{"id":39982,"date":"2025-04-08T21:02:40","date_gmt":"2025-04-08T13:02:40","guid":{"rendered":"https:\/\/17aitech.com\/?p=39982"},"modified":"2025-04-08T21:02:40","modified_gmt":"2025-04-08T13:02:40","slug":"%e8%bf%88%e5%90%91%e6%9c%ba%e5%99%a8%e4%ba%ba%e9%a2%86%e5%9f%9fimagenet%ef%bc%8c%e5%a4%a7%e7%89%9bpieter-abbeel%e9%a2%86%e8%a1%94%e5%9b%bd%e5%86%85%e5%a4%96%e9%ab%98%e6%a0%a1%e5%85%b1%e5%bb%barobovers","status":"publish","type":"post","link":"https:\/\/17aitech.com\/?p=39982","title":{"rendered":"\u8fc8\u5411\u673a\u5668\u4eba\u9886\u57dfImageNet\uff0c\u5927\u725bPieter Abbeel\u9886\u8854\u56fd\u5185\u5916\u9ad8\u6821\u5171\u5efaRoboVerse\uff0c\u7edf\u4e00\u4eff\u771f\u5e73\u53f0\u3001\u6570\u636e\u96c6\u548c\u57fa\u51c6"},"content":{"rendered":"<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:<a href=\"https:\/\/www.jiqizhixin.com\/articles\/2025-04-08-9\" target=\"_blank\">\u8fc8\u5411\u673a\u5668\u4eba\u9886\u57dfImageNet\uff0c\u5927\u725bPieter Abbeel\u9886\u8854\u56fd\u5185\u5916\u9ad8\u6821\u5171\u5efaRoboVerse\uff0c\u7edf\u4e00\u4eff\u771f\u5e73\u53f0\u3001\u6570\u636e\u96c6\u548c\u57fa\u51c6<\/a><\/p>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-a919da8df5dc697b0e9107057681f9d0.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-a919da8df5dc697b0e9107057681f9d0.png\"><\/a><\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-2dae6ff62741c83e11b50e77b7c9beed.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-2dae6ff62741c83e11b50e77b7c9beed.png\"><\/a><\/section>\n<p>\u5927\u89c4\u6a21\u6570\u636e\u96c6\u548c\u6807\u51c6\u5316\u8bc4\u4f30\u57fa\u51c6\u663e\u8457\u4fc3\u8fdb\u4e86\u81ea\u7136\u8bed\u8a00\u5904\u7406\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u9886\u57df\u7684\u53d1\u5c55\u3002\u7136\u800c\uff0c\u673a\u5668\u4eba\u9886\u57df\u5728\u5982\u4f55\u6784\u5efa\u5927\u89c4\u6a21\u6570\u636e\u96c6\u5e76\u5efa\u7acb\u53ef\u9760\u7684\u8bc4\u4f30\u4f53\u7cfb\u65b9\u9762\u4ecd\u9762\u4e34\u5de8\u5927\u6311\u6218\u3002<\/p>\n<p>\u4e00\u65b9\u9762\uff0c\u91c7\u96c6\u771f\u5b9e\u4e16\u754c\u7684\u673a\u5668\u4eba\u6570\u636e\u9700\u8981\u6d88\u8017\u5927\u91cf\u8d44\u6e90\uff08\u5982\u65f6\u95f4\u3001\u786c\u4ef6\u6210\u672c\uff09\uff0c\u4e14\u6548\u7387\u4f4e\u4e0b\uff1b\u53e6\u4e00\u65b9\u9762\uff0c\u5728\u73b0\u5b9e\u573a\u666f\u4e2d\u6d4b\u8bd5\u673a\u5668\u4eba\u6027\u80fd\u9762\u4e34\u590d\u6742\u7684\u73af\u5883\u914d\u7f6e\uff0c\u96be\u4ee5\u63a7\u5236\u53d8\u91cf\u5e76\u6807\u51c6\u5316\u3002<\/p>\n<p>\u867d\u7136\u5408\u6210\u6570\u636e\u548c\u4eff\u771f\u6a21\u62df\u88ab\u89c6\u4e3a\u6f5c\u5728\u89e3\u51b3\u65b9\u6848\uff0c\u4f46\u76ee\u524d\u4ecd\u5b58\u5728\u6570\u636e\u8d28\u91cf\u4e0d\u8db3\u3001\u591a\u6837\u6027\u6709\u9650\uff0c\u7f3a\u4e4f\u7edf\u4e00\u7684\u8bc4\u4f30\u6807\u51c6\u7b49\u95ee\u9898\u3002<\/p>\n<p>\u76ee\u524d\uff0c\u673a\u5668\u4eba\u4eff\u771f\u9886\u57df\u8fd8\u5904\u4e8e\u76f8\u5bf9\u788e\u7247\u5316\u7684\u72b6\u6001 \u2014\u2014 \u4e0d\u540c\u7684\u4eff\u771f\u5668\u6807\u51c6\u4e0d\u4e00\u3001\u63a5\u53e3\u5272\u88c2\uff0c\u6781\u5927\u9650\u5236\u4e86\u7814\u7a76\u96c6\u6210\u4e0e\u793e\u533a\u534f\u4f5c\u7684\u6548\u7387\u3002<\/p>\n<p>\u4e3a\u4e86\u5e94\u5bf9\u8fd9\u4e9b\u6311\u6218\uff0c\u4e00\u4e2a\u81f4\u529b\u4e8e\u8de8\u8d8a\u9694\u9602\u3001\u7edf\u4e00\u6807\u51c6\u7684\u5168\u65b0\u5e73\u53f0\u5e94\u8fd0\u800c\u751f\u3002\u6765\u81ea UC \u4f2f\u514b\u5229\u3001\u5317\u4eac\u5927\u5b66\u7b49\u673a\u6784\u7684\u7814\u7a76\u4eba\u5458\u6253\u9020\u4e86 RoboVerse\uff0c\u4e00\u4e2a\u7edf\u4e00\u7684\u5e73\u53f0\u3001\u6570\u636e\u96c6\u4e0e\u8bc4\u6d4b\u4f53\u7cfb\uff0c\u4e13\u4e3a\u53ef\u6269\u5c55\u3001\u53ef\u6cdb\u5316\u7684\u673a\u5668\u4eba\u5b66\u4e60\u800c\u751f\u3002<\/p>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-27083a0e51ce5e4231740cb10e349f24.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-27083a0e51ce5e4231740cb10e349f24.png\"><\/a><\/section>\n<ul>\n<li>\n<p>\u8bba\u6587\u6807\u9898\uff1aRoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning<\/p>\n<\/li>\n<li>\n<p>\u8bba\u6587\u4e3b\u9875\uff1ahttps:\/\/roboverseorg.github.io\/<\/p>\n<\/li>\n<li>\n<p>Github \u94fe\u63a5: https:\/\/github.com\/RoboVerseOrg\/RoboVerse<\/p>\n<\/li>\n<\/ul>\n<p>\u56e2\u961f\u4f5c\u8005\u6709\u6211\u4eec\u719f\u6089\u7684\u673a\u5668\u4eba\u548c\u5f3a\u5316\u5b66\u4e60\u9886\u57df\u5927\u725b\u3001UC \u4f2f\u514b\u5229\u6559\u6388 Pieter Abbeel\uff0c\u4ee5\u53ca\u540c\u6837\u6765\u81ea UC \u4f2f\u514b\u5229\u7684\u8ba1\u7b97\u673a\u89c6\u89c9\u4e0e\u673a\u5668\u4eba\u9886\u57df\u6cf0\u6597 Jitendra Malik \u6559\u6388\u3002<a href=\"https:\/\/mp.weixin.qq.com\/s\/Epp_TnjL00iniyTNnENrfg\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-6adffa26b238cc41a353cc76f2fbee24.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-6adffa26b238cc41a353cc76f2fbee24.png\"><\/a><\/a><\/p>\n<p>\u8fd9\u9879\u7814\u7a76\u5728 X \u4e0a\u5f15\u8d77\u4e86\u5e7f\u6cdb\u8ba8\u8bba\uff1a\u300c\u673a\u5668\u4eba\u9700\u8981 MMLU \u57fa\u51c6\u65f6\u523b\uff0c\u6253\u9020\u771f\u5b9e\u9ad8\u8d28\u91cf\u7684\u673a\u5668\u4eba\u4eff\u771f\u6781\u7aef\u56f0\u96be\uff0cRoboVerse \u4ee4\u4eba\u6fc0\u52a8\u5730\u63d0\u4f9b\u4e86\u7edf\u4e00\u7684\u4eff\u771f\u5e73\u53f0\uff0c\u6570\u636e\u96c6\u548c\u6d4b\u8bd5\u57fa\u51c6\uff01\u300d<\/p>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-6c0b73c4625762794177c25d777c38b8.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-6c0b73c4625762794177c25d777c38b8.png\"><\/a><\/section>\n<p>\u300cRoboVerse \u89e3\u51b3\u4e86\u673a\u5668\u4eba\u4eff\u771f\u9886\u57df\u957f\u671f\u5b58\u5728\u7684\u5206\u6563\u5316\uff0c\u53d1\u5c55\u7f13\u6162\u7684\u95ee\u9898\uff0c\u4f7f\u5f97\u6784\u5efa\uff0c\u6d4b\u8bd5\uff0cscale up \u90fd\u53d8\u5f97\u66f4\u5bb9\u6613\uff01\u300d<\/p>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-51885d4be45607c38ae030fb27706c45.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-51885d4be45607c38ae030fb27706c45.png\"><\/a><\/section>\n<p><\/p>\n<p><strong>RoboVerse \u4ecb\u7ecd<\/strong><\/p>\n<p><strong>\u6838\u5fc3\u4eae\u70b9\u4e00\uff1aMetaSim \u2014\u2014 \u8ba9\u4eff\u771f\u4e0d\u518d \u201c\u5404\u8bf4\u5404\u8bdd\u201d<\/strong><\/p>\n<p>RoboVerse \u56e2\u961f\u8bbe\u8ba1\u4e86 MetaSim\uff1a\u4e00\u4e2a\u901a\u7528\u7684\u914d\u7f6e\u7cfb\u7edf (configuration system) \u4e0e\u6807\u51c6\u63a5\u53e3 (standard interface)\uff0c\u80fd\u591f\u65e0\u7f1d\u5bf9\u63a5\u76ee\u524d\u4e3b\u6d41\u7684\u673a\u5668\u4eba\u4eff\u771f\u5668\u3002<\/p>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-238f959495651fa11bc4d2486177a4ef.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-238f959495651fa11bc4d2486177a4ef.png\"><\/a><\/section>\n<p>\u8fd9\u610f\u5473\u7740\uff0c\u540c\u4e00\u6bb5\u4ee3\u7801\uff0c\u53ef\u4ee5\u5728\u591a\u4e2a\u4eff\u771f\u5e73\u53f0\u4e0a\u8fd0\u884c\uff01\u65e0\u8bba\u4f60\u7528\u7684\u662f MuJoCo\u3001IsaacLab\u3001Genesis \u8fd8\u662f\u5176\u4ed6\u5e73\u53f0\uff0c\u90fd\u53ef\u4ee5\u5728 MetaSim \u7684\u6846\u67b6\u4e0b\u987a\u7545\u96c6\u6210\u3002\u6574\u4e2a\u793e\u533a\u7684\u52aa\u529b\uff0c\u4ece\u6b64\u53ef\u4ee5\u66f4\u597d\u5730\u6574\u5408\u5230\u7edf\u4e00\u7684\u6846\u67b6\u3002<\/p>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-db54a8373fc7a7152c7bac372e062009.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-db54a8373fc7a7152c7bac372e062009.gif\"><\/a><\/section>\n<p><strong>\u6838\u5fc3\u4eae\u70b9\u4e8c\uff1a\u7edf\u4e00\u7684\u5927\u89c4\u6a21\u6570\u636e\u96c6\u4e0e\u6807\u51c6\u8bc4\u6d4b\u4f53\u7cfb<\/strong><\/p>\n<p>RoboVerse \u8fd8\u6784\u5efa\u4e86\u4e00\u4e2a\u524d\u6240\u672a\u6709\u7684\u5927\u89c4\u6a21\u5408\u6210\u6570\u636e\u96c6\uff0c\u6db5\u76d6\u591a\u79cd\u4efb\u52a1\u7c7b\u578b\uff0c\u517c\u5177\u6570\u636e\u8d28\u91cf\u548c\u591a\u6837\u6027\uff0c\u662f\u76ee\u524d\u6700\u5177\u4ee3\u8868\u6027\u7684\u5927\u89c4\u6a21\u4eff\u771f\u6570\u636e\u96c6\u4e4b\u4e00\u3002<\/p>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-8c78be016fa2d3779b7225a9530cbbbc.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-8c78be016fa2d3779b7225a9530cbbbc.png\"><\/a><\/section>\n<p>\u540c\u65f6\uff0c\u5e73\u53f0\u4e5f\u63d0\u51fa\u4e86\u9002\u7528\u4e8e\u6a21\u4eff\u5b66\u4e60\u4e0e\u5f3a\u5316\u5b66\u4e60\u7684\u6807\u51c6\u5316\u8bc4\u6d4b\u4f53\u7cfb\uff0c\u5b9e\u73b0\u8de8\u5e73\u53f0\u3001\u8de8\u57fa\u51c6\u7684\u53ef\u6bd4\u6027 \u2014\u2014 \u8ba9\u7b97\u6cd5\u7684\u6027\u80fd\u5f97\u5230\u66f4\u5b8c\u6574\u7684\u5c55\u73b0\u3002<\/p>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-1b2fc1dbccaf02bd8378227b24cec9cc.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-1b2fc1dbccaf02bd8378227b24cec9cc.png\"><\/a><\/section>\n<p><strong>\u6838\u5fc3\u4eae\u70b9\u4e09\uff1a\u6df7\u5408\u4eff\u771f \u2014\u2014 \u771f\u6b63 \u201c\u5f3a\u5f3a\u8054\u5408\u201d\uff0c\u5b9e\u73b0\u66f4\u9ad8\u4fdd\u771f\u5ea6<\/strong><\/p>\n<p>\u5f97\u76ca\u4e8e\u7edf\u4e00\u7684\u63a5\u53e3\uff0cRoboVerse \u8fd8\u89e3\u9501\u4e86\u4e00\u4e2a \u201c\u8d85\u80fd\u529b\u201d\uff1a\u6df7\u5408\u4eff\u771f\uff08Hybrid Simulation\uff09\u3002<\/p>\n<p>\u57fa\u4e8e RoboVerse, \u4f60\u53ef\u4ee5\u7528 MuJoCo \u63d0\u4f9b\u7cbe\u51c6\u7684\u7269\u7406\u5f15\u64ce\uff0c\u540c\u65f6\u642d\u914d Isaac Lab \u5b9e\u73b0\u9ad8\u8d28\u91cf\u7684\u56fe\u50cf\u6e32\u67d3 \u2014\u2014 \u5b9e\u73b0\u7269\u7406\u4e0e\u89c6\u89c9\u7684\u5f3a\u5f3a\u7ec4\u5408\u3002\u5b83\u4e0d\u4ec5\u8ba9\u4eff\u771f\u770b\u8d77\u6765\u66f4\u50cf\u73b0\u5b9e\u4e16\u754c\uff0c\u66f4\u6781\u5927\u63d0\u5347\u4e86\u771f\u5b9e\u73af\u5883\u4e2d\u7684\u8fc1\u79fb\u6548\u679c\uff0c\u8ba9\u673a\u5668\u4eba\u4ece\u4eff\u771f\u8d70\u8fdb\u73b0\u5b9e\u3002<\/p>\n<p>\u9065\u64cd\u4f5c (Teleoperation) \u4e5f\u4e0d\u518d\u590d\u6742\uff1aRoboVerse \u652f\u6301\u591a\u79cd\u9065\u64cd\u4f5c\u65b9\u5f0f\uff0c\u5e76\u5b9e\u73b0\u4e86\u9ad8\u5ea6\u7684\u53ef\u62d3\u5c55\u6027\u4e0e\u6613\u7528\u6027\u3002\u56e2\u961f\u4e13\u95e8\u5f00\u53d1\u4e86\u4e00\u6b3e\u79fb\u52a8\u7aef App\uff0c\u501f\u52a9\u624b\u673a\u5185\u7f6e\u4f20\u611f\u5668\uff0c\u8ba9\u7528\u6237\u53ef\u4ee5\u76f4\u63a5\u901a\u8fc7\u624b\u673a\u8fdb\u884c\u673a\u5668\u4eba\u8fdc\u7a0b\u63a7\u5236\uff0c\u64cd\u4f5c\u81ea\u7136\u6d41\u7545\u3001\u6beb\u65e0\u969c\u788d\u3002<\/p>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-e8d2aaff5b90e08f924556adbc815ccf.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-e8d2aaff5b90e08f924556adbc815ccf.gif\"><\/a><\/section>\n<p>\u6b64\u5916\uff0cRoboVerse \u8fd8\u652f\u6301\u591a\u79cd\u5176\u4ed6\u9065\u64cd\u4f5c\u8bbe\u5907\uff0c\u5305\u62ec Mocap \u52a8\u4f5c\u6355\u6349\u7cfb\u7edf\u3001VR \u5934\u663e\u3001\u952e\u76d8\u3001\u624b\u67c4\u7b49\uff0c\u6700\u5927\u7a0b\u5ea6\u4e0a\u517c\u987e\u4e86\u4e0d\u540c\u7528\u6237\u7684\u63a7\u5236\u4e60\u60ef\u4e0e\u5b9e\u9a8c\u9700\u6c42\u3002<\/p>\n<p>Real2Sim \u5de5\u5177\u94fe\uff1aRoboVerse \u652f\u6301\u4ece\u73b0\u5b9e\u4e16\u754c\u5355\u76ee\u89c6\u9891\u4e2d\u91cd\u5efa\u53ef\u7528\u4e8e\u4eff\u771f\u7684 3D \u8d44\u4ea7\uff0c\u57fa\u4e8e 3DGS\uff083D Gaussian Splatting\uff09\u7b49\u5148\u8fdb\u6280\u672f\uff0c\u6253\u901a\u4ece\u73b0\u5b9e\u5230\u4eff\u771f\u7684\u901a\u9053\uff0c\u5927\u5927\u964d\u4f4e\u4e86\u4eff\u771f\u73af\u5883\u6784\u5efa\u7684\u95e8\u69db\u3002<\/p>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-32491f04c7c9ed0d3e2a34f264bb8327.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-32491f04c7c9ed0d3e2a34f264bb8327.gif\"><\/a><\/section>\n<p>AI \u81ea\u52a8\u751f\u6210\u4efb\u52a1\uff08AI-Generate Tasks\uff09\uff1a\u501f\u52a9 MetaSim \u7684\u7edf\u4e00\u4efb\u52a1\u914d\u7f6e\u80fd\u529b\uff0cRoboVerse 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href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-9fe8dac5f7e1a809a00d292a4f1546d3.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-9fe8dac5f7e1a809a00d292a4f1546d3.gif\"><\/a><\/section>\n<p>RoboVerse \u8de8\u6a21\u62df\u5668\u7684\u80fd\u529b\u8fdb\u4e00\u6b65\u652f\u6301\u4e86 Sim2Sim2Real \u7684 humanoid \u90e8\u7f72\u3002\u5728 RoboVerse \u5e73\u53f0\u4e0a\u8bad\u7ec3\u7684\u673a\u5668\u4eba\uff0c\u53ef\u4ee5\u5b9e\u73b0\u65e0\u7f1d\u4eff\u771f\u5207\u6362\uff0c\u652f\u6301\u8bad\u7ec3\uff0c\u9a8c\u8bc1\uff0c\u90e8\u7f72\u5168\u6d41\u7a0b\u3002<\/p>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-e733399b89192ed694ca942a35a1c448.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" 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target=\"_blank\">\u8fc8\u5411\u673a\u5668\u4eba\u9886\u57dfImageNet\uff0c\u5927\u725bPieter Abbeel\u9886\u8854\u56fd\u5185\u5916\u9ad8\u6821\u5171\u5efaRoboVerse\uff0c\u7edf\u4e00\u4eff\u771f\u5e73\u53f0\u3001\u6570\u636e\u96c6\u548c\u57fa\u51c6<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:\u8fc8\u5411\u673a\u5668\u4eba\u9886\u57dfImag 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