{"id":2549,"date":"2026-05-07T10:13:34","date_gmt":"2026-05-07T02:13:34","guid":{"rendered":"http:\/\/110.42.248.92\/onsite-learning-center\/?page_id=2549"},"modified":"2026-05-12T09:39:58","modified_gmt":"2026-05-12T01:39:58","slug":"%e5%bc%80%e5%a7%8b-%e7%ab%af%e5%88%b0%e7%ab%af","status":"publish","type":"page","link":"http:\/\/110.42.248.92\/onsite-learning-center\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e7%ab%af%e5%88%b0%e7%ab%af\/","title":{"rendered":"\u5f00\u59cb-\u7aef\u5230\u7aef"},"content":{"rendered":"<div class=\"fusion-fullwidth fullwidth-box fusion-builder-row-1 fusion-flex-container has-pattern-background has-mask-background nonhundred-percent-fullwidth non-hundred-percent-height-scrolling\" style=\"--awb-border-radius-top-left:0px;--awb-border-radius-top-right:0px;--awb-border-radius-bottom-right:0px;--awb-border-radius-bottom-left:0px;--awb-flex-wrap:wrap;\" ><div class=\"fusion-builder-row fusion-row fusion-flex-align-items-flex-start fusion-flex-content-wrap\" style=\"max-width:1248px;margin-left: calc(-4% \/ 2 );margin-right: calc(-4% \/ 2 );\"><div class=\"fusion-layout-column fusion_builder_column fusion-builder-column-0 fusion_builder_column_1_4 1_4 fusion-flex-column\" style=\"--awb-bg-size:cover;--awb-width-large:25%;--awb-margin-top-large:0px;--awb-spacing-right-large:7.68%;--awb-margin-bottom-large:20px;--awb-spacing-left-large:7.68%;--awb-width-medium:25%;--awb-order-medium:0;--awb-spacing-right-medium:7.68%;--awb-spacing-left-medium:7.68%;--awb-width-small:100%;--awb-order-small:0;--awb-spacing-right-small:1.92%;--awb-spacing-left-small:1.92%;\"><div class=\"fusion-column-wrapper fusion-column-has-shadow fusion-flex-justify-content-flex-start fusion-content-layout-column\"><div class=\"fusion-text fusion-text-1\"><\/div><nav class=\"awb-menu awb-menu_column awb-menu_em-click mobile-mode-collapse-to-button awb-menu_icons-left awb-menu_dc-yes mobile-trigger-fullwidth-off awb-menu_mobile-toggle mobile-size-full-absolute loading mega-menu-loading awb-menu_desktop awb-menu_v-stacked awb-submenu_cm_accordion\" style=\"--awb-line-height:var(--awb-typography3-line-height);--awb-margin-top:80px;--awb-margin-bottom:80px;--awb-text-transform:var(--awb-typography3-text-transform);--awb-bg:hsla(var(--awb-color5-h),var(--awb-color5-s),var(--awb-color5-l),calc(var(--awb-color5-a) - 95%));--awb-border-radius-top-left:5px;--awb-border-radius-top-right:5px;--awb-border-radius-bottom-right:5px;--awb-border-radius-bottom-left:5px;--awb-gap:20px;--awb-items-padding-top:20px;--awb-items-padding-bottom:20px;--awb-items-padding-left:30px;--awb-color:var(--awb-color8);--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-active-color:var(--awb-color5);--awb-active-bg:hsla(var(--awb-color4-h),var(--awb-color4-s),var(--awb-color4-l),calc(var(--awb-color4-a) - 95%));--awb-submenu-sep-color:hsla(var(--awb-color2-h),var(--awb-color2-s),calc(var(--awb-color2-l) - 3%),var(--awb-color2-a));--awb-submenu-items-padding-top:15px;--awb-submenu-items-padding-bottom:15px;--awb-submenu-font-size:var(--awb-typography5-font-size);--awb-submenu-text-transform:var(--awb-typography5-text-transform);--awb-submenu-line-height:var(--awb-typography5-line-height);--awb-submenu-letter-spacing:var(--awb-typography5-letter-spacing);--awb-main-justify-content:center;--awb-sub-justify-content:center;--awb-mobile-nav-button-align-hor:center;--awb-mobile-bg:hsla(var(--awb-color5-h),var(--awb-color5-s),var(--awb-color5-l),calc(var(--awb-color5-a) - 98%));--awb-mobile-trigger-font-size:22px;--awb-mobile-trigger-color:var(--awb-color8);--awb-mobile-nav-trigger-bottom-margin:10px;--awb-mobile-font-size:var(--awb-typography3-font-size);--awb-mobile-text-transform:var(--awb-typography3-text-transform);--awb-mobile-line-height:var(--awb-typography3-line-height);--awb-mobile-letter-spacing:var(--awb-typography3-letter-spacing);--awb-mobile-justify:center;--awb-mobile-caret-left:auto;--awb-mobile-caret-right:0;--awb-box-shadow: 0px 0px ;;--awb-fusion-font-family-typography:var(--awb-typography3-font-family);--awb-fusion-font-weight-typography:var(--awb-typography3-font-weight);--awb-fusion-font-style-typography:var(--awb-typography3-font-style);--awb-fusion-font-family-submenu-typography:var(--awb-typography5-font-family);--awb-fusion-font-weight-submenu-typography:var(--awb-typography5-font-weight);--awb-fusion-font-style-submenu-typography:var(--awb-typography5-font-style);--awb-fusion-font-family-mobile-typography:var(--awb-typography3-font-family);--awb-fusion-font-weight-mobile-typography:var(--awb-typography3-font-weight);--awb-fusion-font-style-mobile-typography:var(--awb-typography3-font-style);\" aria-label=\"\u5feb\u901f\u5f00\u59cb\" data-breakpoint=\"640\" data-count=\"0\" data-transition-type=\"fade\" data-transition-time=\"300\"><button type=\"button\" class=\"awb-menu__m-toggle\" aria-expanded=\"false\" aria-controls=\"menu-%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\"><span class=\"awb-menu__m-toggle-inner\"><span class=\"collapsed-nav-text\">Menu<\/span><span class=\"awb-menu__m-collapse-icon\"><span class=\"awb-menu__m-collapse-icon-open fa-bars fas\"><\/span><span class=\"awb-menu__m-collapse-icon-close fa-times fas\"><\/span><\/span><\/span><\/button><ul id=\"menu-%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\" class=\"fusion-menu awb-menu__main-ul awb-menu__main-ul_column\"><li  id=\"menu-item-898\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-has-children menu-item-898 awb-menu__li awb-menu__main-li awb-menu__main-li_regular\"  data-item-id=\"898\"><span class=\"awb-menu__main-background-default awb-menu__main-background-default_fade\"><\/span><span class=\"awb-menu__main-background-active awb-menu__main-background-active_fade\"><\/span><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e6%84%9f%e7%9f%a5\/\" class=\"awb-menu__main-a awb-menu__main-a_regular\"><span class=\"menu-text\">\u611f\u77e5\u95ee\u9898<\/span><\/a><button type=\"button\" aria-label=\"Open submenu of \u611f\u77e5\u95ee\u9898\" aria-expanded=\"false\" class=\"awb-menu__open-nav-submenu_mobile awb-menu__open-nav-submenu_click awb-menu__open-nav-submenu_main awb-menu__open-nav-submenu_needs-spacing\"><\/button><ul class=\"awb-menu__sub-ul awb-menu__sub-ul_main\"><li  id=\"menu-item-1537\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-1537 awb-menu__li awb-menu__sub-li\" ><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e6%84%9f%e7%9f%a5\/%e5%bc%80%e5%a7%8b-%e6%84%9f%e7%9f%a5-%e8%af%ad%e4%b9%89%e5%88%86%e5%89%b2\/\" class=\"awb-menu__sub-a\"><span>\u4ee3\u7801-\u8bed\u4e49\u5206\u5272<\/span><\/a><\/li><li  id=\"menu-item-1535\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-1535 awb-menu__li awb-menu__sub-li\" ><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e6%84%9f%e7%9f%a5\/%e5%bc%80%e5%a7%8b-%e6%84%9f%e7%9f%a5-%e6%b7%b1%e5%ba%a6%e4%bc%b0%e8%ae%a1\/\" class=\"awb-menu__sub-a\"><span>\u4ee3\u7801-\u6df1\u5ea6\u4f30\u8ba1<\/span><\/a><\/li><li  id=\"menu-item-1533\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-1533 awb-menu__li awb-menu__sub-li\" ><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e6%84%9f%e7%9f%a5\/%e5%bc%80%e5%a7%8b-%e6%84%9f%e7%9f%a5-2d%e7%9b%ae%e6%a0%87%e6%a3%80%e6%b5%8b\/\" class=\"awb-menu__sub-a\"><span>\u4ee3\u7801-2D\u76ee\u6807\u68c0\u6d4b<\/span><\/a><\/li><li  id=\"menu-item-1566\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-1566 awb-menu__li awb-menu__sub-li\" ><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e6%84%9f%e7%9f%a5\/%e5%bc%80%e5%a7%8b-%e6%84%9f%e7%9f%a5-%e7%9b%ae%e6%a0%87%e8%bf%bd%e8%b8%aa\/\" class=\"awb-menu__sub-a\"><span>\u4ee3\u7801-\u76ee\u6807\u8ffd\u8e2a<\/span><\/a><\/li><\/ul><\/li><li  id=\"menu-item-1473\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-has-children menu-item-1473 awb-menu__li awb-menu__main-li awb-menu__main-li_regular\"  data-item-id=\"1473\"><span class=\"awb-menu__main-background-default awb-menu__main-background-default_fade\"><\/span><span class=\"awb-menu__main-background-active awb-menu__main-background-active_fade\"><\/span><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e9%a2%84%e6%b5%8b\/\" class=\"awb-menu__main-a awb-menu__main-a_regular\"><span class=\"menu-text\">\u9884\u6d4b\u95ee\u9898<\/span><\/a><button type=\"button\" aria-label=\"Open submenu of \u9884\u6d4b\u95ee\u9898\" aria-expanded=\"false\" class=\"awb-menu__open-nav-submenu_mobile awb-menu__open-nav-submenu_click awb-menu__open-nav-submenu_main awb-menu__open-nav-submenu_needs-spacing\"><\/button><ul class=\"awb-menu__sub-ul awb-menu__sub-ul_main\"><li  id=\"menu-item-1926\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-1926 awb-menu__li awb-menu__sub-li\" ><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e9%a2%84%e6%b5%8b\/%e5%bc%80%e5%a7%8b-%e9%a2%84%e6%b5%8b-%e8%bd%a8%e8%bf%b9%e9%a2%84%e6%b5%8b%ef%bc%9a%e5%8d%95%e8%bd%a6%e5%8d%95%e6%a8%a1%e6%80%81%e8%bd%a6%e8%bd%a8%e8%bf%b9%e9%a2%84%e6%b5%8b\/\" class=\"awb-menu__sub-a\"><span>\u4ee3\u7801&#8211;\u5355\u8f66\u8f68\u8ff9\u9884\u6d4b<\/span><\/a><\/li><li  id=\"menu-item-1545\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-1545 awb-menu__li awb-menu__sub-li\" ><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e9%a2%84%e6%b5%8b\/%e5%bc%80%e5%a7%8b-%e9%a2%84%e6%b5%8b-vru%e8%bd%a8%e8%bf%b9%e9%a2%84%e6%b5%8b\/\" class=\"awb-menu__sub-a\"><span>\u4ee3\u7801-VRU\u8f68\u8ff9\u9884\u6d4b<\/span><\/a><\/li><li  id=\"menu-item-1658\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-1658 awb-menu__li awb-menu__sub-li\" ><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e9%a2%84%e6%b5%8b\/%e5%bc%80%e5%a7%8b-%e9%a2%84%e6%b5%8b-%e6%9c%ba%e5%8a%a8%e8%bd%a6%e8%bd%a8%e8%bf%b9%e9%a2%84%e6%b5%8b-cloned\/\" class=\"awb-menu__sub-a\"><span>\u4ee3\u7801-\u591a\u8f66\u8f68\u8ff9\u9884\u6d4b<\/span><\/a><\/li><\/ul><\/li><li  id=\"menu-item-897\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-has-children menu-item-897 awb-menu__li awb-menu__main-li awb-menu__main-li_regular\"  data-item-id=\"897\"><span class=\"awb-menu__main-background-default awb-menu__main-background-default_fade\"><\/span><span class=\"awb-menu__main-background-active awb-menu__main-background-active_fade\"><\/span><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e8%a7%84%e5%88%92-%e5%86%b3%e7%ad%96\/\" class=\"awb-menu__main-a awb-menu__main-a_regular\"><span class=\"menu-text\">\u51b3\u7b56\/\u89c4\u5212\u95ee\u9898<\/span><\/a><button type=\"button\" aria-label=\"Open submenu of \u51b3\u7b56\/\u89c4\u5212\u95ee\u9898\" aria-expanded=\"false\" class=\"awb-menu__open-nav-submenu_mobile awb-menu__open-nav-submenu_click awb-menu__open-nav-submenu_main awb-menu__open-nav-submenu_needs-spacing\"><\/button><ul class=\"awb-menu__sub-ul awb-menu__sub-ul_main\"><li  id=\"menu-item-1530\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-1530 awb-menu__li awb-menu__sub-li\" ><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e8%a7%84%e5%88%92-%e5%86%b3%e7%ad%96\/%e5%bc%80%e5%a7%8b-%e5%86%b3%e7%ad%96-%e8%a7%84%e5%88%92-%e8%a1%8c%e4%b8%ba%e5%86%b3%e7%ad%96\/\" class=\"awb-menu__sub-a\"><span>\u4ee3\u7801-\u5355\u8f66\u51b3\u7b56<\/span><\/a><\/li><li  id=\"menu-item-1742\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-1742 awb-menu__li awb-menu__sub-li\" ><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e8%a7%84%e5%88%92-%e5%86%b3%e7%ad%96\/%e5%bc%80%e5%a7%8b-%e5%86%b3%e7%ad%96-%e8%a7%84%e5%88%92-%e5%8d%8f%e5%90%8c%e5%86%b3%e7%ad%96\/\" class=\"awb-menu__sub-a\"><span>\u4ee3\u7801-\u534f\u540c\u51b3\u7b56<\/span><\/a><\/li><li  id=\"menu-item-1532\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-1532 awb-menu__li awb-menu__sub-li\" ><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e8%a7%84%e5%88%92-%e5%86%b3%e7%ad%96\/%e5%bc%80%e5%a7%8b-%e5%86%b3%e7%ad%96-%e8%a7%84%e5%88%92-%e8%bf%90%e5%8a%a8%e8%a7%84%e5%88%92\/\" class=\"awb-menu__sub-a\"><span>\u4ee3\u7801-\u8fd0\u52a8\u89c4\u5212<\/span><\/a><\/li><\/ul><\/li><li  id=\"menu-item-899\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-has-children menu-item-899 awb-menu__li awb-menu__main-li awb-menu__main-li_regular\"  data-item-id=\"899\"><span class=\"awb-menu__main-background-default awb-menu__main-background-default_fade\"><\/span><span class=\"awb-menu__main-background-active awb-menu__main-background-active_fade\"><\/span><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e6%8e%a7%e5%88%b6\/\" class=\"awb-menu__main-a awb-menu__main-a_regular\"><span class=\"menu-text\">\u63a7\u5236\u95ee\u9898<\/span><\/a><button type=\"button\" aria-label=\"Open submenu of \u63a7\u5236\u95ee\u9898\" aria-expanded=\"false\" class=\"awb-menu__open-nav-submenu_mobile awb-menu__open-nav-submenu_click awb-menu__open-nav-submenu_main awb-menu__open-nav-submenu_needs-spacing\"><\/button><ul class=\"awb-menu__sub-ul awb-menu__sub-ul_main\"><li  id=\"menu-item-1538\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-1538 awb-menu__li awb-menu__sub-li\" ><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e6%8e%a7%e5%88%b6\/%e5%bc%80%e5%a7%8b-%e6%8e%a7%e5%88%b6-%e6%a8%aa%e5%90%91%e6%8e%a7%e5%88%b6\/\" class=\"awb-menu__sub-a\"><span>\u4ee3\u7801-\u6a2a\u5411\u63a7\u5236<\/span><\/a><\/li><li  id=\"menu-item-1539\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-1539 awb-menu__li awb-menu__sub-li\" ><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e6%8e%a7%e5%88%b6\/%e5%bc%80%e5%a7%8b-%e6%8e%a7%e5%88%b6-%e7%ba%b5%e5%90%91%e6%8e%a7%e5%88%b6\/\" class=\"awb-menu__sub-a\"><span>\u4ee3\u7801-\u7eb5\u5411\u63a7\u5236<\/span><\/a><\/li><li  id=\"menu-item-1540\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-1540 awb-menu__li awb-menu__sub-li\" ><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e6%8e%a7%e5%88%b6\/%e5%bc%80%e5%a7%8b-%e6%8e%a7%e5%88%b6-%e8%80%a6%e5%90%88%e6%8e%a7%e5%88%b6\/\" class=\"awb-menu__sub-a\"><span>\u4ee3\u7801-\u8026\u5408\u63a7\u5236<\/span><\/a><\/li><\/ul><\/li><li  id=\"menu-item-2558\"  class=\"menu-item menu-item-type-post_type menu-item-object-page menu-item-2558 awb-menu__li awb-menu__main-li awb-menu__main-li_regular\"  data-item-id=\"2558\"><span class=\"awb-menu__main-background-default awb-menu__main-background-default_fade\"><\/span><span class=\"awb-menu__main-background-active awb-menu__main-background-active_fade\"><\/span><a  href=\"http:\/\/110.42.248.92\/onsite-learning-center\/%e5%bf%ab%e9%80%9f%e5%bc%80%e5%a7%8b\/%e5%bc%80%e5%a7%8b-%e7%ab%af%e5%88%b0%e7%ab%af\/\" class=\"awb-menu__main-a awb-menu__main-a_regular\"><span class=\"menu-text\">\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76<\/span><\/a><\/li><\/ul><\/nav><\/div><\/div><div class=\"fusion-layout-column fusion_builder_column fusion-builder-column-1 fusion_builder_column_3_4 3_4 fusion-flex-column\" style=\"--awb-bg-size:cover;--awb-width-large:75%;--awb-margin-top-large:0px;--awb-spacing-right-large:2.56%;--awb-margin-bottom-large:20px;--awb-spacing-left-large:2.56%;--awb-width-medium:75%;--awb-order-medium:0;--awb-spacing-right-medium:2.56%;--awb-spacing-left-medium:2.56%;--awb-width-small:100%;--awb-order-small:0;--awb-spacing-right-small:1.92%;--awb-spacing-left-small:1.92%;\"><div class=\"fusion-column-wrapper fusion-column-has-shadow fusion-flex-justify-content-flex-start fusion-content-layout-column\"><div class=\"fusion-text fusion-text-2\" style=\"--awb-font-size:38px;--awb-line-height:var(--awb-typography1-line-height);--awb-letter-spacing:var(--awb-typography1-letter-spacing);--awb-text-transform:var(--awb-typography1-text-transform);--awb-text-font-family:var(--awb-typography1-font-family);--awb-text-font-weight:var(--awb-typography1-font-weight);--awb-text-font-style:var(--awb-typography1-font-style);\"><p>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76<\/p>\n<\/div><div class=\"fusion-text fusion-text-3\" style=\"--awb-content-alignment:left;--awb-font-size:18px;--awb-line-height:2;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u65e8\u5728\u51cf\u5c11\u4f20\u7edf\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\u611f\u77e5\u3001\u9884\u6d4b\u3001\u89c4\u5212\u548c\u63a7\u5236\u7b49\u6a21\u5757\u4e4b\u95f4\u7684\u4fe1\u606f\u635f\u5931\u4e0e\u8bef\u5dee\u7d2f\u79ef\uff0c\u901a\u8fc7\u53ef\u5b66\u4e60\u6a21\u578b\u628a\u591a\u6a21\u6001\u611f\u77e5\u8f93\u5165\u6620\u5c04\u4e3a\u8f66\u8f86\u672a\u6765\u8f68\u8ff9\u6216\u63a7\u5236\u610f\u56fe\u3002\u4e0e\u5b8c\u5168\u4f9d\u8d56\u4eba\u5de5\u89c4\u5219\u548c\u4e32\u884c\u63a5\u53e3\u7684\u6a21\u5757\u5316\u67b6\u6784\u76f8\u6bd4\uff0c\u7aef\u5230\u7aef\u65b9\u6cd5\u80fd\u591f\u56f4\u7ed5\u6700\u7ec8\u9a7e\u9a76\u76ee\u6807\u8fdb\u884c\u8054\u5408\u4f18\u5316\uff0c\u4f46\u4e5f\u5e26\u6765\u4e86\u8bad\u7ec3\u7a33\u5b9a\u6027\u3001\u53ef\u89e3\u91ca\u6027\u548c\u95ed\u73af\u5b89\u5168\u9a8c\u8bc1\u7b49\u65b0\u7684\u5de5\u7a0b\u6311\u6218\u3002<\/p>\n<p>\u672c\u5b9e\u9a8c\u4ee5UniAD\u548cBench2Drive\/Bench2DriveZoo\u4e3a\u793a\u4f8b\uff0c\u56f4\u7ed5\u201c\u591a\u76f8\u673a\u8f93\u5165\u2014BEV\u7279\u5f81\u2014\u611f\u77e5\u8ddf\u8e2a\u2014\u8fd0\u52a8\u9884\u6d4b\u2014\u5360\u7528\u9884\u6d4b\u2014\u89c4\u5212\u8f68\u8ff9\u201d\u7684\u6d41\u7a0b\u5c55\u5f00\u3002\u5b66\u751f\u9700\u8981\u7406\u89e3\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7684\u4efb\u52a1\u63a5\u53e3\uff0c\u719f\u6089UniAD\u7684\u6a21\u5757\u534f\u540c\u65b9\u5f0f\uff0c\u5b8c\u6210\u73af\u5883\u914d\u7f6e\u3001\u9884\u8bad\u7ec3\u6743\u91cd\u51c6\u5907\u3001\u5f00\u73af\u9a8c\u8bc1\u6216\u95ed\u73af\u6d4b\u8bd5\uff0c\u5e76\u7ed3\u5408\u53ef\u89c6\u5316\u7ed3\u679c\u5206\u6790\u6a21\u578b\u5728\u590d\u6742\u573a\u666f\u4e2d\u7684\u8868\u73b0\u3002<\/p>\n<\/div><div class=\"fusion-builder-row fusion-builder-row-inner fusion-row fusion-flex-align-items-flex-start fusion-flex-content-wrap\" style=\"width:104% !important;max-width:104% !important;margin-left: calc(-4% \/ 2 );margin-right: calc(-4% \/ 2 );\"><div class=\"fusion-layout-column fusion_builder_column_inner fusion-builder-nested-column-0 fusion_builder_column_inner_1_6 1_6 fusion-flex-column\" style=\"--awb-bg-size:cover;--awb-width-large:16.666666666667%;--awb-margin-top-large:0px;--awb-spacing-right-large:11.52%;--awb-margin-bottom-large:20px;--awb-spacing-left-large:11.52%;--awb-width-medium:16.666666666667%;--awb-order-medium:0;--awb-spacing-right-medium:11.52%;--awb-spacing-left-medium:11.52%;--awb-width-small:100%;--awb-order-small:0;--awb-spacing-right-small:1.92%;--awb-spacing-left-small:1.92%;\"><div class=\"fusion-column-wrapper fusion-column-has-shadow fusion-flex-justify-content-flex-start fusion-content-layout-column\"><\/div><\/div><div class=\"fusion-layout-column fusion_builder_column_inner fusion-builder-nested-column-1 fusion_builder_column_inner_2_3 2_3 fusion-flex-column\" style=\"--awb-bg-size:cover;--awb-width-large:66.666666666667%;--awb-margin-top-large:0px;--awb-spacing-right-large:2.88%;--awb-margin-bottom-large:20px;--awb-spacing-left-large:2.88%;--awb-width-medium:66.666666666667%;--awb-order-medium:0;--awb-spacing-right-medium:2.88%;--awb-spacing-left-medium:2.88%;--awb-width-small:100%;--awb-order-small:0;--awb-spacing-right-small:1.92%;--awb-spacing-left-small:1.92%;\"><div class=\"fusion-column-wrapper fusion-column-has-shadow fusion-flex-justify-content-flex-start fusion-content-layout-column\"><\/div><\/div><div class=\"fusion-layout-column fusion_builder_column_inner fusion-builder-nested-column-2 fusion_builder_column_inner_1_6 1_6 fusion-flex-column\" style=\"--awb-bg-size:cover;--awb-width-large:16.666666666667%;--awb-margin-top-large:0px;--awb-spacing-right-large:11.52%;--awb-margin-bottom-large:20px;--awb-spacing-left-large:11.52%;--awb-width-medium:16.666666666667%;--awb-order-medium:0;--awb-spacing-right-medium:11.52%;--awb-spacing-left-medium:11.52%;--awb-width-small:100%;--awb-order-small:0;--awb-spacing-right-small:1.92%;--awb-spacing-left-small:1.92%;\"><div class=\"fusion-column-wrapper fusion-column-has-shadow fusion-flex-justify-content-flex-start fusion-content-layout-column\"><\/div><\/div><\/div><div class=\"fusion-separator fusion-full-width-sep\" style=\"align-self: center;margin-left: auto;margin-right: auto;margin-bottom:30px;width:100%;\"><div class=\"fusion-separator-border sep-double\" style=\"--awb-height:20px;--awb-amount:20px;border-color:var(--awb-color3);border-top-width:1px;border-bottom-width:1px;\"><\/div><\/div><div class=\"fusion-builder-row fusion-builder-row-inner fusion-row fusion-flex-align-items-flex-start fusion-flex-content-wrap\" style=\"width:104% !important;max-width:104% !important;margin-left: calc(-4% \/ 2 );margin-right: calc(-4% \/ 2 );\"><div class=\"fusion-layout-column fusion_builder_column_inner fusion-builder-nested-column-3 fusion_builder_column_inner_1_1 1_1 fusion-flex-column\" style=\"--awb-bg-size:cover;--awb-width-large:100%;--awb-margin-top-large:0px;--awb-spacing-right-large:1.92%;--awb-margin-bottom-large:20px;--awb-spacing-left-large:1.92%;--awb-width-medium:100%;--awb-order-medium:0;--awb-spacing-right-medium:1.92%;--awb-spacing-left-medium:1.92%;--awb-width-small:100%;--awb-order-small:0;--awb-spacing-right-small:1.92%;--awb-spacing-left-small:1.92%;\"><div class=\"fusion-column-wrapper fusion-column-has-shadow fusion-flex-justify-content-flex-start fusion-content-layout-column\"><div class=\"fusion-text fusion-text-4\" style=\"--awb-font-size:24px;--awb-line-height:1;--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:700;\"><p><strong>\u4e00\u3001\u5b9e\u9a8c\u76ee\u7684<\/strong><\/p>\n<\/div><div class=\"fusion-text fusion-text-5\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><ul>\n<li>\u7406\u89e3\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\uff1a\u638c\u63e1\u7aef\u5230\u7aef\u67b6\u6784\u4e0e\u4f20\u7edf\u6a21\u5757\u5316\u67b6\u6784\u7684\u5dee\u5f02\uff0c\u7406\u89e3\u5176\u8f93\u5165\u3001\u8f93\u51fa\u3001\u4f18\u52bf\u3001\u5c40\u9650\u6027\u4ee5\u53ca\u5728\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\u7684\u5b9a\u4f4d\u3002<\/li>\n<li>\u638c\u63e1UniAD\u793a\u4f8b\u6a21\u578b\uff1a\u4e86\u89e3UniAD\u4e2dTrackFormer\u3001MapFormer\u3001MotionFormer\u3001OccFormer\u4e0e\u89c4\u5212\u6a21\u5757\u7684\u529f\u80fd\u5206\u5de5\uff0c\u7406\u89e3\u67e5\u8be2\u673a\u5236\u3001BEV\u8868\u5f81\u548c\u201c\u611f\u77e5\u2014\u9884\u6d4b\u2014\u89c4\u5212\u201d\u8054\u5408\u4f18\u5316\u601d\u60f3\u3002<\/li>\n<li>\u638c\u63e1\u5b9e\u9a8c\u8fd0\u884c\u6d41\u7a0b\uff1a\u80fd\u591f\u5b8c\u6210Bench2DriveZoo\u9879\u76ee\u73af\u5883\u914d\u7f6e\u3001\u9884\u8bad\u7ec3\u6743\u91cd\u4e0e\u6570\u636e\u96c6\u51c6\u5907\uff0c\u8fd0\u884cUniAD-Tiny\u6216UniAD-Base\u7684\u5f00\u73af\u8bc4\u4f30\uff0c\u5e76\u5728\u5177\u5907\u6761\u4ef6\u65f6\u8fdb\u884cCARLA\u95ed\u73af\u6d4b\u8bd5\u3002<\/li>\n<li>\u5f62\u6210\u7ed3\u679c\u5206\u6790\u80fd\u529b\uff1a\u80fd\u591f\u7ed3\u5408\u89c4\u5212L2\u3001\u78b0\u649e\u7387\u3001Driving Score\u3001\u8def\u7ebf\u5b8c\u6210\u7387\u4ee5\u53caRGB\/BEV\u53ef\u89c6\u5316\u7ed3\u679c\uff0c\u5206\u6790\u7aef\u5230\u7aef\u6a21\u578b\u5728\u590d\u6742\u573a\u666f\u4e2d\u7684\u6210\u529f\u4e0e\u5931\u8d25\u539f\u56e0\u3002<\/li>\n<\/ul>\n<\/div><\/div><\/div><\/div><div class=\"fusion-builder-row fusion-builder-row-inner fusion-row fusion-flex-align-items-flex-start fusion-flex-content-wrap\" style=\"width:104% !important;max-width:104% !important;margin-left: calc(-4% \/ 2 );margin-right: calc(-4% \/ 2 );\"><div class=\"fusion-layout-column fusion_builder_column_inner fusion-builder-nested-column-4 fusion_builder_column_inner_1_1 1_1 fusion-flex-column\" style=\"--awb-bg-size:cover;--awb-width-large:100%;--awb-margin-top-large:0px;--awb-spacing-right-large:1.92%;--awb-margin-bottom-large:20px;--awb-spacing-left-large:1.92%;--awb-width-medium:100%;--awb-order-medium:0;--awb-spacing-right-medium:1.92%;--awb-spacing-left-medium:1.92%;--awb-width-small:100%;--awb-order-small:0;--awb-spacing-right-small:1.92%;--awb-spacing-left-small:1.92%;\"><div class=\"fusion-column-wrapper fusion-column-has-shadow fusion-flex-justify-content-flex-start fusion-content-layout-column\"><div class=\"fusion-text fusion-text-6\" style=\"--awb-font-size:24px;--awb-line-height:1;--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:700;\"><p><strong>\u4e8c\u3001\u5b9e\u9a8c\u6d89\u53ca\u7684\u77e5\u8bc6\u70b9<\/strong><\/p>\n<\/div><div class=\"fusion-text fusion-text-7\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p>\u5b9e\u9a8c\u9879\u76ee\u6d89\u53ca\u5230\u7684\u4e3b\u8981\u7406\u8bba\u77e5\u8bc6\u70b9\u5305\u62ec\uff1a<\/p>\n<ul>\n<li>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u4e0e\u6a21\u5757\u5316\u81ea\u52a8\u9a7e\u9a76\u67b6\u6784<\/li>\n<li>BEV\u8868\u5f81\u3001\u591a\u76f8\u673a\u611f\u77e5\u878d\u5408\u4e0eTransformer\u67e5\u8be2\u673a\u5236<\/li>\n<li>UniAD\u4e2d\u68c0\u6d4b\u8ddf\u8e2a\u3001\u5728\u7ebf\u5730\u56fe\u3001\u8fd0\u52a8\u9884\u6d4b\u3001\u5360\u7528\u9884\u6d4b\u4e0e\u89c4\u5212\u6a21\u5757\u7684\u534f\u540c\u5173\u7cfb<\/li>\n<li>\u4e24\u9636\u6bb5\u8bad\u7ec3\u7b56\u7565\u3001\u4efb\u52a1\u635f\u5931\u52a0\u6743\u4e0e\u591a\u4efb\u52a1\u5b66\u4e60\u7a33\u5b9a\u6027<\/li>\n<li>Bench2Drive\/Bench2DriveZoo\u6570\u636e\u96c6\u3001\u5f00\u73af\u8bc4\u4f30\u4e0eCARLA\u95ed\u73af\u6d4b\u8bd5\u65b9\u6cd5<\/li>\n<\/ul>\n<\/div><\/div><\/div><\/div><div class=\"fusion-builder-row fusion-builder-row-inner fusion-row fusion-flex-align-items-flex-start fusion-flex-content-wrap\" style=\"width:104% !important;max-width:104% !important;margin-left: calc(-4% \/ 2 );margin-right: calc(-4% \/ 2 );\"><div class=\"fusion-layout-column fusion_builder_column_inner fusion-builder-nested-column-5 fusion_builder_column_inner_1_1 1_1 fusion-flex-column\" style=\"--awb-bg-size:cover;--awb-width-large:100%;--awb-margin-top-large:0px;--awb-spacing-right-large:1.92%;--awb-margin-bottom-large:20px;--awb-spacing-left-large:1.92%;--awb-width-medium:100%;--awb-order-medium:0;--awb-spacing-right-medium:1.92%;--awb-spacing-left-medium:1.92%;--awb-width-small:100%;--awb-order-small:0;--awb-spacing-right-small:1.92%;--awb-spacing-left-small:1.92%;\"><div class=\"fusion-column-wrapper fusion-column-has-shadow fusion-flex-justify-content-flex-start fusion-content-layout-column\"><div class=\"fusion-text fusion-text-8\" style=\"--awb-font-size:24px;--awb-line-height:1;--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:700;\"><p><strong>\u4e09\u3001\u5b9e\u9a8c\u4eea\u5668\u8bbe\u5907\u53ca\u529f\u80fd<\/strong><\/p>\n<\/div><div class=\"fusion-text fusion-text-9\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><ul>\n<li><strong>\u786c\u4ef6\u8bbe\u5907\uff1a<\/strong>Ubuntu 18.04\u53ca\u4ee5\u4e0a\u7cfb\u7edf\uff1bNVIDIA\u72ec\u7acb\u663e\u5361\uff0c\u63a8\u8350\u663e\u5b58\u4e0d\u5c11\u4e8e16GB\uff1b\u7528\u4e8e\u6570\u636e\u96c6\u4e0e\u6a21\u578b\u6743\u91cd\u5b58\u50a8\u7684\u5145\u8db3\u78c1\u76d8\u7a7a\u95f4\uff1b<\/li>\n<li><strong>\u5f00\u53d1\u73af\u5883\uff1a<\/strong>Python 3.8\uff1bAnaconda\/Miniconda\/CondaForge\uff1bCUDA 11.8\uff1bPyTorch GPU\u7248\uff1bninja\u3001packaging\u7b49\u7f16\u8bd1\u8f85\u52a9\u5de5\u5177\uff1bBench2DriveZoo\u3001Bench2Drive\u4e0eCARLA 0.9.15\u3002<\/li>\n<li><strong>\u8fd0\u884c\u65b9\u5f0f\uff1a<\/strong>\u63a8\u8350\u4f18\u5148\u4f7f\u7528\u5c0f\u89c4\u6a21\u6570\u636e\u5305\u5b8c\u6210UniAD-Tiny\u5f00\u73af\u9a8c\u8bc1\uff1b\u5177\u5907GPU\u4e0eCARLA\u73af\u5883\u65f6\uff0c\u53ef\u5728\u672c\u5730\u5b8c\u6210\u95ed\u73af\u6d4b\u8bd5\u3002\u5168\u91cfBench2Drive\u6570\u636e\u96c6\u89c4\u6a21\u8f83\u5927\uff0c\u8bad\u7ec3\u5b9e\u9a8c\u53ef\u4f7f\u7528\u5b98\u65b9\u6216\u8bfe\u7a0b\u63d0\u4f9b\u7684\u5b50\u96c6\u3002<\/li>\n<\/ul>\n<\/div><\/div><\/div><\/div><div class=\"fusion-separator fusion-full-width-sep\" style=\"align-self: center;margin-left: auto;margin-right: auto;width:100%;\"><div class=\"fusion-separator-border sep-double\" style=\"--awb-height:20px;--awb-amount:20px;border-color:var(--awb-color3);border-top-width:1px;border-bottom-width:1px;\"><\/div><\/div><div class=\"fusion-builder-row fusion-builder-row-inner fusion-row fusion-flex-align-items-flex-start fusion-flex-content-wrap\" style=\"width:104% !important;max-width:104% !important;margin-left: calc(-4% \/ 2 );margin-right: calc(-4% \/ 2 );\"><div class=\"fusion-layout-column fusion_builder_column_inner fusion-builder-nested-column-6 fusion_builder_column_inner_1_1 1_1 fusion-flex-column\" style=\"--awb-bg-size:cover;--awb-width-large:100%;--awb-margin-top-large:0px;--awb-spacing-right-large:1.92%;--awb-margin-bottom-large:20px;--awb-spacing-left-large:1.92%;--awb-width-medium:100%;--awb-order-medium:0;--awb-spacing-right-medium:1.92%;--awb-spacing-left-medium:1.92%;--awb-width-small:100%;--awb-order-small:0;--awb-spacing-right-small:1.92%;--awb-spacing-left-small:1.92%;\"><div class=\"fusion-column-wrapper fusion-column-has-shadow fusion-flex-justify-content-flex-start fusion-content-layout-column\"><div class=\"fusion-text fusion-text-10 fusion-text-no-margin\" style=\"--awb-font-size:24px;--awb-line-height:1;--awb-margin-bottom:0px;--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:300;\"><h4 style=\"padding-left: 0px;\">\u56db\u3001\u5b9e\u9a8c\u5185\u5bb9\u4e0e\u6b65\u9aa4<\/h4>\n<\/div><div class=\"fusion-text fusion-text-11\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p>\u672c\u5b9e\u9a8c\u9ed8\u8ba4\u4ee5Bench2DriveZoo\u4e2d\u7684UniAD-Tiny\u4e3a\u5b9e\u8df5\u5bf9\u8c61\u3002\u82e5\u786c\u4ef6\u8d44\u6e90\u5145\u8db3\uff0c\u53ef\u8fdb\u4e00\u6b65\u8fd0\u884cUniAD-Base\u6216\u8fdb\u884c\u77ed\u8f6e\u6b21\u8bad\u7ec3\uff1b\u82e5\u8d44\u6e90\u6709\u9650\uff0c\u53ef\u4f7f\u7528\u9884\u8bad\u7ec3\u6743\u91cd\u5b8c\u6210\u5f00\u73af\u8bc4\u4f30\u4e0e\u53ef\u89c6\u5316\u5206\u6790\u3002<\/p>\n<p><strong>0. \u9879\u76ee\u7ed3\u6784\u8ba4\u8bc6\uff1a<\/strong><\/p>\n<p>\u4e0b\u8f7dBench2DriveZoo\u540e\uff0c\u91cd\u70b9\u9605\u8bfb\u4ee5\u4e0b\u76ee\u5f55\uff0c\u660e\u786e\u914d\u7f6e\u3001\u6a21\u578b\u3001\u6570\u636e\u548c\u95ed\u73af\u6d4b\u8bd5\u4ee3\u7801\u7684\u4f4d\u7f6e\uff1a<\/p>\n<\/div><style type=\"text\/css\" scopped=\"scopped\">.fusion-syntax-highlighter-1 > .CodeMirror, .fusion-syntax-highlighter-1 > .CodeMirror .CodeMirror-gutters {background-color:var(--awb-color1);}.fusion-syntax-highlighter-1 > .CodeMirror .CodeMirror-gutters { background-color: var(--awb-color2); }.fusion-syntax-highlighter-1 > .CodeMirror .CodeMirror-linenumber { color: var(--awb-color8); }<\/style><div class=\"fusion-syntax-highlighter-container fusion-syntax-highlighter-1 fusion-syntax-highlighter-theme-light\" style=\"opacity:0;margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0px;font-size:14px;border-width:1px;border-style:solid;border-color:var(--awb-color3);\"><div class=\"syntax-highlighter-copy-code\"><span class=\"syntax-highlighter-copy-code-title\" data-id=\"fusion_syntax_highlighter_1\" style=\"font-size:14px;\">Copy to Clipboard<\/span><\/div><label for=\"fusion_syntax_highlighter_1\" class=\"screen-reader-text\">Syntax Highlighter<\/label><textarea class=\"fusion-syntax-highlighter-textarea\" id=\"fusion_syntax_highlighter_1\" data-readOnly=\"nocursor\" data-lineNumbers=\"1\" data-lineWrapping=\"\" data-theme=\"default\" data-mode=\"text\/x-sh\">Bench2DriveZoo\/\n  adzoo\/uniad\/                 # UniAD\u6a21\u578b\u3001\u914d\u7f6e\u4e0e\u8bad\u7ec3\u8bc4\u4f30\u811a\u672c\n  ckpts\/                       # \u9884\u8bad\u7ec3\u6743\u91cd\u4e0eUniAD checkpoint\n  data\/bench2drive\/            # Bench2Drive\u6570\u636e\u3001infos\u4e0e\u5730\u56fe\u6587\u4ef6\n  team_code\/                   # CARLA\u95ed\u73af\u6d4b\u8bd5\u5165\u53e3\u4ee3\u7801<\/textarea><\/div><div class=\"fusion-text fusion-text-12\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p><strong>1. \u521b\u5efa\u8fd0\u884c\u73af\u5883\uff1a<\/strong><\/p>\n<p>\u7b2c\u4e00\u6b65\uff1a\u521b\u5efa\u865a\u62df\u73af\u5883<\/p>\n<\/div><style type=\"text\/css\" scopped=\"scopped\">.fusion-syntax-highlighter-2 > .CodeMirror, .fusion-syntax-highlighter-2 > .CodeMirror .CodeMirror-gutters {background-color:var(--awb-color1);}.fusion-syntax-highlighter-2 > .CodeMirror .CodeMirror-gutters { background-color: var(--awb-color2); }.fusion-syntax-highlighter-2 > .CodeMirror .CodeMirror-linenumber { color: var(--awb-color8); }<\/style><div class=\"fusion-syntax-highlighter-container fusion-syntax-highlighter-2 fusion-syntax-highlighter-theme-light\" style=\"opacity:0;margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0px;font-size:14px;border-width:1px;border-style:solid;border-color:var(--awb-color3);\"><div class=\"syntax-highlighter-copy-code\"><span class=\"syntax-highlighter-copy-code-title\" data-id=\"fusion_syntax_highlighter_2\" style=\"font-size:14px;\">Copy to Clipboard<\/span><\/div><label for=\"fusion_syntax_highlighter_2\" class=\"screen-reader-text\">Syntax Highlighter<\/label><textarea class=\"fusion-syntax-highlighter-textarea\" id=\"fusion_syntax_highlighter_2\" data-readOnly=\"nocursor\" data-lineNumbers=\"1\" data-lineWrapping=\"\" data-theme=\"default\" data-mode=\"text\/x-sh\">## \u9700\u8981\u4f7f\u7528Python3.8\u7248\u672c\nconda create -n onsite python=3.8\nconda activate onsite\n<\/textarea><\/div><div class=\"fusion-text fusion-text-13\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p>\u7b2c\u4e8c\u6b65\uff1a\u5b89\u88c5cuda\u5de5\u5177\u94fe<\/p>\n<\/div><style type=\"text\/css\" scopped=\"scopped\">.fusion-syntax-highlighter-3 > .CodeMirror, .fusion-syntax-highlighter-3 > .CodeMirror .CodeMirror-gutters {background-color:var(--awb-color1);}.fusion-syntax-highlighter-3 > .CodeMirror .CodeMirror-gutters { background-color: var(--awb-color2); }.fusion-syntax-highlighter-3 > .CodeMirror .CodeMirror-linenumber { color: var(--awb-color8); }<\/style><div class=\"fusion-syntax-highlighter-container fusion-syntax-highlighter-3 fusion-syntax-highlighter-theme-light\" style=\"opacity:0;margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0px;font-size:14px;border-width:1px;border-style:solid;border-color:var(--awb-color3);\"><div class=\"syntax-highlighter-copy-code\"><span class=\"syntax-highlighter-copy-code-title\" data-id=\"fusion_syntax_highlighter_3\" style=\"font-size:14px;\">Copy to Clipboard<\/span><\/div><label for=\"fusion_syntax_highlighter_3\" class=\"screen-reader-text\">Syntax Highlighter<\/label><textarea class=\"fusion-syntax-highlighter-textarea\" id=\"fusion_syntax_highlighter_3\" data-readOnly=\"nocursor\" data-lineNumbers=\"1\" data-lineWrapping=\"\" data-theme=\"default\" data-mode=\"text\/x-sh\"># \u4f7f\u7528cuda 11.8\uff0c\u5426\u5219\u4f1a\u51fa\u73b0\u517c\u5bb9\u9519\u8bef\nconda install -c \"nvidia\/label\/cuda-11.8.0\" cuda-toolkit<\/textarea><\/div><div class=\"fusion-text fusion-text-14\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p>\u7b2c\u4e09\u6b65\uff1a\u5b89\u88c5Torch<\/p>\n<\/div><style type=\"text\/css\" scopped=\"scopped\">.fusion-syntax-highlighter-4 > .CodeMirror, .fusion-syntax-highlighter-4 > .CodeMirror .CodeMirror-gutters {background-color:var(--awb-color1);}.fusion-syntax-highlighter-4 > .CodeMirror .CodeMirror-gutters { background-color: var(--awb-color2); }.fusion-syntax-highlighter-4 > .CodeMirror .CodeMirror-linenumber { color: var(--awb-color8); }<\/style><div class=\"fusion-syntax-highlighter-container fusion-syntax-highlighter-4 fusion-syntax-highlighter-theme-light\" style=\"opacity:0;margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0px;font-size:14px;border-width:1px;border-style:solid;border-color:var(--awb-color3);\"><div class=\"syntax-highlighter-copy-code\"><span class=\"syntax-highlighter-copy-code-title\" data-id=\"fusion_syntax_highlighter_4\" style=\"font-size:14px;\">Copy to Clipboard<\/span><\/div><label for=\"fusion_syntax_highlighter_4\" class=\"screen-reader-text\">Syntax Highlighter<\/label><textarea class=\"fusion-syntax-highlighter-textarea\" id=\"fusion_syntax_highlighter_4\" data-readOnly=\"nocursor\" data-lineNumbers=\"1\" data-lineWrapping=\"\" data-theme=\"default\" data-mode=\"text\/x-sh\"># \u4e0d\u8981\u4f7f\u7528\u955c\u50cf\u6e90\uff0c\u955c\u50cf\u6e90\u7248\u672c\u4e3aCPU\u7248\u672c\uff0c\u65e0\u6cd5\u8fdb\u884c\u63a8\u7406\npip install torch torchvision torchaudio\\\n --index-url https:\/\/download.pytorch.org\/whl\/cu118<\/textarea><\/div><div class=\"fusion-text fusion-text-15\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p>\u7b2c\u56db\u6b65\uff1a\u8bbe\u7f6e\u73af\u5883\u53d8\u91cf<\/p>\n<\/div><style type=\"text\/css\" scopped=\"scopped\">.fusion-syntax-highlighter-5 > .CodeMirror, .fusion-syntax-highlighter-5 > .CodeMirror .CodeMirror-gutters {background-color:var(--awb-color1);}.fusion-syntax-highlighter-5 > .CodeMirror .CodeMirror-gutters { background-color: var(--awb-color2); }.fusion-syntax-highlighter-5 > .CodeMirror .CodeMirror-linenumber { color: var(--awb-color8); }<\/style><div class=\"fusion-syntax-highlighter-container fusion-syntax-highlighter-5 fusion-syntax-highlighter-theme-light\" style=\"opacity:0;margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0px;font-size:14px;border-width:1px;border-style:solid;border-color:var(--awb-color3);\"><div class=\"syntax-highlighter-copy-code\"><span class=\"syntax-highlighter-copy-code-title\" data-id=\"fusion_syntax_highlighter_5\" style=\"font-size:14px;\">Copy to Clipboard<\/span><\/div><label for=\"fusion_syntax_highlighter_5\" class=\"screen-reader-text\">Syntax Highlighter<\/label><textarea class=\"fusion-syntax-highlighter-textarea\" id=\"fusion_syntax_highlighter_5\" data-readOnly=\"nocursor\" data-lineNumbers=\"1\" data-lineWrapping=\"\" data-theme=\"default\" data-mode=\"text\/x-sh\"># cuda 11.8\u548cGCC 9.4\u7248\u672c\u9700\u8981\u56fa\u5b9a\uff0c\u5426\u5219\u5bb9\u6613\u51fa\u73b0\u62a5\u9519\nexport PATH=YOUR_GCC_PATH\/bin:$PATH\uff08\u9ed8\u8ba4\u4e3a\/usr\/bin\uff09\nexport CUDA_HOME=YOUR_CUDA_PATH\/\uff08\u9ed8\u8ba4\u4e3a\/usr\/local\/cuda-11.8\uff09<\/textarea><\/div><div class=\"fusion-text fusion-text-16\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p>\u7b2c\u4e94\u6b65\uff1a\u5b89\u88c5ninja\u548cpackaging\u8f85\u52a9\u7f16\u8bd1<\/p>\n<\/div><style type=\"text\/css\" scopped=\"scopped\">.fusion-syntax-highlighter-6 > .CodeMirror, .fusion-syntax-highlighter-6 > .CodeMirror .CodeMirror-gutters {background-color:var(--awb-color1);}.fusion-syntax-highlighter-6 > .CodeMirror .CodeMirror-gutters { background-color: var(--awb-color2); }.fusion-syntax-highlighter-6 > .CodeMirror .CodeMirror-linenumber { color: var(--awb-color8); }<\/style><div class=\"fusion-syntax-highlighter-container fusion-syntax-highlighter-6 fusion-syntax-highlighter-theme-light\" style=\"opacity:0;margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0px;font-size:14px;border-width:1px;border-style:solid;border-color:var(--awb-color3);\"><div class=\"syntax-highlighter-copy-code\"><span class=\"syntax-highlighter-copy-code-title\" data-id=\"fusion_syntax_highlighter_6\" style=\"font-size:14px;\">Copy to Clipboard<\/span><\/div><label for=\"fusion_syntax_highlighter_6\" class=\"screen-reader-text\">Syntax Highlighter<\/label><textarea class=\"fusion-syntax-highlighter-textarea\" id=\"fusion_syntax_highlighter_6\" data-readOnly=\"nocursor\" data-lineNumbers=\"1\" data-lineWrapping=\"\" data-theme=\"default\" data-mode=\"text\/x-sh\">pip install ninja packaging<\/textarea><\/div><div class=\"fusion-text fusion-text-17\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p>\u7b2c\u516d\u6b65\uff1aclone\u9879\u76ee\u5e76\u8fdb\u884c\u5b89\u88c5<\/p>\n<\/div><style type=\"text\/css\" scopped=\"scopped\">.fusion-syntax-highlighter-7 > .CodeMirror, .fusion-syntax-highlighter-7 > .CodeMirror .CodeMirror-gutters {background-color:var(--awb-color1);}.fusion-syntax-highlighter-7 > .CodeMirror .CodeMirror-gutters { background-color: var(--awb-color2); }.fusion-syntax-highlighter-7 > .CodeMirror .CodeMirror-linenumber { color: var(--awb-color8); }<\/style><div class=\"fusion-syntax-highlighter-container fusion-syntax-highlighter-7 fusion-syntax-highlighter-theme-light\" style=\"opacity:0;margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0px;font-size:14px;border-width:1px;border-style:solid;border-color:var(--awb-color3);\"><div class=\"syntax-highlighter-copy-code\"><span class=\"syntax-highlighter-copy-code-title\" data-id=\"fusion_syntax_highlighter_7\" style=\"font-size:14px;\">Copy to Clipboard<\/span><\/div><label for=\"fusion_syntax_highlighter_7\" class=\"screen-reader-text\">Syntax Highlighter<\/label><textarea class=\"fusion-syntax-highlighter-textarea\" id=\"fusion_syntax_highlighter_7\" data-readOnly=\"nocursor\" data-lineNumbers=\"1\" data-lineWrapping=\"\" data-theme=\"default\" data-mode=\"text\/x-sh\">git clone https:\/\/github.com\/Thinklab-SJTU\/Bench2DriveZoo.git\ncd Bench2DriveZoo && pip install -v -e .\n<\/textarea><\/div><div class=\"fusion-text fusion-text-18\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p>\u6ce8\u610f\uff1aCUDA\u3001GCC\u4e0ePyTorch\u7248\u672c\u4e0d\u4e00\u81f4\u65f6\uff0c\u5e38\u89c1\u62a5\u9519\u96c6\u4e2d\u5728MMCV\u7f16\u8bd1\u3001CUDA extension\u52a0\u8f7d\u548c\u63a8\u7406\u9636\u6bb5\u3002<\/p>\n<\/div><div class=\"fusion-text fusion-text-19\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p><strong>2. \u51c6\u5907\u9884\u8bad\u7ec3\u6743\u91cd\uff1a<\/strong><\/p>\n<p>\u5728\u9879\u76ee\u6839\u76ee\u5f55\u521b\u5efackpt\u6587\u4ef6\u5939\uff0c\u4e0b\u8f7d\u89c6\u89c9\u7f16\u7801\u5668\u9884\u8bad\u7ec3\u6743\u91cd\u548cUniAD checkpoint\u3002\u8bfe\u7a0b\u5b9e\u9a8c\u4f18\u5148\u63a8\u8350\u4f7f\u7528UniAD-Tiny\u6743\u91cd\u5b8c\u6210\u5f00\u73af\u9a8c\u8bc1\u3002<\/p>\n<\/div><style type=\"text\/css\" scopped=\"scopped\">.fusion-syntax-highlighter-8 > .CodeMirror, .fusion-syntax-highlighter-8 > .CodeMirror .CodeMirror-gutters {background-color:var(--awb-color1);}.fusion-syntax-highlighter-8 > .CodeMirror .CodeMirror-gutters { background-color: var(--awb-color2); }.fusion-syntax-highlighter-8 > .CodeMirror .CodeMirror-linenumber { color: var(--awb-color8); }<\/style><div class=\"fusion-syntax-highlighter-container fusion-syntax-highlighter-8 fusion-syntax-highlighter-theme-light\" style=\"opacity:0;margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0px;font-size:14px;border-width:1px;border-style:solid;border-color:var(--awb-color3);\"><div class=\"syntax-highlighter-copy-code\"><span class=\"syntax-highlighter-copy-code-title\" data-id=\"fusion_syntax_highlighter_8\" style=\"font-size:14px;\">Copy to Clipboard<\/span><\/div><label for=\"fusion_syntax_highlighter_8\" class=\"screen-reader-text\">Syntax Highlighter<\/label><textarea class=\"fusion-syntax-highlighter-textarea\" id=\"fusion_syntax_highlighter_8\" data-readOnly=\"nocursor\" data-lineNumbers=\"1\" data-lineWrapping=\"\" data-theme=\"default\" data-mode=\"text\/x-sh\">mkdir -p ckpts\n# resnet50-19c8e357.pth\n# r101_dcn_fcos3d_pretrain.pth\n# uniad_tiny_b2d.pth\n<\/textarea><\/div><div class=\"fusion-text fusion-text-20\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p>\u5b98\u65b9\u8d44\u6e90\u4f4d\u4e8eHuggingFace\u7684rethinklab\/Bench2DriveZoo\u4e0erethinklab\/Bench2Drive\u6570\u636e\u9875\u9762\u3002\u82e5\u76f4\u8fde\u901f\u5ea6\u8f83\u6162\uff0c\u53ef\u4f7f\u7528\u955c\u50cf\u4ee3\u7406\u4e0b\u8f7d\u3002<\/p>\n<p>\u4e0b\u8f7d\u94fe\u63a5\uff1a<\/p>\n<\/div><style type=\"text\/css\" scopped=\"scopped\">.fusion-syntax-highlighter-9 > .CodeMirror, .fusion-syntax-highlighter-9 > .CodeMirror .CodeMirror-gutters {background-color:var(--awb-color1);}.fusion-syntax-highlighter-9 > .CodeMirror .CodeMirror-gutters { background-color: var(--awb-color2); }.fusion-syntax-highlighter-9 > .CodeMirror .CodeMirror-linenumber { color: var(--awb-color8); }<\/style><div class=\"fusion-syntax-highlighter-container fusion-syntax-highlighter-9 fusion-syntax-highlighter-theme-light\" style=\"opacity:0;margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0px;font-size:14px;border-width:1px;border-style:solid;border-color:var(--awb-color3);\"><div class=\"syntax-highlighter-copy-code\"><span class=\"syntax-highlighter-copy-code-title\" data-id=\"fusion_syntax_highlighter_9\" style=\"font-size:14px;\">Copy to Clipboard<\/span><\/div><label for=\"fusion_syntax_highlighter_9\" class=\"screen-reader-text\">Syntax Highlighter<\/label><textarea class=\"fusion-syntax-highlighter-textarea\" id=\"fusion_syntax_highlighter_9\" data-readOnly=\"nocursor\" data-lineNumbers=\"1\" data-lineWrapping=\"\" data-theme=\"default\" data-mode=\"text\/x-sh\">resnet50-19c8e357.pth\u94fe\u63a5\uff1a\nhttps:\/\/huggingface.co\/rethinklab\/Bench2DriveZoo\/blob\/main\/resnet50-19c8e357.pth\nr101_dcn_fcos3d_pretrain.pth\u94fe\u63a5\uff1a\nhttps:\/\/huggingface.co\/rethinklab\/Bench2DriveZoo\/blob\/main\/r101_dcn_fcos3d_pretrain.pth<\/textarea><\/div><div class=\"fusion-text fusion-text-21\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p><strong>3. \u51c6\u5907Bench2Drive\u6570\u636e\u96c6\uff1a<\/strong><\/p>\n<p>\u6309\u7167\u5b98\u65b9\u6570\u636e\u96c6\u7ec4\u7ec7\u76ee\u5f55\u3002\u5168\u91cfBench2Drive-Full\u89c4\u6a21\u7ea6\u4e3aTB\u7ea7\uff0c\u666e\u901a\u8bfe\u7a0b\u5b9e\u9a8c\u4e0d\u8981\u6c42\u5b8c\u6574\u4e0b\u8f7d\uff1b\u4f7f\u7528400GB\u7248\u672c\u6216\u8bfe\u7a0b\u5b50\u96c6\u5373\u53ef\u5b8c\u6210\u8bad\u7ec3\u6d41\u7a0b\u7406\u89e3\u4e0e\u5f00\u73af\u9a8c\u8bc1<\/p>\n<\/div><style type=\"text\/css\" scopped=\"scopped\">.fusion-syntax-highlighter-10 > .CodeMirror, .fusion-syntax-highlighter-10 > .CodeMirror .CodeMirror-gutters {background-color:var(--awb-color1);}.fusion-syntax-highlighter-10 > .CodeMirror .CodeMirror-gutters { background-color: var(--awb-color2); }.fusion-syntax-highlighter-10 > .CodeMirror .CodeMirror-linenumber { color: var(--awb-color8); }<\/style><div class=\"fusion-syntax-highlighter-container fusion-syntax-highlighter-10 fusion-syntax-highlighter-theme-light\" style=\"opacity:0;margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0px;font-size:14px;border-width:1px;border-style:solid;border-color:var(--awb-color3);\"><div class=\"syntax-highlighter-copy-code\"><span class=\"syntax-highlighter-copy-code-title\" data-id=\"fusion_syntax_highlighter_10\" style=\"font-size:14px;\">Copy to Clipboard<\/span><\/div><label for=\"fusion_syntax_highlighter_10\" class=\"screen-reader-text\">Syntax Highlighter<\/label><textarea class=\"fusion-syntax-highlighter-textarea\" id=\"fusion_syntax_highlighter_10\" data-readOnly=\"nocursor\" data-lineNumbers=\"1\" data-lineWrapping=\"\" data-theme=\"default\" data-mode=\"text\/x-sh\">data\/bench2drive\/\n  v1\/                         # \u573a\u666f\u6570\u636e\uff0c\u4f8b\u5982Accident_Town03_Route101_Weather23\n  maps\/                       # Town01_HD_map.npz\u7b49\u5730\u56fe\u6587\u4ef6\n  infos\/                      # b2d_infos_train.pkl\/b2d_infos_val.pkl\n  others\/                     # b2d_motion_anchor_infos_mode6.pkl\n  splits\/                     # bench2drive_base_train_val_split.json\n<\/textarea><\/div><div class=\"fusion-text fusion-text-22\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p><strong>4. \u8fd0\u884c<\/strong><strong>UniAD<\/strong><strong>\u5f00\u73af\u9a8c\u8bc1<\/strong><strong>\uff1a<\/strong><\/p>\n<p>\u5728\u6570\u636e\u3001\u914d\u7f6e\u548ccheckpoint\u51c6\u5907\u5b8c\u6210\u540e\uff0c\u8fd0\u884cUniAD-Tiny\u7684\u5f00\u73af\u8bc4\u4f30\u811a\u672c\u3002\u8bb0\u5f55\u7ec8\u7aef\u8f93\u51fa\u4e2d\u7684\u89c4\u5212\u8bef\u5dee\u3001\u78b0\u649e\u76f8\u5173\u6307\u6807\u548c\u53ef\u89c6\u5316\u6587\u4ef6\u8def\u5f84\u3002<\/p>\n<\/div><style type=\"text\/css\" scopped=\"scopped\">.fusion-syntax-highlighter-11 > .CodeMirror, .fusion-syntax-highlighter-11 > .CodeMirror .CodeMirror-gutters {background-color:var(--awb-color1);}.fusion-syntax-highlighter-11 > .CodeMirror .CodeMirror-gutters { background-color: var(--awb-color2); }.fusion-syntax-highlighter-11 > .CodeMirror .CodeMirror-linenumber { color: var(--awb-color8); }<\/style><div class=\"fusion-syntax-highlighter-container fusion-syntax-highlighter-11 fusion-syntax-highlighter-theme-light\" style=\"opacity:0;margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0px;font-size:14px;border-width:1px;border-style:solid;border-color:var(--awb-color3);\"><div class=\"syntax-highlighter-copy-code\"><span class=\"syntax-highlighter-copy-code-title\" data-id=\"fusion_syntax_highlighter_11\" style=\"font-size:14px;\">Copy to Clipboard<\/span><\/div><label for=\"fusion_syntax_highlighter_11\" class=\"screen-reader-text\">Syntax Highlighter<\/label><textarea class=\"fusion-syntax-highlighter-textarea\" id=\"fusion_syntax_highlighter_11\" data-readOnly=\"nocursor\" data-lineNumbers=\"1\" data-lineWrapping=\"\" data-theme=\"default\" data-mode=\"text\/x-sh\">.\/adzoo\/uniad\/uniad_dist_eval.sh .\/adzoo\/uniad\/configs\/stage2_e2e\/tiny_e2e_b2d.py.\/ckpts\/uniad_tiny_b2d.pth 1<\/textarea><\/div><div class=\"fusion-text fusion-text-23\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p>\u82e5\u9700\u8981\u590d\u73b0\u5b9e\u9a8c\u8bad\u7ec3\u6d41\u7a0b\uff0c\u53ef\u53c2\u8003\u4e24\u9636\u6bb5\u8bad\u7ec3\u547d\u4ee4\u3002Stage1\u8bad\u7ec3track\/map\uff0cStage2\u8fdb\u884c\u7aef\u5230\u7aef\u8054\u5408\u8bad\u7ec3\u3002\u53d7\u663e\u5b58\u548c\u65f6\u95f4\u9650\u5236\uff0c\u8bfe\u7a0b\u5b9e\u8df5\u53ef\u53ea\u9605\u8bfb\u914d\u7f6e\u6216\u8fdb\u884c\u5c11\u91cfepoch\u9a8c\u8bc1\u3002<\/p>\n<\/div><style type=\"text\/css\" scopped=\"scopped\">.fusion-syntax-highlighter-12 > .CodeMirror, .fusion-syntax-highlighter-12 > .CodeMirror .CodeMirror-gutters {background-color:var(--awb-color1);}.fusion-syntax-highlighter-12 > .CodeMirror .CodeMirror-gutters { background-color: var(--awb-color2); }.fusion-syntax-highlighter-12 > .CodeMirror .CodeMirror-linenumber { color: var(--awb-color8); }<\/style><div class=\"fusion-syntax-highlighter-container fusion-syntax-highlighter-12 fusion-syntax-highlighter-theme-light\" style=\"opacity:0;margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0px;font-size:14px;border-width:1px;border-style:solid;border-color:var(--awb-color3);\"><div class=\"syntax-highlighter-copy-code\"><span class=\"syntax-highlighter-copy-code-title\" data-id=\"fusion_syntax_highlighter_12\" style=\"font-size:14px;\">Copy to Clipboard<\/span><\/div><label for=\"fusion_syntax_highlighter_12\" class=\"screen-reader-text\">Syntax Highlighter<\/label><textarea class=\"fusion-syntax-highlighter-textarea\" id=\"fusion_syntax_highlighter_12\" data-readOnly=\"nocursor\" data-lineNumbers=\"1\" data-lineWrapping=\"\" data-theme=\"default\" data-mode=\"text\/x-sh\">.\/adzoo\/uniad\/uniad_dist_train.sh .\/adzoo\/uniad\/configs\/stage1_track_map\/tiny_track_map_b2d.py 4\n.\/adzoo\/uniad\/uniad_dist_train.sh .\/adzoo\/uniad\/configs\/stage2_e2e\/tiny_e2e_b2d.py 1\n<\/textarea><\/div><div class=\"fusion-text fusion-text-24\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p><strong>5. \u8fd0\u884cCARLA\u95ed\u73af\u6d4b\u8bd5<\/strong><strong>\uff1a<\/strong><\/p>\n<p>\u5177\u5907CARLA\u73af\u5883\u65f6\uff0c\u53ef\u4e0b\u8f7dCARLA0.9.15\u548cAdditionalMaps\uff0c\u5e76\u914d\u7f6eCARLA_ROOT\u4e0ePython API\u8def\u5f84\u3002\u968f\u540e\u5c06Bench2DriveZoo\u94fe\u63a5\u5230Bench2Drive\u7684leaderboard\u6d4b\u8bd5\u76ee\u5f55\uff0c\u8fd0\u884c\u95ed\u73af\u8bc4\u4ef7\u811a\u672c\u3002<\/p>\n<\/div><style type=\"text\/css\" scopped=\"scopped\">.fusion-syntax-highlighter-13 > .CodeMirror, .fusion-syntax-highlighter-13 > .CodeMirror .CodeMirror-gutters {background-color:var(--awb-color1);}.fusion-syntax-highlighter-13 > .CodeMirror .CodeMirror-gutters { background-color: var(--awb-color2); }.fusion-syntax-highlighter-13 > .CodeMirror .CodeMirror-linenumber { color: var(--awb-color8); }<\/style><div class=\"fusion-syntax-highlighter-container fusion-syntax-highlighter-13 fusion-syntax-highlighter-theme-light\" style=\"opacity:0;margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0px;font-size:14px;border-width:1px;border-style:solid;border-color:var(--awb-color3);\"><div class=\"syntax-highlighter-copy-code\"><span class=\"syntax-highlighter-copy-code-title\" data-id=\"fusion_syntax_highlighter_13\" style=\"font-size:14px;\">Copy to Clipboard<\/span><\/div><label for=\"fusion_syntax_highlighter_13\" class=\"screen-reader-text\">Syntax Highlighter<\/label><textarea class=\"fusion-syntax-highlighter-textarea\" id=\"fusion_syntax_highlighter_13\" data-readOnly=\"nocursor\" data-lineNumbers=\"1\" data-lineWrapping=\"\" data-theme=\"default\" data-mode=\"text\/x-sh\">export CARLA_ROOT=YOUR_CARLA_PATH\ngit clone https:\/\/github.com\/Thinklab-SJTU\/Bench2Drive.git\ncd Bench2Drive\/leaderboard && mkdir -p team_code\nln -s YOUR_Bench2DriveZoo_PATH\/team_code\/* .\/team_code\/\npython leaderboard\/leaderboard\/leaderboard_evaluator.py\n<\/textarea><\/div><div class=\"fusion-text fusion-text-25\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p>\u95ed\u73af\u6d4b\u8bd5\u91cd\u70b9\u8bb0\u5f55\u8def\u7ebf\u5b8c\u6210\u7387\u3001\u8fdd\u89c4\u60c5\u51b5\u3001\u78b0\u649e\u4e8b\u4ef6\u3001Driving Score\u4ee5\u53ca\u5931\u8d25\u573a\u666f\u622a\u56fe\u3002\u82e5\u65e0\u6cd5\u5b8c\u6210\u95ed\u73af\u6d4b\u8bd5\uff0c\u5e94\u5728\u5b9e\u9a8c\u62a5\u544a\u4e2d\u8bf4\u660e\u53d7\u9650\u539f\u56e0\uff0c\u5e76\u4f7f\u7528\u5f00\u73af\u53ef\u89c6\u5316\u7ed3\u679c\u5b8c\u6210\u5206\u6790\u3002<\/p>\n<\/div><div class=\"fusion-text fusion-text-26\" style=\"--awb-content-alignment:left;--awb-font-size:16px;--awb-line-height:1.5;--awb-letter-spacing:var(--awb-typography3-letter-spacing);--awb-text-transform:var(--awb-typography3-text-transform);--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:400;\"><p><strong>6. \u53c2\u6570\u4fee\u6539\u4e0e\u5bf9\u6bd4\u5206\u6790<\/strong><strong>\uff1a<\/strong><\/p>\n<p>\u5728\u4e0d\u5927\u5e45\u6539\u52a8\u6846\u67b6\u7684\u524d\u63d0\u4e0b\uff0c\u9009\u62e9\u4e00\u4e2a\u914d\u7f6e\u9879\u8fdb\u884c\u5bf9\u6bd4\u5b9e\u9a8c\uff0c\u4f8b\u5982queue_length\u3001planning_steps\u3001\u8fd0\u52a8\u6a21\u6001\u6570\u91cf\u3001\u89c4\u5212\u635f\u5931\u6743\u91cd\u6216\u78b0\u649e\u4f18\u5316\u76f8\u5173\u53c2\u6570\u3002\u6bcf\u6b21\u53ea\u4fee\u6539\u4e00\u4e2a\u53d8\u91cf\uff0c\u4fdd\u6301checkpoint\u3001\u6570\u636e\u5212\u5206\u548c\u8bc4\u4f30\u811a\u672c\u4e00\u81f4\uff0c\u6bd4\u8f83\u6307\u6807\u548c\u53ef\u89c6\u5316\u7ed3\u679c\u53d8\u5316\u3002<\/p>\n<p>\u5b8c\u6210\u5f00\u73af\u8bc4\u4f30\u540e\uff0c\u6574\u7406\u6a21\u578b\u8f93\u51fa\u7684RGB\u89c6\u89d2\u3001BEV\u89c6\u89d2\u3001\u76ee\u6807\u68c0\u6d4b\u8ddf\u8e2a\u7ed3\u679c\u3001\u672a\u6765\u8f68\u8ff9\u3001\u5360\u7528\u9884\u6d4b\u548cego\u89c4\u5212\u8f68\u8ff9\u3002\u91cd\u70b9\u89c2\u5bdf\u89c4\u5212\u8f68\u8ff9\u662f\u5426\u8d34\u5408\u5bfc\u822a\u6307\u4ee4\uff0c\u662f\u5426\u907f\u5f00\u5360\u7528\u98ce\u9669\u533a\u57df\uff0c\u662f\u5426\u5b58\u5728\u4e0d\u5408\u7406\u6025\u8f6c\u3001\u7a7f\u8d8a\u969c\u788d\u7269\u6216\u504f\u79bb\u8f66\u9053\u7b49\u73b0\u8c61\u3002<\/p>\n<\/div><\/div><\/div><\/div><div class=\"fusion-separator fusion-full-width-sep\" style=\"align-self: center;margin-left: auto;margin-right: auto;width:100%;\"><div class=\"fusion-separator-border sep-double\" style=\"--awb-height:20px;--awb-amount:20px;border-color:var(--awb-color3);border-top-width:1px;border-bottom-width:1px;\"><\/div><\/div><div class=\"fusion-builder-row fusion-builder-row-inner fusion-row fusion-flex-align-items-flex-start fusion-flex-content-wrap\" style=\"width:104% !important;max-width:104% !important;margin-left: calc(-4% \/ 2 );margin-right: calc(-4% \/ 2 );\"><div class=\"fusion-layout-column fusion_builder_column_inner fusion-builder-nested-column-7 fusion_builder_column_inner_1_1 1_1 fusion-flex-column\" style=\"--awb-bg-size:cover;--awb-width-large:100%;--awb-margin-top-large:0px;--awb-spacing-right-large:1.92%;--awb-margin-bottom-large:20px;--awb-spacing-left-large:1.92%;--awb-width-medium:100%;--awb-order-medium:0;--awb-spacing-right-medium:1.92%;--awb-spacing-left-medium:1.92%;--awb-width-small:100%;--awb-order-small:0;--awb-spacing-right-small:1.92%;--awb-spacing-left-small:1.92%;\"><div class=\"fusion-column-wrapper fusion-column-has-shadow fusion-flex-justify-content-flex-start fusion-content-layout-column\"><div class=\"fusion-text fusion-text-27 fusion-text-no-margin\" style=\"--awb-font-size:24px;--awb-line-height:1;--awb-margin-bottom:0px;--awb-text-font-family:&quot;Outfit&quot;;--awb-text-font-style:normal;--awb-text-font-weight:300;\"><h4 style=\"padding-left: 0px;\">\u4e94\u3001\u601d\u8003\u9898<\/h4>\n<\/div><div class=\"fusion-text fusion-text-28\" 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