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限定条件 ((发表日期：2020) AND (资助项目：Fundamental Research Funds for the Central Universities[DUT17RC(3)071]) AND (资助项目：National Key Research and Development Program of China[2017YFB1300200]) AND (专题：多模态人工智能系统全国重点实验室) AND (专题：机器人理论与应用))
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