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地图构建方法和装置、控制机器人的方法、装置及芯片, 2021-5-18, 中国, ZL201810129336.6
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面向智能设备自主行为的场景理解方法 ZL201810981553.8 中国专利 2022-05-10
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复杂智能系统中多智能体协作的优化方法和系统 ZL201910437659.6