SentenceTransformer based on jhu-clsp/ettin-encoder-17m

This is a sentence-transformers model finetuned from jhu-clsp/ettin-encoder-17m on the msmarco-embed-dense_on dataset. It maps sentences & paragraphs to a 256-dimensional dense vector space and can be used for retrieval.

Model Details

Model Description

  • Model Type: Sentence Transformer
  • Base model: jhu-clsp/ettin-encoder-17m
  • Maximum Sequence Length: 8192 tokens
  • Output Dimensionality: 256 dimensions
  • Similarity Function: Cosine Similarity
  • Supported Modality: Text
  • Training Dataset:
    • msmarco-embed-dense_on

Model Sources

Full Model Architecture

SentenceTransformer(
  (0): Transformer({'transformer_task': 'feature-extraction', 'modality_config': {'text': {'method': 'forward', 'method_output_name': 'last_hidden_state'}}, 'module_output_name': 'token_embeddings', 'architecture': 'ModernBertModel'})
  (1): Pooling({'embedding_dimension': 256, 'pooling_mode': 'mean', 'include_prompt': True})
)

Usage

Direct Usage (Sentence Transformers)

First install the Sentence Transformers library:

pip install -U sentence-transformers

Then you can load this model and run inference.

from sentence_transformers import SentenceTransformer

# Download from the 🤗 Hub
model = SentenceTransformer("sentence_transformers_model_id")
# Run inference
queries = [
    'Healthcare is involved, directly or indirectly, with the provision of health services to individuals. These services can occur in a variety of work settings, including hospitals, clinics, dental offices, out-patient surgery centers, birthing centers, emergency medical care, home healthcare, and nursing homes. Healthcare workers face a number of serious safety and health hazards.',
]
documents = [
    'In a right triangle, the orthocenter is the polygon vertex of the right angle. When the vertices of a triangle are combined with its orthocenter, any one of the points is the orthocenter of the other three, as first noted by Carnot (Wells 1991). These four points therefore form an orthocentric system. The circumcenter and orthocenter are isogonal conjugates. The orthocenter lies on the Euler line.',
    'who makes fire extinguishers',
    'what is powdery mildew cannabis',
]
query_embeddings = model.encode_query(queries)
document_embeddings = model.encode_document(documents)
print(query_embeddings.shape, document_embeddings.shape)
# [1, 256] [3, 256]

# Get the similarity scores for the embeddings
similarities = model.similarity(query_embeddings, document_embeddings)
print(similarities)
# tensor([[0.5302, 0.5367, 0.4435]])

Evaluation

Metrics

Information Retrieval

Metric Value
cosine_accuracy@1 0.28
cosine_accuracy@3 0.48
cosine_accuracy@5 0.58
cosine_accuracy@10 0.78
cosine_precision@1 0.28
cosine_precision@3 0.16
cosine_precision@5 0.116
cosine_precision@10 0.078
cosine_recall@1 0.28
cosine_recall@3 0.48
cosine_recall@5 0.58
cosine_recall@10 0.78
cosine_ndcg@10 0.5032
cosine_mrr@10 0.4184
cosine_map@100 0.4276

Training Details

Training Dataset

msmarco-embed-dense_on

  • Dataset: msmarco-embed-dense_on
  • Size: 973,530 training samples
  • Columns: text and label
  • Approximate statistics based on the first 100 samples:
    text label
    type string list
    modality text
    details
    • min: 4 tokens
    • mean: 45.82 tokens
    • max: 179 tokens
    • size: 768 elements
  • Samples:
    text label
    how long background check bank returned [-1.896484375, 0.288330078125, -0.406005859375, -1.6953125, 1.98046875, ...]
    Humira® (adalimumab) is a prescription medication licensed to treat certain inflammatory conditions that affect the joints, spine, or digestive system. Specific Humira uses include the treatment of: Ankylosing spondylitis. Crohn's disease. Juvenile idiopathic arthritis, also known as juvenile rheumatoid arthritis. [-1.77734375, -0.072265625, -0.301513671875, -0.66748046875, 0.80810546875, ...]
    Bonfim is a municipality located in the mideast of the state of Roraima in Brazil. Its population is 12,626 and its area is 8,095 km². The city lies opposite the Takutu River from Lethem, Guyana. The Takutu River Bridge links Bonfim and Roraima with the town of Lethem and the Atlantic port of Georgetown, Guyana. [-0.411865234375, 1.58984375, 0.76123046875, 1.6171875, 0.34375, ...]
  • Loss: EmbedDistillLoss with these parameters:
    {
        "distance_metric": "cosine",
        "projection_dim": 768
    }
    

Training Hyperparameters

Non-Default Hyperparameters

  • per_device_train_batch_size: 32
  • learning_rate: 0.0001
  • warmup_steps: 0.1
  • weight_decay: 0.01
  • bf16: True
  • load_best_model_at_end: True
  • seed: 12
  • dataloader_num_workers: 2

All Hyperparameters

Click to expand
  • per_device_train_batch_size: 32
  • num_train_epochs: 3
  • max_steps: -1
  • learning_rate: 0.0001
  • lr_scheduler_type: linear
  • lr_scheduler_kwargs: None
  • warmup_steps: 0.1
  • optim: adamw_torch_fused
  • optim_args: None
  • weight_decay: 0.01
  • adam_beta1: 0.9
  • adam_beta2: 0.999
  • adam_epsilon: 1e-08
  • optim_target_modules: None
  • gradient_accumulation_steps: 1
  • average_tokens_across_devices: True
  • max_grad_norm: 1.0
  • label_smoothing_factor: 0.0
  • bf16: True
  • fp16: False
  • bf16_full_eval: False
  • fp16_full_eval: False
  • tf32: None
  • gradient_checkpointing: False
  • gradient_checkpointing_kwargs: None
  • torch_compile: False
  • torch_compile_backend: None
  • torch_compile_mode: None
  • use_liger_kernel: False
  • liger_kernel_config: None
  • use_cache: False
  • neftune_noise_alpha: None
  • torch_empty_cache_steps: None
  • auto_find_batch_size: False
  • log_on_each_node: True
  • logging_nan_inf_filter: True
  • include_num_input_tokens_seen: no
  • log_level: passive
  • log_level_replica: warning
  • disable_tqdm: False
  • project: huggingface
  • trackio_space_id: None
  • trackio_bucket_id: None
  • trackio_static_space_id: None
  • per_device_eval_batch_size: 8
  • prediction_loss_only: True
  • eval_on_start: False
  • eval_do_concat_batches: True
  • eval_use_gather_object: False
  • eval_accumulation_steps: None
  • include_for_metrics: []
  • batch_eval_metrics: False
  • save_only_model: False
  • save_on_each_node: False
  • enable_jit_checkpoint: False
  • push_to_hub: False
  • hub_private_repo: None
  • hub_model_id: None
  • hub_strategy: every_save
  • hub_always_push: False
  • hub_revision: None
  • load_best_model_at_end: True
  • ignore_data_skip: False
  • restore_callback_states_from_checkpoint: False
  • full_determinism: False
  • seed: 12
  • data_seed: None
  • use_cpu: False
  • accelerator_config: {'split_batches': False, 'dispatch_batches': None, 'even_batches': True, 'use_seedable_sampler': True, 'non_blocking': False, 'gradient_accumulation_kwargs': None}
  • parallelism_config: None
  • dataloader_drop_last: False
  • dataloader_num_workers: 2
  • dataloader_pin_memory: True
  • dataloader_persistent_workers: False
  • dataloader_prefetch_factor: None
  • remove_unused_columns: True
  • label_names: None
  • train_sampling_strategy: random
  • length_column_name: length
  • ddp_find_unused_parameters: None
  • ddp_bucket_cap_mb: None
  • ddp_broadcast_buffers: False
  • ddp_static_graph: None
  • ddp_backend: None
  • ddp_timeout: 1800
  • fsdp: None
  • fsdp_config: None
  • deepspeed: None
  • debug: []
  • skip_memory_metrics: True
  • do_predict: False
  • resume_from_checkpoint: None
  • warmup_ratio: None
  • local_rank: -1
  • prompts: None
  • batch_sampler: batch_sampler
  • multi_dataset_batch_sampler: proportional
  • router_mapping: {}
  • learning_rate_mapping: {}

Training Logs

Click to expand
Epoch Step Training Loss NanoMSMARCO_cosine_ndcg@10
-1 -1 - 0.01
0.0000 1 1.0217 -
0.0042 128 1.0103 -
0.0084 256 0.9761 -
0.0126 384 0.8144 -
0.0168 512 0.7116 -
0.0210 640 0.6541 -
0.0252 768 0.6331 -
0.0295 896 0.6174 -
0.0337 1024 0.6054 -
0.0379 1152 0.5923 -
0.0421 1280 0.5783 -
0.0463 1408 0.5659 -
0.0505 1536 0.5530 -
0.0547 1664 0.5433 -
0.0589 1792 0.5319 -
0.0631 1920 0.5211 -
0.0673 2048 0.5109 -
0.0715 2176 0.5060 -
0.0757 2304 0.4930 -
0.0799 2432 0.4891 -
0.0841 2560 0.4784 -
0.0884 2688 0.4739 -
0.0926 2816 0.4699 -
0.0968 2944 0.4638 -
0.1010 3072 0.4599 -
0.1052 3200 0.4509 -
0.1094 3328 0.4526 -
0.1136 3456 0.4470 -
0.1178 3584 0.4412 -
0.1220 3712 0.4403 -
0.1262 3840 0.4332 -
0.1304 3968 0.4310 -
0.1346 4096 0.4255 -
0.1388 4224 0.4276 -
0.1430 4352 0.4208 -
0.1473 4480 0.4164 -
0.1515 4608 0.4148 -
0.1557 4736 0.4117 -
0.1599 4864 0.4109 -
0.1641 4992 0.4061 -
0.1683 5120 0.4052 -
0.1725 5248 0.4016 -
0.1767 5376 0.3998 -
0.1809 5504 0.3970 -
0.1851 5632 0.3958 -
0.1893 5760 0.3969 -
0.1935 5888 0.3932 -
0.1977 6016 0.3934 -
0.2020 6144 0.3918 -
0.2062 6272 0.3900 -
0.2104 6400 0.3845 -
0.2146 6528 0.3841 -
0.2188 6656 0.3844 -
0.2230 6784 0.3806 -
0.2272 6912 0.3823 -
0.2314 7040 0.3779 -
0.2356 7168 0.3779 -
0.2398 7296 0.3773 -
0.2440 7424 0.3753 -
0.2482 7552 0.3756 -
0.2524 7680 0.3723 -
0.2566 7808 0.3726 -
0.2609 7936 0.3681 -
0.2651 8064 0.3681 -
0.2693 8192 0.3669 -
0.2735 8320 0.3652 -
0.2777 8448 0.3653 -
0.2819 8576 0.3642 -
0.2861 8704 0.3629 -
0.2903 8832 0.3639 -
0.2945 8960 0.3604 -
0.2987 9088 0.3577 -
0.3029 9216 0.3604 -
0.3071 9344 0.3577 -
0.3113 9472 0.3587 -
0.3156 9600 0.3556 -
0.3198 9728 0.3543 -
0.3240 9856 0.3538 -
0.3282 9984 0.3535 -
0.3324 10112 0.3512 -
0.3366 10240 0.3517 -
0.3408 10368 0.3480 -
0.3450 10496 0.3484 -
0.3492 10624 0.3449 -
0.3534 10752 0.3462 -
0.3576 10880 0.3443 -
0.3618 11008 0.3432 -
0.3660 11136 0.3454 -
0.3702 11264 0.3427 -
0.3745 11392 0.3413 -
0.3787 11520 0.3406 -
0.3829 11648 0.3404 -
0.3871 11776 0.3394 -
0.3913 11904 0.3368 -
0.3955 12032 0.3379 -
0.3997 12160 0.3381 -
0.4039 12288 0.3362 -
0.4081 12416 0.3379 -
0.4123 12544 0.3346 -
0.4165 12672 0.3325 -
0.4207 12800 0.3331 -
0.4249 12928 0.3311 -
0.4291 13056 0.3318 -
0.4334 13184 0.3283 -
0.4376 13312 0.3296 -
0.4418 13440 0.3282 -
0.4460 13568 0.3294 -
0.4502 13696 0.3270 -
0.4544 13824 0.3264 -
0.4586 13952 0.3290 -
0.4628 14080 0.3257 -
0.4670 14208 0.3238 -
0.4712 14336 0.3260 -
0.4754 14464 0.3223 -
0.4796 14592 0.3224 -
0.4838 14720 0.3234 -
0.4881 14848 0.3221 -
0.4923 14976 0.3202 -
0.4965 15104 0.3214 -
0.5007 15232 0.3207 -
0.5049 15360 0.3195 -
0.5091 15488 0.3165 -
0.5133 15616 0.3184 -
0.5175 15744 0.3189 -
0.5217 15872 0.3194 -
0.5259 16000 0.3162 -
0.5301 16128 0.3174 -
0.5343 16256 0.3151 -
0.5385 16384 0.3172 -
0.5427 16512 0.3158 -
0.5470 16640 0.3144 -
0.5512 16768 0.3141 -
0.5554 16896 0.3134 -
0.5596 17024 0.3135 -
0.5638 17152 0.3124 -
0.5680 17280 0.3118 -
0.5722 17408 0.3104 -
0.5764 17536 0.3102 -
0.5806 17664 0.3104 -
0.5848 17792 0.3078 -
0.5890 17920 0.3080 -
0.5932 18048 0.3088 -
0.5974 18176 0.3070 -
0.6017 18304 0.3067 -
0.6059 18432 0.3060 -
0.6101 18560 0.3059 -
0.6143 18688 0.3061 -
0.6185 18816 0.3043 -
0.6227 18944 0.3046 -
0.6269 19072 0.3041 -
0.6311 19200 0.3032 -
0.6353 19328 0.3039 -
0.6395 19456 0.3032 -
0.6437 19584 0.3043 -
0.6479 19712 0.3019 -
0.6521 19840 0.3015 -
0.6563 19968 0.3023 -
0.6606 20096 0.2995 -
0.6648 20224 0.3011 -
0.6690 20352 0.2992 -
0.6732 20480 0.2997 -
0.6774 20608 0.2993 -
0.6816 20736 0.2980 -
0.6858 20864 0.3010 -
0.6900 20992 0.2956 -
0.6942 21120 0.2988 -
0.6984 21248 0.2969 -
0.7026 21376 0.2961 -
0.7068 21504 0.2964 -
0.7110 21632 0.2968 -
0.7152 21760 0.2961 -
0.7195 21888 0.2941 -
0.7237 22016 0.2959 -
0.7279 22144 0.2943 -
0.7321 22272 0.2940 -
0.7363 22400 0.2933 -
0.7405 22528 0.2930 -
0.7447 22656 0.2927 -
0.7489 22784 0.2914 -
0.7531 22912 0.2906 -
0.7573 23040 0.2892 -
0.7615 23168 0.2882 -
0.7657 23296 0.2899 -
0.7699 23424 0.2897 -
0.7742 23552 0.2894 -
0.7784 23680 0.2912 -
0.7826 23808 0.2892 -
0.7868 23936 0.2880 -
0.7910 24064 0.2885 -
0.7952 24192 0.2908 -
0.7994 24320 0.2881 -
0.8036 24448 0.2862 -
0.8078 24576 0.2875 -
0.8120 24704 0.2867 -
0.8162 24832 0.2867 -
0.8204 24960 0.2876 -
0.8217 25000 - 0.3645
0.8246 25088 0.2868 -
0.8288 25216 0.2873 -
0.8331 25344 0.2849 -
0.8373 25472 0.2844 -
0.8415 25600 0.2852 -
0.8457 25728 0.2854 -
0.8499 25856 0.2858 -
0.8541 25984 0.2832 -
0.8583 26112 0.2842 -
0.8625 26240 0.2831 -
0.8667 26368 0.2832 -
0.8709 26496 0.2844 -
0.8751 26624 0.2830 -
0.8793 26752 0.2823 -
0.8835 26880 0.2796 -
0.8877 27008 0.2802 -
0.8920 27136 0.2808 -
0.8962 27264 0.2795 -
0.9004 27392 0.2804 -
0.9046 27520 0.2799 -
0.9088 27648 0.2801 -
0.9130 27776 0.2806 -
0.9172 27904 0.2803 -
0.9214 28032 0.2808 -
0.9256 28160 0.2778 -
0.9298 28288 0.2776 -
0.9340 28416 0.2799 -
0.9382 28544 0.2806 -
0.9424 28672 0.2797 -
0.9467 28800 0.2779 -
0.9509 28928 0.2782 -
0.9551 29056 0.2754 -
0.9593 29184 0.2782 -
0.9635 29312 0.2788 -
0.9677 29440 0.2751 -
0.9719 29568 0.2741 -
0.9761 29696 0.2751 -
0.9803 29824 0.2755 -
0.9845 29952 0.2744 -
0.9887 30080 0.2748 -
0.9929 30208 0.2744 -
0.9971 30336 0.2725 -
1.0013 30464 0.2717 -
1.0056 30592 0.2703 -
1.0098 30720 0.2719 -
1.0140 30848 0.2704 -
1.0182 30976 0.2719 -
1.0224 31104 0.2707 -
1.0266 31232 0.2700 -
1.0308 31360 0.2693 -
1.0350 31488 0.2687 -
1.0392 31616 0.2710 -
1.0434 31744 0.2716 -
1.0476 31872 0.2680 -
1.0518 32000 0.2686 -
1.0560 32128 0.2692 -
1.0603 32256 0.2681 -
1.0645 32384 0.2688 -
1.0687 32512 0.2681 -
1.0729 32640 0.2667 -
1.0771 32768 0.2682 -
1.0813 32896 0.2680 -
1.0855 33024 0.2670 -
1.0897 33152 0.2684 -
1.0939 33280 0.2671 -
1.0981 33408 0.2684 -
1.1023 33536 0.2676 -
1.1065 33664 0.2683 -
1.1107 33792 0.2670 -
1.1149 33920 0.2649 -
1.1192 34048 0.2657 -
1.1234 34176 0.2685 -
1.1276 34304 0.2656 -
1.1318 34432 0.2641 -
1.1360 34560 0.2646 -
1.1402 34688 0.2643 -
1.1444 34816 0.2644 -
1.1486 34944 0.2637 -
1.1528 35072 0.2642 -
1.1570 35200 0.2634 -
1.1612 35328 0.2638 -
1.1654 35456 0.2643 -
1.1696 35584 0.2633 -
1.1738 35712 0.2647 -
1.1781 35840 0.2626 -
1.1823 35968 0.2611 -
1.1865 36096 0.2639 -
1.1907 36224 0.2631 -
1.1949 36352 0.2621 -
1.1991 36480 0.2613 -
1.2033 36608 0.2621 -
1.2075 36736 0.2635 -
1.2117 36864 0.2627 -
1.2159 36992 0.2616 -
1.2201 37120 0.2635 -
1.2243 37248 0.2626 -
1.2285 37376 0.2615 -
1.2328 37504 0.2608 -
1.2370 37632 0.2624 -
1.2412 37760 0.2602 -
1.2454 37888 0.2599 -
1.2496 38016 0.2602 -
1.2538 38144 0.2599 -
1.2580 38272 0.2613 -
1.2622 38400 0.2593 -
1.2664 38528 0.2607 -
1.2706 38656 0.2595 -
1.2748 38784 0.2603 -
1.2790 38912 0.2591 -
1.2832 39040 0.2603 -
1.2874 39168 0.2606 -
1.2917 39296 0.2617 -
1.2959 39424 0.2603 -
1.3001 39552 0.2592 -
1.3043 39680 0.2583 -
1.3085 39808 0.2594 -
1.3127 39936 0.2593 -
1.3169 40064 0.2566 -
1.3211 40192 0.2588 -
1.3253 40320 0.2579 -
1.3295 40448 0.2562 -
1.3337 40576 0.2594 -
1.3379 40704 0.2568 -
1.3421 40832 0.2577 -
1.3463 40960 0.2579 -
1.3506 41088 0.2568 -
1.3548 41216 0.2557 -
1.3590 41344 0.2571 -
1.3632 41472 0.2552 -
1.3674 41600 0.2553 -
1.3716 41728 0.2574 -
1.3758 41856 0.2558 -
1.3800 41984 0.2560 -
1.3842 42112 0.2563 -
1.3884 42240 0.2559 -
1.3926 42368 0.2577 -
1.3968 42496 0.2547 -
1.4010 42624 0.2550 -
1.4053 42752 0.2551 -
1.4095 42880 0.2547 -
1.4137 43008 0.2537 -
1.4179 43136 0.2540 -
1.4221 43264 0.2552 -
1.4263 43392 0.2553 -
1.4305 43520 0.2530 -
1.4347 43648 0.2541 -
1.4389 43776 0.2564 -
1.4431 43904 0.2537 -
1.4473 44032 0.2534 -
1.4515 44160 0.2540 -
1.4557 44288 0.2541 -
1.4599 44416 0.2536 -
1.4642 44544 0.2539 -
1.4684 44672 0.2524 -
1.4726 44800 0.2548 -
1.4768 44928 0.2532 -
1.4810 45056 0.2532 -
1.4852 45184 0.2530 -
1.4894 45312 0.2524 -
1.4936 45440 0.2541 -
1.4978 45568 0.2516 -
1.5020 45696 0.2520 -
1.5062 45824 0.2533 -
1.5104 45952 0.2530 -
1.5146 46080 0.2521 -
1.5189 46208 0.2520 -
1.5231 46336 0.2510 -
1.5273 46464 0.2534 -
1.5315 46592 0.2534 -
1.5357 46720 0.2517 -
1.5399 46848 0.2519 -
1.5441 46976 0.2506 -
1.5483 47104 0.2514 -
1.5525 47232 0.2518 -
1.5567 47360 0.2521 -
1.5609 47488 0.2523 -
1.5651 47616 0.2501 -
1.5693 47744 0.2505 -
1.5735 47872 0.2516 -
1.5778 48000 0.2507 -
1.5820 48128 0.2492 -
1.5862 48256 0.2479 -
1.5904 48384 0.2497 -
1.5946 48512 0.2491 -
1.5988 48640 0.2501 -
1.6030 48768 0.2478 -
1.6072 48896 0.2493 -
1.6114 49024 0.2490 -
1.6156 49152 0.2504 -
1.6198 49280 0.2484 -
1.6240 49408 0.2502 -
1.6282 49536 0.2500 -
1.6324 49664 0.2503 -
1.6367 49792 0.2480 -
1.6409 49920 0.2490 -
1.6435 50000 - 0.4470
1.6451 50048 0.2475 -
1.6493 50176 0.2477 -
1.6535 50304 0.2489 -
1.6577 50432 0.2493 -
1.6619 50560 0.2469 -
1.6661 50688 0.2487 -
1.6703 50816 0.2483 -
1.6745 50944 0.2473 -
1.6787 51072 0.2485 -
1.6829 51200 0.2469 -
1.6871 51328 0.2464 -
1.6914 51456 0.2477 -
1.6956 51584 0.2459 -
1.6998 51712 0.2472 -
1.7040 51840 0.2476 -
1.7082 51968 0.2469 -
1.7124 52096 0.2483 -
1.7166 52224 0.2473 -
1.7208 52352 0.2459 -
1.7250 52480 0.2469 -
1.7292 52608 0.2448 -
1.7334 52736 0.2471 -
1.7376 52864 0.2440 -
1.7418 52992 0.2459 -
1.7460 53120 0.2470 -
1.7503 53248 0.2454 -
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2.9998 91264 0.2293 -
3.0 91269 - 0.5032
-1 -1 - 0.5032
  • The bold row denotes the saved checkpoint.

Training Time

  • Training: 37.8 minutes
  • Evaluation: 12.9 seconds
  • Total: 38.0 minutes

Framework Versions

  • Python: 3.11.12
  • Sentence Transformers: 5.6.1
  • Transformers: 5.14.1
  • PyTorch: 2.13.0+cu130
  • Accelerate: 1.14.0
  • Datasets: 5.0.1
  • Tokenizers: 0.22.2

Citation

BibTeX

Sentence Transformers

@inproceedings{reimers-2019-sentence-bert,
    title = "Sentence-BERT: Sentence Embeddings using Siamese BERT-Networks",
    author = "Reimers, Nils and Gurevych, Iryna",
    booktitle = "Proceedings of the 2019 Conference on Empirical Methods in Natural Language Processing",
    month = "11",
    year = "2019",
    publisher = "Association for Computational Linguistics",
    url = "https://arxiv.org/abs/1908.10084",
}

EmbedDistillLoss

@article{kim2023embeddistill,
    title={EmbedDistill: A Geometric Knowledge Distillation for Information Retrieval},
    author={Kim, Seungyeon and Rawat, Ankit Singh and Zaheer, Manzil and Jayasumana, Sadeep and Sadhanala, Veeranjaneyulu and Jitkrittum, Wittawat and Menon, Aditya Krishna and Fergus, Rob and Kumar, Sanjiv},
    year={2023},
    eprint={2301.12005},
    archivePrefix={arXiv},
    primaryClass={cs.IR}
}
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