name string | system string | root_services list | optional_services list | chaos_types list | n_injected_faults int64 | n_required_faults int64 | process_applicable bool | n_service_edges int64 | longest_service_path int64 |
|---|---|---|---|---|---|---|---|---|---|
batch-01KQHDBB5Y8K69Z13G7VSWG9FS | hs | [
"geo",
"profile"
] | [] | [
"PodFailure"
] | 2 | 2 | true | 3 | 2 |
batch-01KQHDBBFCJTTJNJV624R7GPT3 | hs | [
"profile",
"recommendation"
] | [] | [
"PodFailure"
] | 2 | 2 | true | 2 | 1 |
batch-01KQHDBBNP9A2BWM50Z37QJT3A | hs | [
"profile",
"search"
] | [] | [
"PodFailure"
] | 2 | 2 | true | 2 | 1 |
batch-01KQJ23RSSQ3W1ESP1DJDHDFE2 | ts | [
"ts-order-other-service"
] | [] | [
"NetworkCorrupt"
] | 2 | 1 | true | 11 | 4 |
batch-01KQJ24CAJ4D1KH8T37QBKFD7V | ts | [
"ts-route-service"
] | [] | [
"NetworkLoss"
] | 2 | 1 | true | 10 | 4 |
batch-01KQJ27843MQJP96WNKE1NR93J | ts | [
"ts-station-service"
] | [] | [
"NetworkPartition"
] | 2 | 1 | true | 11 | 5 |
batch-01KQJ2C5B42PRP003GBETSMEWX | hs | [
"recommendation",
"search"
] | [] | [
"NetworkDelay",
"PodFailure"
] | 2 | 2 | true | 3 | 2 |
batch-01KQJ43J1FX38J4KZSSRMEWSK4 | ts | [
"ts-route-service"
] | [] | [
"NetworkLoss"
] | 2 | 1 | true | 7 | 3 |
batch-01KQJ4HFBFRVJAYATV94V0ABJB | ts | [
"ts-station-service"
] | [] | [
"NetworkPartition"
] | 2 | 1 | true | 6 | 3 |
batch-01KQJ4HK8F3CKV242GFN97BETP | ts | [
"ts-order-other-service"
] | [] | [
"NetworkCorrupt"
] | 2 | 1 | true | 10 | 3 |
batch-01KQJ5SNX743XW910S8JSVJFH0 | hs | [
"search"
] | [
"geo"
] | [
"NetworkDelay"
] | 2 | 1 | true | 2 | 2 |
batch-01KQJ6SK7V5KM3T6JGMH3D59MN | ts | [
"ts-station-service"
] | [] | [
"NetworkPartition"
] | 2 | 1 | true | 12 | 5 |
batch-01KQJ6TFFXAREAMTFS4YW9C8Y3 | ts | [
"ts-route-service"
] | [] | [
"JVMLatency"
] | 2 | 1 | true | 6 | 2 |
batch-01KQJ6TQA7JDTKH89P9VE8SWBY | ts | [
"ts-user-service"
] | [] | [
"NetworkLoss"
] | 2 | 1 | true | 3 | 3 |
batch-01KQJ6V220PF94DWGBM4DS613H | ts | [
"ts-seat-service"
] | [] | [
"NetworkPartition"
] | 2 | 1 | true | 10 | 3 |
batch-01KQJ9C9Q81M8WPCWNFT7JCJZH | ts | [
"ts-route-service"
] | [] | [
"NetworkLoss"
] | 2 | 1 | true | 16 | 3 |
batch-01KQJ9C9Q8VCHQ9Y1VJG3NFJY4 | ts | [
"ts-station-service"
] | [] | [
"NetworkPartition"
] | 2 | 1 | true | 11 | 5 |
batch-01KQJ9C9QED2T6VP4J20YG0K7P | ts | [
"ts-order-other-service"
] | [] | [
"NetworkCorrupt"
] | 2 | 1 | true | 4 | 2 |
batch-01KQJAQ4RF51KJ73PS5Z2Y9Q1X | hs | [
"profile",
"rate"
] | [] | [
"PodFailure"
] | 2 | 2 | true | 3 | 2 |
batch-01KQJB4CJXMJKTE1XM0AKJ3XK6 | ts | [
"ts-order-other-service"
] | [] | [
"NetworkLoss"
] | 2 | 1 | true | 9 | 5 |
batch-01KQJDNEASV38637YP6113QN4Q | ts | [
"ts-route-service"
] | [] | [
"NetworkLoss"
] | 2 | 1 | true | 18 | 3 |
batch-01KQJDPHHNCPDJ8Y8J25M41V3M | ts | [
"ts-order-other-service"
] | [] | [
"NetworkLoss"
] | 2 | 1 | true | 4 | 2 |
batch-01KQJDR39CM03KRWWS210SV3K2 | ts | [
"ts-consign-price-service"
] | [] | [
"JVMLatency"
] | 2 | 1 | true | 2 | 2 |
batch-01KQJFMGW8BHEJBYK0YGCEESZW | ts | [
"ts-user-service"
] | [] | [
"JVMLatency"
] | 2 | 1 | true | 2 | 2 |
batch-01KQJHA9K20NQVY7A2FTRV9CXE | ts | [
"ts-seat-service"
] | [] | [
"NetworkCorrupt"
] | 2 | 1 | true | 10 | 3 |
batch-01KQJJR98M781QXEBFK4JSBTPF | hs | [
"search"
] | [] | [
"NetworkDelay"
] | 2 | 1 | true | 2 | 2 |
batch-01KQJKBKE1QFDXRJW1V2K66ZF4 | ts | [
"ts-user-service"
] | [] | [
"NetworkLoss"
] | 2 | 1 | true | 3 | 3 |
batch-01KQJKBS9889WA9HFNQK8TJBWM | ts | [
"ts-train-food-service"
] | [] | [
"JVMLatency"
] | 2 | 1 | true | 2 | 2 |
batch-01KQJKC50M842Z7PBHT9AH7HY7 | ts | [
"ts-route-service"
] | [] | [
"NetworkCorrupt"
] | 2 | 1 | true | 18 | 3 |
batch-01KQJM8BBBVMP60FYFNNSNPEMJ | hs | [
"search"
] | [
"profile"
] | [
"NetworkDelay"
] | 2 | 1 | true | 2 | 2 |
batch-01KQJM8H6VP56JFQJ364THZKCP | hs | [
"search"
] | [
"profile"
] | [
"NetworkDelay"
] | 2 | 1 | true | 2 | 2 |
batch-01KQJN2K8FPVYCWCQ9DH9HENJK | ts | [
"ts-travel2-service"
] | [] | [
"NetworkLoss"
] | 2 | 1 | true | 7 | 3 |
batch-01KQJN35T1EZPRFC3RJFR6ZERZ | ts | [
"ts-travel2-service"
] | [] | [
"NetworkCorrupt"
] | 2 | 1 | true | 1 | 1 |
batch-01KQJNR6KAZE74A2P4B8B78SX0 | hs | [
"search"
] | [
"profile"
] | [
"NetworkDelay"
] | 2 | 1 | true | 2 | 2 |
batch-01KQJNRDE330MH2RHSWY6078KZ | hs | [
"search"
] | [
"rate"
] | [
"NetworkDelay"
] | 2 | 1 | true | 2 | 2 |
batch-01KQJNRK9RP67RCPCFMCWA1MHJ | hs | [
"recommendation",
"search"
] | [] | [
"NetworkDelay",
"PodFailure"
] | 2 | 2 | true | 3 | 2 |
batch-01KQJPTCBJ1E5R06PMHQQ2S1SW | ts | [
"ts-user-service"
] | [] | [
"NetworkLoss"
] | 2 | 1 | true | 3 | 3 |
batch-01KQJPTG8GDPG19GVV1BVDS3GR | ts | [
"ts-travel2-service"
] | [] | [
"NetworkLoss"
] | 2 | 1 | true | 5 | 3 |
batch-01KQJPTV00MB809XND0MPZG01F | ts | [
"ts-route-service"
] | [] | [
"JVMLatency"
] | 2 | 1 | true | 18 | 3 |
batch-01KQJQE55BKGG6KH3Y675WJTHK | hs | [
"search"
] | [
"profile"
] | [
"NetworkDelay"
] | 2 | 1 | true | 2 | 2 |
batch-01KQJQEB0TNVQE858QJWWNNZTZ | hs | [
"search"
] | [
"rate"
] | [
"NetworkDelay"
] | 2 | 1 | true | 2 | 2 |
batch-01KQJRZN4SPJFE5G57D1108F8V | ts | [
"ts-train-food-service"
] | [] | [
"JVMLatency"
] | 2 | 1 | true | 2 | 2 |
batch-01KQJS94VKJXFZZ6K1RK19XQCB | otel-demo | [
"shipping"
] | [
"payment"
] | [
"NetworkDelay"
] | 2 | 1 | true | 4 | 4 |
batch-01KQJV0AFZ1558W2A1SQ582CWW | ts | [
"ts-travel2-service"
] | [] | [
"NetworkLoss"
] | 2 | 1 | true | 3 | 3 |
batch-01KQJV0Y0S73EY3B1M5P842SH0 | ts | [
"ts-route-service"
] | [] | [
"NetworkLoss"
] | 2 | 1 | true | 17 | 3 |
batch-01KQJV280HFW73BPJHQS4Y29E3 | ts | [
"ts-order-other-service"
] | [] | [
"NetworkPartition"
] | 2 | 1 | true | 4 | 2 |
batch-01KQJV7393W3J5MKW3TK8VY98F | hs | [
"search"
] | [
"profile"
] | [
"NetworkDelay"
] | 2 | 1 | true | 2 | 2 |
batch-01KQJWMP8Y1FVTNHGGR25QGSWX | ts | [
"ts-order-other-service"
] | [] | [
"NetworkCorrupt"
] | 2 | 1 | true | 4 | 2 |
batch-01KQJWP91K9TRVZD3PR9GE6182 | hs | [
"search"
] | [
"profile"
] | [
"NetworkDelay"
] | 2 | 1 | true | 2 | 2 |
batch-01KQJWPEX9A8EMMP7ZCDDNT3DY | ts | [
"ts-travel2-service"
] | [] | [
"NetworkPartition"
] | 2 | 1 | true | 5 | 3 |
batch-01KQJWRBEKAN1XD7D8HH9C7G2F | hs | [
"search"
] | [
"geo"
] | [
"NetworkDelay"
] | 2 | 1 | true | 2 | 2 |
batch-01KQJWS1X8RXBJ247R263ADA03 | ts | [
"ts-train-food-service"
] | [] | [
"JVMLatency"
] | 2 | 1 | true | 2 | 2 |
batch-01KQJWSGJ099M4CZYEP916XDZ4 | ts | [
"ts-route-service"
] | [] | [
"JVMLatency"
] | 2 | 1 | true | 6 | 2 |
batch-01KQJYE63S5VYYXYGEP1HFE609 | hs | [
"rate"
] | [
"geo"
] | [
"PodFailure"
] | 2 | 1 | true | 2 | 2 |
batch-01KQJYX6JYACHBQGGFNX99TBCN | ts | [
"ts-order-other-service"
] | [] | [
"NetworkLoss"
] | 2 | 1 | true | 10 | 4 |
batch-01KQJYXGB0NF27E756RGH8W55R | ts | [
"ts-route-service"
] | [] | [
"JVMLatency"
] | 2 | 1 | true | 2 | 1 |
batch-01KQJYXN7WB4M347XF74ZQF9DC | ts | [
"ts-seat-service"
] | [] | [
"NetworkCorrupt"
] | 2 | 1 | true | 10 | 3 |
batch-01KQK0256BAXAH7NGCS10XBQX5 | hs | [
"search"
] | [
"geo"
] | [
"NetworkDelay"
] | 2 | 1 | true | 2 | 2 |
batch-01KQK02A2KTTW32E1HSNH4SCEY | hs | [
"search"
] | [
"profile"
] | [
"NetworkDelay"
] | 2 | 1 | true | 2 | 2 |
batch-01KQK04AH9JSX2QAME0B6YEHSX | hs | [
"recommendation"
] | [
"geo"
] | [
"PodFailure"
] | 2 | 1 | true | 1 | 1 |
batch-01KQK0PKG2VWVWPR8PCYF1D284 | ts | [
"ts-station-service"
] | [] | [
"NetworkPartition"
] | 2 | 1 | true | 10 | 5 |
batch-01KQK0PMFEG4VS703ZGWR7JMYS | ts | [
"ts-user-service"
] | [] | [
"NetworkPartition"
] | 2 | 1 | true | 3 | 3 |
batch-01KQK0QHRV340AM86XJEK64P7D | ts | [
"ts-travel2-service"
] | [] | [
"NetworkLoss"
] | 2 | 1 | true | 3 | 3 |
batch-01KQK2HDATV5DQ5NXBXHCH20MZ | ts | [
"ts-user-service"
] | [] | [
"NetworkPartition"
] | 2 | 1 | true | 3 | 3 |
batch-01KQK2HEA575BTKM4PN7J5RW6T | ts | [
"ts-station-service"
] | [] | [
"NetworkPartition"
] | 2 | 1 | true | 11 | 5 |
batch-01KQK2J0XP7K0Q8VAMQ0GX652A | ts | [
"ts-travel2-service"
] | [] | [
"NetworkDelay"
] | 2 | 1 | true | 3 | 3 |
batch-01KQK2J0XSB90FSEAEMXZQW0DM | ts | [
"ts-travel2-service"
] | [] | [
"NetworkLoss"
] | 2 | 1 | true | 3 | 3 |
batch-01KQK4BBTKGF83XFVF8JWFEE2X | ts | [
"ts-route-service"
] | [] | [
"NetworkCorrupt"
] | 2 | 1 | true | 17 | 3 |
batch-01KQK4CFYGAYKM3FCRWNX9YX75 | ts | [
"ts-train-food-service"
] | [] | [
"JVMLatency"
] | 2 | 1 | true | 2 | 2 |
batch-01KQK4SEZV3N5D2XBXPN3HZFCP | hs | [
"search"
] | [
"reservation"
] | [
"NetworkDelay"
] | 2 | 1 | true | 2 | 2 |
batch-01KQK4SPST1WATZ13GVRD2HJCC | hs | [
"search"
] | [
"rate"
] | [
"NetworkDelay"
] | 2 | 1 | true | 2 | 2 |
batch-01KQK65E71X68JMCEBHABBJTZY | ts | [
"ts-seat-service"
] | [] | [
"JVMLatency"
] | 2 | 1 | true | 10 | 2 |
batch-01KQK66MC2QDN6889Q9JQ6XFE8 | ts | [
"ts-travel2-service"
] | [] | [
"NetworkLoss"
] | 2 | 1 | true | 3 | 3 |
batch-01KQK6BHH90MH9CJ6D8S8YS5M8 | hs | [
"search"
] | [
"reservation"
] | [
"PodFailure"
] | 2 | 1 | true | 1 | 1 |
batch-01KQK6BQCSFJJF9V6K4QQ75607 | hs | [
"rate"
] | [
"profile"
] | [
"PodFailure"
] | 2 | 1 | true | 2 | 2 |
batch-01KQK6BW91CZEYXQZY6DEXCDJA | hs | [
"geo"
] | [
"search"
] | [
"PodFailure"
] | 2 | 1 | true | 2 | 2 |
batch-01KQK6C1588EFE1F666FMPAYW2 | hs | [
"user"
] | [
"attractions"
] | [
"PodFailure"
] | 2 | 1 | true | 1 | 1 |
batch-01KQK6C61FQPBM9SW7JC6QZ6SH | hs | [
"attractions"
] | [
"recommendation"
] | [
"PodFailure"
] | 2 | 1 | true | 1 | 1 |
batch-01KQK6D68RK8K57FH15VSSSXDA | hs | [
"recommendation"
] | [
"geo"
] | [
"PodFailure"
] | 2 | 1 | true | 1 | 1 |
batch-01KQK6MREYT2E53TAPR8N3XV5V | otel-demo | [
"payment"
] | [
"currency"
] | [
"PodFailure"
] | 2 | 1 | true | 3 | 3 |
batch-01KQKCQ460GTM8Z77TWY3J9TCX | hs | [
"attractions",
"user"
] | [] | [
"MemoryStress",
"PodFailure"
] | 2 | 2 | true | 2 | 1 |
batch-01KQKCQC3TJFMKBQ13J2C9D84B | hs | [
"attractions"
] | [
"user"
] | [
"PodFailure"
] | 2 | 1 | true | 1 | 1 |
batch-01KQKCS0XBDH4JF9T8A4S5XBMH | hs | [
"reservation"
] | [
"search"
] | [
"PodFailure"
] | 2 | 1 | true | 1 | 1 |
batch-01KQKCSQ69M05FTW275Y5KWM0F | hs | [
"search"
] | [
"reservation"
] | [
"PodFailure"
] | 2 | 1 | true | 1 | 1 |
batch-01KQKCV06R0R4GPSJFH8KXHJ8J | hs | [
"geo"
] | [
"recommendation"
] | [
"PodFailure"
] | 2 | 1 | true | 2 | 2 |
batch-01KQKCWYPRY2G8P6AS2WJ3M3ZY | otel-demo | [
"quote"
] | [
"currency"
] | [
"PodFailure"
] | 2 | 1 | true | 4 | 4 |
batch-01KQKCX4JATHZNC5CFSEHMF72A | otel-demo | [
"shipping"
] | [
"cart"
] | [
"PodFailure"
] | 2 | 1 | true | 3 | 3 |
batch-01KQKEF272ZFJT9732BVM1YZ8A | hs | [
"search"
] | [
"reservation"
] | [
"NetworkDelay"
] | 2 | 1 | true | 2 | 2 |
batch-01KQKEF643HY67YXS2CSX3MT4B | hs | [
"search"
] | [
"recommendation"
] | [
"NetworkDelay"
] | 2 | 1 | true | 2 | 2 |
batch-01KQKF1QWF90MA8TPBJBCM4W9C | ts | [
"ts-order-other-service"
] | [] | [
"NetworkCorrupt"
] | 2 | 1 | true | 4 | 2 |
batch-01KQKF5SRK8TBERG4CS4PB3CZF | ts | [
"ts-travel2-service"
] | [] | [
"NetworkLoss"
] | 2 | 1 | true | 3 | 3 |
batch-01KQKF68D985REFC5ZNZ81STY5 | ts | [
"ts-user-service"
] | [] | [
"NetworkLoss"
] | 2 | 1 | true | 1 | 1 |
batch-01KQKFNFS3PJNP39G6R8CF87MG | ts | [
"ts-route-plan-service",
"ts-travel2-service"
] | [] | [
"JVMLatency",
"NetworkLoss"
] | 2 | 2 | true | 5 | 3 |
batch-01KQKFNZBBTZ69WTAZ7T3JDC7A | ts | [
"ts-user-service"
] | [] | [
"DNSError",
"JVMLatency"
] | 2 | 2 | true | 3 | 3 |
batch-01KQKFRKAJZ8DVJZSHTAEGNEN9 | ts | [
"ts-admin-basic-info-service"
] | [] | [
"JVMLatency"
] | 2 | 1 | true | 1 | 1 |
batch-01KQKFRN92GEVSF4RKQ9STAHCS | ts | [
"ts-travel2-service"
] | [] | [
"JVMLatency"
] | 2 | 1 | true | 4 | 2 |
batch-01KQKFS02FRXXW7DTT0GYKZASY | ts | [
"ts-admin-user-service"
] | [] | [
"JVMLatency"
] | 2 | 1 | true | 1 | 1 |
batch-01KQKFS3XYZAA7G3ZSPME1H3MJ | ts | [
"ts-food-service",
"ts-preserve-service"
] | [] | [
"JVMLatency",
"NetworkLoss"
] | 2 | 2 | true | 3 | 3 |
batch-01KQKG7XHVQS2YB9KTZ9HK4W8M | hs | [
"search"
] | [
"recommendation"
] | [
"NetworkDelay"
] | 2 | 1 | true | 2 | 2 |
batch-01KQKG83DHAKV5SHADNTEE6RX3 | hs | [
"rate"
] | [
"profile"
] | [
"PodFailure"
] | 2 | 1 | true | 2 | 2 |
OpenRCA 2.0
A root-cause-analysis (RCA) benchmark for microservice systems with process-level ground truth. Each instance is a recorded fault injection: the telemetry of the system before and during the fault, the injected faults that took effect, and the verified propagation graph along which their effects travelled between services.
An agent under evaluation sees only the telemetry and must name the root-cause service(s) and fault kind, and describe how the failure propagated. The label and the propagation graph are the answer key.
Composition
| system | instances | multi-fault | fault kinds | mean service edges in G* |
|---|---|---|---|---|
ts (TrainTicket, Java/Spring Cloud) |
275 | 78 | 21 | 5.9 |
otel-demo (OpenTelemetry Demo, polyglot) |
32 | 16 | 7 | 3.1 |
hs (Hotel Reservation, DeathStarBench, Go/gRPC) |
148 | 82 | 5 | 1.5 |
| total | 455 | 176 | 23 | 4.3 |
437 instances have at least one service-level edge in their propagation graph and are scored at the process level; the other 18 are scored at the outcome level only.
Data layout
openrca2-lite/
βββ README.md
βββ manifest.jsonl # one record per instance
βββ cases/<case-name>/
βββ normal_traces.parquet # telemetry before the injection
βββ normal_metrics.parquet
βββ normal_metrics_histogram.parquet
βββ normal_metrics_sum.parquet
βββ normal_logs.parquet
βββ abnormal_traces.parquet # telemetry during the injection
βββ abnormal_metrics.parquet
βββ abnormal_metrics_histogram.parquet
βββ abnormal_metrics_sum.parquet
βββ abnormal_logs.parquet
βββ env.json # normal / abnormal window boundaries (unix seconds)
βββ injection.json # raw fault-injection record
βββ label.json # answer key: root causes
βββ causal_graph.json # answer key: verified propagation graph G*
The ten parquet files are the only input given to an agent. env.json,
injection.json, label.json, and causal_graph.json must be withheld
from the agent during evaluation.
Log lines printed by the fault-injection tooling itself (which would name the injection target) have been removed from the logs; no other telemetry has been edited.
label.json
{
"case": "batch-01KQHDBBNP9A2BWM50Z37QJT3A",
"system": "hs",
"faults": [
{"index": 0, "service": "search", "chaos_type": "PodFailure", "role": "required", "container": ["hotel-reserv-search"]},
{"index": 1, "service": "profile", "chaos_type": "PodFailure", "role": "required", "container": ["hotel-reserv-profile"]}
],
"process_applicable": true,
"service_edges": [["profile", "frontend"], ["search", "frontend"]]
}
One entry per injected fault, in the order of injection.json's
engine_config. role is one of:
required: the fault took effect beyond its own service; it is part of the root-cause set an agent must recover.optional: the fault took effect only on its own resources, or was masked by a co-injected fault. Naming it is neither required nor penalised.not_effective: the fault was injected but had no observable effect. It is not part of the answer, and naming it counts as a wrong root cause.
also_accept (present on 3 faults) lists services that also count as
naming the fault: for these HTTP faults the telemetry cannot tell which end
of the call was altered.
process_applicable is false when G* has no service-level edge (the
effect stayed inside the root service); process-level metrics skip such
instances. service_edges is G* projected to services, the graph that
Node F1, Edge F1, and path reachability are computed on.
injection.json is the unmodified record of everything that was injected,
including faults whose role is not_effective; its ground_truth field
therefore lists every injected fault. label.json is authoritative.
causal_graph.json
The verified propagation graph at component level (services, spans, pods, containers):
nodes:{component, state, timestamp}, e.g.span|frontend::HTTP /hotelsin stateerroringedges:{source, target}between componentsroot_causes: the injected components the paths start fromalarm_nodes: components at the end of the verified paths, where the effect was observedcomponent_to_service: owning service of every component; project edges through this map to obtain the service-level graphcase_name,fault_type
manifest.jsonl
{"name": "...", "system": "ts|hs|otel-demo",
"root_services": ["..."], "optional_services": ["..."], "chaos_types": ["..."],
"n_injected_faults": 2, "n_required_faults": 2,
"process_applicable": true, "n_service_edges": 3, "longest_service_path": 2}
root_services and chaos_types cover required faults only.
How the ground truth was built
Faults were injected with Chaos Mesh into the three testbeds and the telemetry was exported through OpenTelemetry. Each injection record was then checked forward against the telemetry: a fault is kept only if its effect is observable on the injected service, and a propagation edge is kept only if it follows a known propagation mechanism, the downstream service deviates from its pre-injection behaviour beyond the variation seen in fault-free windows, and the downstream anomaly starts no earlier than the upstream one. Instances without any fault that took effect beyond its own service were removed. The procedure is described in the accompanying paper.
License
Apache-2.0. The underlying microservice testbeds (TrainTicket, Hotel Reservation / DeathStarBench, OpenTelemetry Demo) retain their own upstream licenses.
Citation
A formal citation will be added on publication.
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