以下为句子列表：
英文: A new subgoal discovery algorithm based on k-cluster is proposed which can extract subgoals from the set of trajectories collected online by clustering them.
中文: 提出了一种基于k-聚类的Subgoal自动发现算法,该算法能通过对在线获取的少量路径数据进行聚类的方法抽取出Subgoal.
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英文: The result of experiment shows that the algorithm can find all subgoals quite efficiently and has better subgoal discovery performance than the diverse density and FD algorithms.
中文: 实验表明,该算法能有效地发现所有符合要求的Subgoal,较多样性密度算法和FD算法有更强的Subgoal发现能力。
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