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  3. \u901a\u8fc7\u57284D\u5360\u7528\u573a\u666f\u9884\u6d4b\u3001\u81ea\u8f66\u89c4\u5212\u548c\u57fa\u4e8e\u5360\u7528\u7684\u573a\u666f\u95ee\u7b54\u4e2d\u7684\u5e94\u7528\uff0c\u5c55\u793a\u4e86Occ-LLM\u7684\u591a\u529f\u80fd\u6027\uff0c\u8bf4\u660e\u4e86\u5176\u5728\u81ea\u52a8\u9a7e\u9a76\u591a\u4e2a\u7ef4\u5ea6\u4e0a\u7684\u4f18\u8d8a\u6027\u3002<\/li>\n\n\n\n
  4. \u901a\u8fc7\u63a5\u5165\u73b0\u6709\u7684\u5360\u7528\u9884\u6d4b\u65b9\u6cd5\uff0c\u5c55\u793a\u4e86Occ-LLM\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u8bf4\u660e\u4e86\u5176\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u5b9e\u7528\u6027\u3002<\/li>\n<\/ol>\n\n\n\n

    <\/strong>\u76f8\u5173\u5de5\u4f5c<\/strong><\/strong><\/h2>\n\n\n\n

    1\uff09\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b<\/strong><\/h3>\n\n\n\n

    \u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b\u7684\u6700\u65b0\u8fdb\u5c55\u5f15\u53d1\u4e86\u5e7f\u6cdb\u5173\u6ce8\uff0c\u5b83\u5c06\u5927\u8bed\u8a00\u6a21\u578b\u7684\u5148\u8fdb\u63a8\u7406\u80fd\u529b\u4e0e\u56fe\u50cf\u3001\u89c6\u9891\u548c\u97f3\u9891\u6570\u636e\u76f8\u7ed3\u5408\u3002\u8fd9\u4e9b\u6a21\u578b\u5728\u96f6\u6837\u672c\u548c\u5c11\u6837\u672c\u56fe\u50cf\u5206\u7c7b\u3001\u5206\u5272\u548c\u76ee\u6807\u68c0\u6d4b\u7b49\u4efb\u52a1\u4e2d\u8868\u73b0\u51fa\u8272\uff0c\u5145\u5206\u5229\u7528\u4e86\u89c6\u89c9\u548c\u6587\u672c\u6570\u636e\u4e4b\u95f4\u7684\u534f\u540c\u4f5c\u7528\u3002\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\uff0c\u5927\u8bed\u8a00\u6a21\u578b\u5f25\u8865\u4e86\u5173\u952e\u5dee\u8ddd\uff0c\u589e\u5f3a\u4e86\u573a\u666f\u7406\u89e3\u80fd\u529b\uff0c\u63d0\u4f9b\u4e86\u66f4\u4e30\u5bcc\u7684\u8bed\u4e49\u4e0a\u4e0b\u6587\uff0c\u5e76\u4fc3\u8fdb\u4e86\u5f53\u524d\u7cfb\u7edf\u6240\u7f3a\u4e4f\u7684\u51b3\u7b56\u8fc7\u7a0b\u3002\u5df2\u7ecf\u6709\u51e0\u79cd\u65b9\u6cd5\u88ab\u63d0\u51fa\uff0c\u4ee5\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\u5229\u7528\u5927\u8bed\u8a00\u6a21\u578b\u3002\u57fa\u4e8e\u89c6\u89c9\u7684\u65b9\u6cd5\uff0c\u5982DriveGPT4\uff0c\u901a\u8fc7\u89e3\u91ca\u89c6\u9891\u8f93\u5165\u751f\u6210\u4e0e\u9a7e\u9a76\u76f8\u5173\u7684\u6587\u672c\u54cd\u5e94\uff1b\u800c\u50cfHiLM-D\u8fd9\u6837\u7684\u6a21\u578b\uff0c\u5219\u901a\u8fc7\u9ad8\u5206\u8fa8\u7387\u89c6\u89c9\u6570\u636e\u589e\u5f3a\u5371\u9669\u8bc6\u522b\u548c\u610f\u56fe\u9884\u6d4b\u80fd\u529b\u3002\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7684\u65b9\u6cd5\u5229\u7528\u77e2\u91cf\u5316\u89c6\u89c9\u5d4c\u5165\uff0c\u8d4b\u4e88\u5927\u8bed\u8a00\u6a21\u578b\u73af\u5883\u611f\u77e5\u80fd\u529b\uff0c\u5b9e\u73b0\u5bf9\u9a7e\u9a76\u573a\u666f\u7684\u8be6\u7ec6\u5206\u6790\u3002<\/p>\n\n\n\n

    2\uff09\u5360\u7528\u7f51\u7edc<\/strong><\/h3>\n\n\n\n

    \u8fd1\u5e74\u6765\uff0c3D\u8bed\u4e49\u5360\u7528\u901a\u8fc7\u660e\u786e\u5efa\u6a213D\u7f51\u683c\u5185\u6bcf\u4e2a\u4f53\u7d20\u7684\u5360\u7528\u72b6\u6001\uff0c\u63d0\u4f9b\u4e86\u5bf9\u73af\u5883\u66f4\u8be6\u7ec6\u7684\u8868\u793a\u3002SSCNet\u7387\u5148\u5f15\u5165\u8bed\u4e49\u573a\u666f\u8865\u5168\u4efb\u52a1\uff0c\u6574\u5408\u4e86\u51e0\u4f55\u548c\u8bed\u4e49\u4fe1\u606f\u3002\u968f\u540e\u7684\u7814\u7a76\u901a\u5e38\u5229\u7528\u5177\u6709\u660e\u786e\u6df1\u5ea6\u4fe1\u606f\u7684\u51e0\u4f55\u8f93\u5165\u3002MonoScene\u63d0\u51fa\u4e86\u7b2c\u4e00\u79cd\u7528\u4e8e\u8bed\u4e49\u573a\u666f\u8865\u5168\u7684\u5355\u76ee\u65b9\u6cd5\uff0c\u4f7f\u75283D UNet\u6765\u5904\u7406\u901a\u8fc7\u89c6\u7ebf\u6295\u5f71\u751f\u6210\u7684\u4f53\u7d20\u7279\u5f81\u3002\u57fa\u4e8e\u8f6c\u79fb\u67b6\u6784\u8bbe\u8ba1\u4e86\u5404\u79cd\u7f51\u7edc\u3002\u6b64\u5916\uff0c\u4e00\u4e9b\u540c\u671f\u7814\u7a76\u4e13\u6ce8\u4e8e\u63d0\u51fa\u7528\u4e8e3D\u8bed\u4e49\u5360\u7528\u9884\u6d4b\u7684\u73af\u89c6\u57fa\u51c6\uff0c\u63a8\u52a8\u4e86\u5360\u7528\u9886\u57df\u7684\u5feb\u901f\u53d1\u5c55\u3002OccWorld\u57fa\u4e8e3D\u5360\u7528\u5b66\u4e60\u4e16\u754c\u6a21\u578b\uff0c\u56e0\u5176\u53ef\u89e3\u91ca\u6027\u548c\u6548\u7387\u5907\u53d7\u5173\u6ce8\u3002\u8fd9\u91cc\u5c1d\u8bd5\u4ee5\u5927\u8bed\u8a00\u6a21\u578b\u4e3a\u6865\u6881\uff0c\u7edf\u4e00\u5360\u7528\u4efb\u52a1\u3002<\/p>\n\n\n\n

    <\/strong>Occ-LLM\u65b9\u6cd5<\/strong><\/strong><\/h2>\n\n\n\n

    Occ-LLM\u6846\u67b6\u5c06\u5927\u8bed\u8a00\u6a21\u578b\u4e0e\u5360\u7528\u8868\u793a\u76f8\u7ed3\u5408\uff0c\u4ee5\u6539\u8fdb\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u3002\u8be5\u6846\u67b6\u589e\u5f3a\u4e86\u7a7a\u95f4\u548c\u8bed\u4e49\u7406\u89e3\u80fd\u529b\uff0c\u6709\u52a9\u4e8e\u573a\u666f\u89e3\u91ca\u548c\u51b3\u7b56\u5236\u5b9a\u3002\u9996\u5148\u4f7f\u7528\u73b0\u6709\u65b9\u6cd5\u5c06\u591a\u89c6\u56fe\u56fe\u50cf\u8f6c\u6362\u4e3a\u5360\u7528\u8868\u793a\u3002\u4e0b\u9762\u9996\u5148\u4ecb\u7ecd\u6838\u5fc3\u7684\u8fd0\u52a8\u5206\u79bb\u53d8\u5206\u81ea\u7f16\u7801\u5668MS-VAE\uff0c\u5b83\u80fd\u591f\u533a\u5206\u52a8\u6001\u548c\u9759\u6001\u5143\u7d20\uff0c\u964d\u4f4e\u8ba1\u7b97\u8d1f\u8f7d\u5e76\u63d0\u9ad8\u5b66\u4e60\u6548\u7387\u3002MS-VAE\u7684\u8f93\u51fa\u7ecf\u8fc7\u8fdb\u4e00\u6b65\u5904\u7406\u548c\u5c55\u5e73\uff0c\u8f93\u5165\u5230\u5927\u8bed\u8a00\u6a21\u578b\u4e2d\u3002Occ-LLM\u4e13\u4e3a\u5404\u79cd\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u8bbe\u8ba1\uff0c\u652f\u63014D\u5360\u7528\u9884\u6d4b\u3001\u81ea\u8f66\u89c4\u5212\u548c\u57fa\u4e8e\u5360\u7528\u7684\u573a\u666f\u95ee\u7b54\uff0c\u63d0\u9ad8\u4e86\u81ea\u52a8\u9a7e\u9a76\u7684\u5b89\u5168\u6027\u548c\u6709\u6548\u6027\u3002<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \"\"<\/figure>\n\n\n\n

    2\uff09\u5360\u7528\u4e0e\u5927\u8bed\u8a00\u6a21\u578b\u96c6\u6210\u7684\u9884\u5904\u7406<\/strong><\/h3>\n\n\n\n

    Patchify<\/strong>\uff1a\u4f7f\u7528MS-VAE\u5bf9\u539f\u59cb\u5360\u7528\u8868\u793a\u8fdb\u884c\u7f16\u7801\u540e\uff0c\u5f97\u5230\u7684\u6f5c\u5728\u8868\u793a\u4ecd\u7136\u5f88\u5927\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u91c7\u7528\u7c7b\u4f3c\u4e8e\u89c6\u89c9Transformer\uff08ViT\uff09\u7684\u65b9\u6cd5\uff0c\u5c06\u5360\u7528\u6f5c\u5728\u7a7a\u95f4\u5212\u5206\u4e3a\u5c0f\u7f51\u683c\u5e76\u5c55\u5e73\u3002\u7814\u7a76\u53d1\u73b0\uff0cpath\u5927\u5c0f\u5bf9\u5360\u7528\u91cd\u5efa\u8d28\u91cf\u6709\u663e\u8457\u5f71\u54cd\u3002\u8fd9\u662f\u56e0\u4e3a\u9884\u6d4b\u672a\u6765\u5360\u7528\u5e27\u6d89\u53ca\u611f\u77e5\u548c\u4f4e\u7ea7\u89c6\u89c9\u4efb\u52a1\u3002\u4f8b\u5982\uff0c\u611f\u77e5\u4efb\u52a1\u901a\u5e38\u53d7\u76ca\u4e8e\u8f83\u5927\u7684patch\u5927\u5c0f\uff0c\u6709\u52a9\u4e8e\u66f4\u597d\u5730\u7406\u89e3\u8f93\u5165\u6570\u636e\u7684\u8bed\u4e49\u4fe1\u606f\uff1b\u76f8\u53cd\uff0c\u4f4e\u7ea7\u89c6\u89c9\u4efb\u52a1\u901a\u5e38\u91c7\u7528\u8f83\u5c0f\u7684patch\u5927\u5c0f\uff0c\u4ee5\u5b9e\u73b0\u66f4\u9ad8\u8d28\u91cf\u7684\u6570\u636e\u91cd\u5efa\u3002\u901a\u8fc7\u6d88\u878d\u7814\u7a76\u786e\u5b9a\uff0cpatch\u5927\u5c0f\u4e3a10\u65f6\u53ef\u83b7\u5f97\u6700\u4f73\u7ed3\u679c\u3002<\/p>\n\n\n\n

    \u5e27\u5206\u79bb<\/strong>\uff1a\u7814\u7a76\u53d1\u73b0\uff0c\u6bcf\u4e2a\u5e27\u5c55\u5e73\u540e\u7684\u5360\u7528\u6f5c\u5728\u8868\u793a\u76f8\u5bf9\u8f83\u957f\uff0c\u76f4\u63a5\u8fde\u63a5\u591a\u4e2a\u5e27\u5c55\u5e73\u540e\u7684\u5360\u7528\u6f5c\u5728\u8868\u793a\u4f1a\u5bfc\u81f4\u751f\u6210\u7684\u5360\u7528\u51fa\u73b0\u4f4d\u7f6e\u6f02\u79fb\u3002\u8fd9\u79cd\u6f02\u79fb\u8868\u73b0\u4e3a\u4e00\u4e2a\u5e27\u7684\u90e8\u5206\u5360\u7528\u51fa\u73b0\u5728\u540e\u7eed\u5e27\u4e2d\uff0c\u4ece\u800c\u9020\u6210\u7ea7\u8054\u9519\u4f4d\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u63d0\u51fa\u4e86\u4e00\u4e2a\u7b80\u5355\u4f46\u6709\u6548\u7684\u89e3\u51b3\u65b9\u6848\uff1a\u5728\u6bcf\u4e2a\u5360\u7528\u6f5c\u5728\u5e27\u7684\u5f00\u5934\u548c\u7ed3\u5c3e\u6dfb\u52a0\u7279\u5b9a\u7684\u6587\u672c\u6807\u8bb0\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u5728\u5f00\u5934\u4f7f\u7528\u201c\u201d\uff0c\u5728\u7ed3\u5c3e\u4f7f\u7528\u201c\u201d\u3002\u8fd9\u4e9b\u6807\u8bb0\u5728\u63a8\u7406\u65f6\u754c\u5b9a\u4e86\u5e27\u4e4b\u95f4\u7684\u95f4\u9694\uff0c\u6709\u6548\u5730\u6d88\u9664\u4e86\u6f02\u79fb\u95ee\u9898\u3002<\/p>\n\n\n\n

    \u9884\u878d\u5408<\/strong>\uff1a\u5f15\u5165\u4e00\u79cd\u9884\u878d\u5408\u65b9\u6cd5\uff0c\u4ee5\u66f4\u597d\u5730\u5efa\u7acb\u5360\u7528\u8868\u793a\u4e0e\u81ea\u8f66\u52a8\u4f5c\u4e4b\u95f4\u7684\u8054\u7cfb\u3002\u8be5\u65b9\u6cd5\u9996\u5148\u901a\u8fc7\u591a\u4e2aMLP\u5c42\u5bf9\u81ea\u8f66\u52a8\u4f5c\u8fdb\u884c\u7f16\u7801\u3002\u7c7b\u4f3c\u4e8eSE-Net\u7684\u65b9\u6cd5\uff0c\u7136\u540e\u4f7f\u7528\u7f16\u7801\u540e\u7684\u52a8\u4f5c\u6f5c\u5728\u53d8\u91cf\u4f5c\u4e3a\u6743\u91cd\uff0c\u5bf9\u5360\u7528\u7279\u5f81\u8fdb\u884c\u8c03\u5236\u3002\u8fd9\u79cd\u6280\u672f\u589e\u5f3a\u4e86\u5360\u7528\u8868\u793a\u4e0e\u81ea\u8f66\u52a8\u4f5c\u4e4b\u95f4\u7684\u4e00\u81f4\u6027\uff0c\u63d0\u9ad8\u4e86\u6a21\u578b\u7684\u6574\u4f53\u6027\u80fd\u3002<\/p>\n\n\n\n

    3\uff09\u4e0b\u6e38\u4efb\u52a1<\/strong><\/h3>\n\n\n\n

    Occ-LLM\u6846\u67b6\u652f\u6301\u591a\u79cd\u5bf9\u589e\u5f3a\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u81f3\u5173\u91cd\u8981\u7684\u4e0b\u6e38\u4efb\u52a1\uff0c\u5305\u62ec4D\u5360\u7528\u9884\u6d4b\u3001\u81ea\u8f66\u89c4\u5212\u548c\u57fa\u4e8e\u5360\u7528\u7684\u573a\u666f\u95ee\u7b54\u3002\u4efb\u52a1\u5207\u6362\u901a\u8fc7\u7279\u5b9a\u63d0\u793a\u8fdb\u884c\u7ba1\u7406\uff1a\u201c<4-D occupancy forecasting and self-ego planning>\u201d\u542f\u52a84D\u5360\u7528\u9884\u6d4b\u548c\u81ea\u8f66\u89c4\u5212\u7684\u7ec4\u5408\u4efb\u52a1\uff0c\u800c\u201c\u201d\u89e6\u53d1\u95ee\u7b54\u4efb\u52a1\u3002\u8fd9\u4e9b\u4efb\u52a1\u5171\u540c\u589e\u5f3a\u4e86\u6001\u52bf\u611f\u77e5\u548c\u51b3\u7b56\u80fd\u529b\u30024D\u5360\u7528\u9884\u6d4b\u7528\u4e8e\u9884\u6d4b\u73af\u5883\u52a8\u6001\uff0c\u8fd9\u5bf9\u4e8e\u9884\u6d4b\u5371\u9669\u81f3\u5173\u91cd\u8981\u3002\u81ea\u8f66\u89c4\u5212\u5229\u7528\u8fd9\u4e9b\u9884\u6d4b\u5b9e\u73b0\u5b89\u5168\u3001\u9ad8\u6548\u7684\u5bfc\u822a\u3002\u57fa\u4e8e\u5360\u7528\u7684\u573a\u666f\u95ee\u7b54\u7528\u4e8e\u89e3\u91ca\u590d\u6742\u60c5\u51b5\uff0c\u6709\u52a9\u4e8e\u505a\u51fa\u660e\u667a\u7684\u51b3\u7b56\u3002\u8fd9\u4e9b\u80fd\u529b\u5171\u540c\u663e\u8457\u63d0\u9ad8\u4e86\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u5b89\u5168\u6027\u3001\u53ef\u9760\u6027\u548c\u6548\u7387\u3002<\/p>\n\n\n\n

    <\/strong>\u5b9e\u9a8c\u5206\u6790<\/strong><\/strong><\/h2>\n\n\n\n

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    \u91c7\u7528Nuscenes\u6570\u636e\u96c6\uff0c\u8be5\u6570\u636e\u96c6\u5305\u542b1000\u4e2a\u573a\u666f\u3002\u8fd9\u4e9b\u573a\u666f\u5206\u4e3a700\u4e2a\u7528\u4e8e\u8bad\u7ec3\uff0c150\u4e2a\u7528\u4e8e\u9a8c\u8bc1\uff0c150\u4e2a\u7528\u4e8e\u6d4b\u8bd5\u3002\u6bcf\u4e2a\u573a\u666f\u5305\u542b\u5927\u7ea650\u5e27\uff0c\u5bf9\u5e94\u4e00\u4e2a\u5360\u7528\u573a\u666f\u3002\u5360\u7528\u8868\u793a\u7684\u7ef4\u5ea6\u4e3a(200, 200, 16)\uff0c\u5176\u4e2d\u524d\u4e24\u4e2a\u7ef4\u5ea6(200, 200)\u4ee3\u8868\u957f\u5ea6\u548c\u5bbd\u5ea6\uff0c16\u4ee3\u8868\u9ad8\u5ea6\u3002\u8fd9\u79cd\u6570\u636e\u96c6\u914d\u7f6e\u80fd\u591f\u5728\u5404\u79cd\u573a\u666f\u4e0b\u5168\u9762\u8bc4\u4f30\u548c\u9a8c\u8bc1\u6a21\u578b\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n

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    \"\"<\/figure>\n\n\n\n
    \"\"<\/figure>\n\n\n\n

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    \u4e3a\u4e86\u5b9a\u91cf\u8bc4\u4f30\u7cfb\u7edf\u7684\u6027\u80fd\uff0c\u4f7f\u7528\u6807\u51c6\u6307\u6807\uff08\u5373BLEU\u3001ROUGE L\u3001CIDEr\u548cGPT Score\uff09\uff0c\u5c06\u8be5\u7cfb\u7edf\u4e0eDriveLM\u6a21\u578b\u8fdb\u884c\u4e86\u5bf9\u6bd4\u8bc4\u4f30\u3002\u7814\u7a76\u6a21\u578b\u5728\u6240\u6709\u6307\u6807\u4e0a\u5747\u4f18\u4e8eDriveLM\uff0c\u83b7\u5f97\u4e86\u66f4\u9ad8\u7684\u5206\u6570\u3002\u8fd9\u4e9b\u7ed3\u679c\u8bc1\u5b9e\u4e86\u7814\u7a76\u65b9\u6cd5\u5728\u81ea\u52a8\u9a7e\u9a76\u73af\u5883\u4e2d\u63d0\u4f9b\u51c6\u786e\u4e14\u4e0a\u4e0b\u6587\u76f8\u5173\u7b54\u6848\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n

    2\uff09\u6d88\u878d\u7814\u7a76<\/strong><\/h3>\n\n\n\n

    OccWorld\u7684VAE\u4e0eMS-VAE\u7684\u5bf9\u6bd4\u5206\u6790<\/strong>\uff1a\u88683\u6bd4\u8f83\u4e86OccWorld\u7684VAE\u4e0e\u7814\u7a76\u63d0\u51fa\u7684MS-VAE\uff0c\u7ed3\u679c\u663e\u793aMS-VAE\u5728\u91cd\u5efa\u6027\u80fd\u4e0a\u6709\u663e\u8457\u63d0\u5347\u3002\u6dfb\u52a03D\u5377\u79ef\u5c42\u548c\u8fd0\u52a8\u5206\u79bb\u7b56\u7565\u63d0\u9ad8\u4e86IoU\u548cmIoU\uff0cMS-VAE\u7684IoU\u8fbe\u523062.74%\uff0cmIoU\u8fbe\u523071.08%\uff0c\u800cOccWorld\u7684VAE\u5206\u522b\u4e3a59.07%\u548c60.50%\u3002<\/p>\n\n\n\n

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    Occ-LLM\u6a21\u5757\u7684\u6d88\u878d\u7814\u7a76<\/strong>\uff1a\u88685\u5c55\u793a\u4e86Occ-LLM\u6a21\u5757\u7684\u6d88\u878d\u7814\u7a76\u3002\u57fa\u7ebf\u6a21\u578b\u7684IoU\u4e3a20.<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n

    \u53c2\u8003<\/strong><\/p>\n\n\n\n

    [1] Occ-LLM: Enhancing Autonomous Driving with Occupancy-Based Large Language Models<\/p>\n","protected":false},"excerpt":{"rendered":"

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