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\documentclass[table]{hfstyle/hf} |
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\usepackage[utf8]{inputenc} |
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\usepackage[T1]{fontenc} |
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\usepackage{graphicx} |
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\usepackage{booktabs} |
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\usepackage{url} |
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\usepackage{lineno} |
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\usepackage{enumitem} |
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\usepackage{listings} |
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\usepackage{amsmath} |
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\usepackage{nicefrac} |
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\usepackage{siunitx} |
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\usepackage{multirow} |
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\usepackage{longtable} |
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\usepackage{tabularray} |
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\usepackage{wrapfig} |
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\usepackage{caption} |
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\usepackage{makecell} |
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\usepackage{adjustbox} |
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\usepackage[most]{tcolorbox} |
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\usepackage[table,xcdraw,dvipsnames]{xcolor} |
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\usepackage{xspace} |
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\usepackage{soul} |
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\usepackage{csquotes} |
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\usepackage{arydshln} |
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\usepackage{natbib} |
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\usepackage{todonotes} |
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\usepackage[absolute]{textpos} |
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\usepackage{pifont} |
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\usepackage{bold-extra} |
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\usepackage{pgf-pie} |
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\usepackage{epigraph} |
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\usepackage{algorithm} |
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\usepackage{algpseudocode} |
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\usepackage{hyperref} |
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\definecolor{linkcolor}{RGB}{0, 0, 128} |
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\hypersetup{ |
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colorlinks = true, |
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citecolor = linkcolor, |
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linkcolor = linkcolor, |
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urlcolor = linkcolor, |
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} |
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\newcommand{\cmark}{\ding{51}} |
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\newcommand{\xmark}{\ding{55}} |
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\setlist[itemize]{leftmargin=*,itemsep=0em,parsep=0.3em,topsep=0.3em} |
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\DeclareUnicodeCharacter{2212}{\ensuremath{-}} |
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\addtolength{\extrarowheight}{\belowrulesep} |
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\aboverulesep=0pt |
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\belowrulesep=0pt |
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\definecolor{maroon}{HTML}{F26035} |
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\definecolor{darkergrey}{HTML}{444444} |
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\definecolor{midgrey}{HTML}{e6eded} |
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\definecolor{neutralEight}{HTML}{343434} |
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\definecolor{neutralThree}{HTML}{bebebe} |
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\definecolor{neutralOne}{HTML}{dedede} |
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\definecolor{lightgrey}{HTML}{fafcfc} |
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\usepackage{tikz} |
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\newcommand{\cblock}[3]{ |
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\hspace{-1.5mm} |
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\begin{tikzpicture} |
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[ |
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node/.style={square, minimum size=10mm, thick, line width=0pt}, |
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] |
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\node[fill={rgb,255:red,#1;green,#2;blue,#3}] () [] {}; |
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\end{tikzpicture} |
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} |
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\newcommand{\norm}[1]{\left\lVert#1\right\rVert} |
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\definecolor{maroon}{HTML}{F26035} |
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\definecolor{yellow}{HTML}{FDBC42} |
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\definecolor{darkred}{RGB}{156, 39, 33} |
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\definecolor{darkblue}{RGB}{31, 90, 153} |
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\definecolor{forestgreen}{rgb}{0.13, 0.55, 0.13} |
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\definecolor{olmoDarkBlue}{HTML}{012e59} |
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\definecolor{olmoBlue}{HTML}{265ed4} |
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\definecolor{olmoLightBlue}{HTML}{012e59} |
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\definecolor{olmoTeal}{HTML}{00d5ff} |
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\definecolor{olmoYellow}{HTML}{ffbb00} |
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\definecolor{olmoOrange}{HTML}{ff9100} |
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\newcommand{\nol}[1]{{\color{purple} [nol]: #1}} |
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\definecolor{codegreen}{rgb}{0,0.6,0} |
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\definecolor{codegray}{rgb}{0.5,0.5,0.5} |
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\definecolor{codepurple}{rgb}{0.58,0,0.82} |
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\definecolor{backcolour}{rgb}{0.95,0.95,0.92} |
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\lstdefinestyle{mycodestyle}{ |
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backgroundcolor=\color{backcolour}, |
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commentstyle=\color{codegreen}, |
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keywordstyle=\color{magenta}, |
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numberstyle=\tiny\color{codegray}, |
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stringstyle=\color{codepurple}, |
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basicstyle=\ttfamily\footnotesize, |
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breakatwhitespace=false, |
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breaklines=true, |
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captionpos=b, |
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keepspaces=true, |
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numbers=left, |
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numbersep=5pt, |
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showspaces=false, |
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showstringspaces=false, |
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showtabs=false, |
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tabsize=2 |
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} |
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\lstset{style=mycodestyle} |
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\usepackage{setspace} |
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\usepackage{nicematrix} |
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\newcolumntype{L}[1]{>{\raggedright\let\newline\\\arraybackslash\hspace{0pt}}m{#1}} |
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\newcolumntype{C}[1]{>{\centering\let\newline\\\arraybackslash\hspace{0pt}}m{#1}} |
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\newcolumntype{R}[1]{>{\raggedleft\let\newline\\\arraybackslash\hspace{0pt}}m{#1}} |
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\newcolumntype{P}[1]{>{\centering\let\newline\\\arraybackslash\columncolor{ai2lightpink}}m{#1}} |
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\addtolength{\extrarowheight}{\belowrulesep} |
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\aboverulesep=0pt |
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\belowrulesep=0pt |
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\newcommand{\orr}[1]{\textcolor{red}{[OZ:#1]}} |
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\tcbuselibrary{minted} |
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\usemintedstyle{colorful} |
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\renewcommand{\theFancyVerbLine}{\color{olmoBlue}\footnotesize\arabic{FancyVerbLine}} |
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\setminted[python]{ |
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linenos, |
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breaklines, |
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fontsize=\footnotesize, |
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xleftmargin=2em |
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} |
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\crefname{tcb@cnt@pbox}{code}{code} |
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\Crefname{tcb@cnt@pbox}{Code}{Code} |
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\crefname{assumption}{assumption}{assumption} |
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\Crefname{assumption}{Assumption}{Assumptions} |
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\newtcolorbox[auto counter]{pbox}[2][]{ |
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breakable, |
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colback=white, |
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title=\textbf{Code~\thetcbcounter: #2}, |
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#1,fonttitle=\sffamily, |
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fontupper=\sffamily, |
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arc=10pt, |
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colframe=hf4, |
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coltitle=hf3, |
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colbacktitle=hf4, |
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toptitle=0.25cm, |
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bottomtitle=0.125cm |
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} |
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\input{preamble} |
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\input{math_commands} |
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\input{handles} |
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\input{snippets/code_specs} |
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\title{ |
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Robot Learning: A Tutorial |
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} |
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\newcommand{\huggingface}{\raisebox{-1.5pt}{\includegraphics[height=1.05em]{logos/hf.pdf}}\xspace} |
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\newcommand{\coreContrib}{\raisebox{.33em}{\hspace{.05em}\includegraphics[height=.5em]{logos/core.png}}\xspace} |
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\newcommand{\hf}{\raisebox{.28em}{\hspace{.05em}\includegraphics[height=1em]{logos/hf.pdf}}\xspace} |
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\newcommand{\ensps}{\raisebox{.3em}{\hspace{.05em}\includegraphics[height=.65em]{logos/ensps_logo.pdf}}\xspace} |
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\newcommand{\oxford}{\raisebox{.3em}{\hspace{.05em}\includegraphics[height=1em]{logos/oxford_logo.png}}\xspace} |
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\authorOne[]{Francesco Capuano \oxford \hf} |
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\authorOne[]{Caroline Pascal\hf} |
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\authorOne[]{Adil Zouitine\hf} |
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\authorOne[]{Thomas Wolf\hf} |
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\authorOne[]{Michel Aractingi\hf} |
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\contribution[]{\oxford University of Oxford, \hf Hugging Face} |
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\newcommand{\fix}{\marginpar{FIX}} |
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\newcommand{\new}{\marginpar{NEW}} |
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\abstract{ |
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\input{sections/00_abstract} |
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} |
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\begin{document} |
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\maketitle |
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\tableofcontents |
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\input{sections/A_foreword.tex} |
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\newpage |
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\input{sections/01_introduction} |
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\newpage |
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\input{sections/02_classic_robotics} |
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\newpage |
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\input{sections/03_reinforcement_learning.tex} |
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\newpage |
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\input{sections/04_imitation_learning.tex} |
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\newpage |
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\input{sections/05_foundation_models.tex} |
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\newpage |
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\input{sections/07_conclusions.tex} |
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\bibliographystyle{hfstyle/plainnat} |
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\bibliography{main} |
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\end{document} |
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