刘年丰：面向本体公司，我们交付大脑，并按照一个机器人对应一个license收费，现阶段会根据场景和任务的复杂度判断费用。
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Материалы по теме:
If the A* calculation for a shortcut (in Step 3) finds it's now impassable, or if its actual detailed cost is significantly different (e.g., 20%) from the pre-calculated shortcut value: