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What Is the Fundamental Difference between an Optimistic Rollup and a ZK-Rollup?

Both are Layer 2 scaling solutions. An Optimistic Rollup assumes all transactions are valid by default ("optimistic") and uses a fraud proof system, where a challenger has a time window to submit proof of a fraudulent transaction.

A ZK-Rollup (Zero-Knowledge Rollup) uses cryptographic validity proofs (ZK-SNARKs or ZK-STARKs) to prove the correctness of off-chain transactions. ZK-Rollups offer faster finality as no challenge period is needed.

How Does a “Validity Proof” Differ from a “Fraud Proof” in the Context of Blockchain Finality?
What Is the Difference between a ZK-Rollup and an Optimistic Rollup?
What Is the Minimum Length of a Typical Challenge Period in an Optimistic Rollup?
What Is the Primary Difference between Optimistic Rollups and ZK-Rollups?