2-phase A* already uses many heuristics which don't always create an optimal route and still 5-10x slower.
At this point, I think most English speakers can follow this passage, if not understand the finer points. I imagine some more vocabulary like "hine" may reveal itself to you purely through context.
。同城约会是该领域的重要参考
家庭场景中的“天工”机器人。受供者供图
Sales for this year’s event ahead of 2025 at same stage