6d1e\u5bdf\uff1a\u5bfb\u627e\u9a71\u52a8\u793e\u4f1a\u667a\u80fd\u7684\u6838\u5fc3\u9f7f\u8f6e<\/h4>\n<p>\u4e3a\u4e86\u8fdb\u4e00\u6b65\u63ed\u5f00\u8fd9\u5957\u590d\u6742\u7b97\u6cd5\u5728\u793e\u4f1a\u5bfc\u822a\u4e2d\u8868\u73b0\u4f18\u5f02\u7684\u5185\u5728\u673a\u7406\uff0c\u8be6\u5c3d\u7684\u6d88\u878d\u5b9e\u9a8c\uff08Ablation Study\uff09\u5982\u540c\u624b\u672f\u5200\u4e00\u822c\uff0c\u9010\u5c42\u5265\u79bb\u4e86\u7cfb\u7edf\u7684\u5404\u4e2a\u7ec4\u4ef6\uff0c\u8ba9\u771f\u6b63\u7684\u6838\u5fc3\u9a71\u52a8\u529b\u6d6e\u51fa\u6c34\u9762\u3002<\/p>\n<p><img data-dominant-color=\"dfdfdf\" data-has-transparency=\"false\" style=\"--dominant-color: #dfdfdf;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-30199\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/82d01ab0987b42c27bb37998aece2e9e58abec.png\" width=\"680\" height=\"432\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/82d01ab0987b42c27bb37998aece2e9e58abec.png 680w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/82d01ab0987b42c27bb37998aece2e9e58abec-300x191.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/82d01ab0987b42c27bb37998aece2e9e58abec-150x95.png 150w\" sizes=\"auto, (max-width: 680px) 100vw, 680px\" \/><\/p>\n<p><img data-dominant-color=\"d4e4e6\" data-has-transparency=\"true\" style=\"--dominant-color: #d4e4e6;\" loading=\"lazy\" decoding=\"async\" class=\"has-transparency alignnone size-full wp-image-30200\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/b41be144679663e8921154722521d829d09ca6.png\" width=\"1080\" height=\"498\" alt=\"Refer to caption\" title=\"Refer to caption\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/b41be144679663e8921154722521d829d09ca6.png 1080w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/b41be144679663e8921154722521d829d09ca6-300x138.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/b41be144679663e8921154722521d829d09ca6-1024x472.png 1024w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/b41be144679663e8921154722521d829d09ca6-150x69.png 150w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/b41be144679663e8921154722521d829d09ca6-768x354.png 768w\" sizes=\"auto, (max-width: 1080px) 100vw, 1080px\" \/><span class=\"data-image-title\">Refer to caption<\/span><\/p>\n<p><img data-dominant-color=\"f3f0f2\" data-has-transparency=\"true\" style=\"--dominant-color: #f3f0f2;\" loading=\"lazy\" decoding=\"async\" class=\"has-transparency alignnone size-full wp-image-30201\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/b8a740084608667aa9f33233102eff6c6be782.png\" width=\"1080\" height=\"872\" alt=\"Refer to caption\" title=\"Refer to caption\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/b8a740084608667aa9f33233102eff6c6be782.png 1080w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/b8a740084608667aa9f33233102eff6c6be782-300x242.png 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/b8a740084608667aa9f33233102eff6c6be782-1024x827.png 1024w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/b8a740084608667aa9f33233102eff6c6be782-150x121.png 150w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/b8a740084608667aa9f33233102eff6c6be782-768x620.png 768w\" sizes=\"auto, (max-width: 1080px) 100vw, 1080px\" \/><span class=\"data-image-title\">Refer to caption<\/span><\/p>\n<p><img data-dominant-color=\"f9f9fa\" data-has-transparency=\"true\" style=\"--dominant-color: #f9f9fa;\" loading=\"lazy\" decoding=\"async\" class=\"has-transparency alignnone size-full wp-image-30202\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/561fc916221e155a43f22711cc13b936181b60.png\" width=\"1013\" height=\"1092\" alt=\"\u56fe\u7247\" title=\"\u56fe\u7247\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/561fc916221e155a43f22711cc13b936181b60.png 1013w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/561fc916221e155a43f22711cc13b936181b60-278x300.png 278w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/561fc916221e155a43f22711cc13b936181b60-950x1024.png 950w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/561fc916221e155a43f22711cc13b936181b60-139x150.png 139w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2026\/08\/561fc916221e155a43f22711cc13b936181b60-768x828.png 768w\" sizes=\"auto, (max-width: 1013px) 100vw, 1013px\" \/><span class=\"data-image-title\">\u56fe\u7247<\/span><\/p>\n<h4>\u5c3e\u58f0\uff1a\u8d70\u5411\u6709\u6e29\u5ea6\u7684\u7269\u7406\u4ea4\u4e92<\/h4>\n<p>\u5728\u8fd9\u4e2a\u7b97\u6cd5\u4e3b\u5bfc\u7684\u65f6\u4ee3\uff0c\u7a7f\u8d8a\u4eba\u6d77\u4e0d\u5e94\u518d\u662f\u4e00\u573a\u51b0\u51b7\u65e0\u60c5\u7684\u51e0\u4f55\u5207\u5272\u3002\u5c06\u6e90\u81ea\u4eba\u7c7b\u7fa4\u4f53\u5b8f\u89c2\u7269\u7406\u73b0\u8c61\u7684\u793e\u4f1a\u529b\u573a\uff0c\u4ee5\u6781\u5176\u7ec6\u817b\u7684\u6570\u5b66\u5f62\u6001\u6ce8\u5165\u975e\u7ebf\u6027\u4f18\u5316\u7684\u65f6\u7a7a\u63a8\u6f14\u7f51\u7edc\u4e4b\u4e2d\uff0c\u4e0d\u4ec5\u5728\u7406\u8bba\u67b6\u6784\u4e0a\u5b9e\u73b0\u4e86\u5bf9\u201c\u4eba\u673a\u8054\u5408\u6f14\u5316\u8f68\u8ff9\u201d\u7684\u6df1\u5ea6\u62d3\u6251\u91cd\u6784\uff0c\u66f4\u5728\u6781\u5176\u4e25\u82db\u7684\u8ba1\u7b97\u6548\u7387\u8981\u6c42\u4e0b\uff0c\u8de8\u8d8a\u4e86\u7406\u8bba\u8d70\u5411\u5de5\u7a0b\u5b9e\u8df5\u7684\u9e3f\u6c9f\u3002<\/p>\n<p>\u5728\u8fd9\u4e00\u8303\u5f0f\u7684\u6307\u5f15\u4e0b\uff0c\u5265\u53bb\u91d1\u5c5e\u4e0e\u7845\u7247\u7684\u5916\u8863\uff0c\u673a\u5668\u5728\u7b97\u6cd5\u7684\u6700\u6df1\u5904\uff0c\u4f3c\u4e4e\u5f00\u59cb\u840c\u751f\u51fa\u4e00\u79cd\u5bf9\u4eba\u7c7b\u793e\u4f1a\u6f5c\u89c4\u5219\u7684\u201c\u5171\u60c5\u201d\u4e0e\u201c\u656c\u754f\u201d\u3002\u5c3d\u7ba1\u5f53\u524d\u7684\u7814\u7a76\u4ecd\u5728\u4eff\u771f\u57df\u4e2d\u6253\u78e8\uff0c\u672a\u6765\u8d70\u5411\u771f\u5b9e\u7684\u7269\u7406\u4e16\u754c\u65f6\uff0c\u7cfb\u7edf\u4ecd\u9700\u9762\u5bf9\u7531\u4f20\u611f\u5668\u566a\u58f0\u3001\u73af\u5883\u5149\u5f71\u7a81\u53d8\u4ee5\u53ca\u4eba\u7c7b\u6781\u5176\u5fae\u5999\u7684\u9762\u90e8\u8868\u60c5\u548c\u80a2\u4f53\u8bed\u8a00\u5e26\u6765\u7684\u65e0\u5c3d\u4e0d\u786e\u5b9a\u6027\u3002\u4f46\u4e0d\u53ef\u5426\u8ba4\u7684\u662f\uff0c\u8fd9\u4e00\u6df1\u5ea6\u878d\u5408\u7684\u67b6\u6784\u5df2\u7ecf\u4e3a\u4e0b\u4e00\u4ee3\u5177\u8eab\u667a\u80fd\u7684\u79fb\u52a8\u6cd5\u5219\u786e\u7acb\u4e86\u822a\u6807\uff1a\u6700\u9876\u7ea7\u7684\u81ea\u52a8\u5316\u5bfc\u822a\uff0c\u7edd\u4e0d\u4ec5\u4ec5\u662f\u9ad8\u6548\u4e14\u5b89\u5168\u5730\u62b5\u8fbe\u76ee\u6807\u5750\u6807\uff0c\u800c\u662f\u5728\u8fd9\u8d9f\u7a7f\u8d8a\u7199\u6518\u4eba\u95f4\u7684\u65c5\u9014\u4e2d\uff0c\u5c55\u73b0\u51fa\u4e00\u79cd\u5bf9\u751f\u547d\u7a7a\u95f4\u7684\u5c0a\u91cd\uff0c\u4e00\u79cd\u5982\u6e05\u98ce\u62c2\u8fc7\u822c\u3001\u4ee4\u4eba\u5982\u6c90\u6625\u98ce\u7684\u65e0\u58f0\u793c\u4eea\u3002<\/p>\n<p>\u53c2\u8003\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/html\/2607.10374v1<\/p>\n<p>\u6587\u7ae0\u6765\u81ea\uff1a51CTO<\/p>\n<p>&nbsp;<\/p>\n<\/div>\n<\/div>\n<div 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