Table 4 Ablation experiment results.

Index	WAAM	DA-DC	FGMS-RP	Loss function	bbox mAP/%	segm mAP/%	recall/%	Speed(f/s)
01				Original loss	83.35	81.18	89.69	21.64
01				Focal Loss	83.47	81.83	90.24	21.64
02	√			Original loss	85.15	82.38	91.19	21.50
02	√			Focal Loss	85.55	82.78	91.59	21.50
03		√		Original loss	86.25	84.28	92.59	21.08
03		√		Focal Loss	86.37	84.93	93.14	21.08
04			√	Original loss	86.28	84.85	91.51	20.04
04			√	Focal Loss	86.08	85.63	92.07	20.04
05	√	√		Original loss	88.05	85.48	94.09	20.80
05	√	√		Focal Loss	88.45	85.88	94.49	20.80
06	√		√	Original loss	88.08	86.05	93.01	19.90
06	√		√	Focal Loss	88.16	86.58	93.42	19.90
07		√	√	Original loss	89.18	87.95	94.41	19.48
07		√	√	Focal Loss	88.98	88.73	94.97	19.48
08	√	√	√	Original loss	90.98	89.15	95.91	19.20
08	√	√	√	Focal Loss	91.06	89.68	96.32	19.20

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