Source upload
63
.gitignore
vendored
Normal file
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||||
# This .gitignore file should be placed at the root of your Unity project directory
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#
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# Get latest from https://github.com/github/gitignore/blob/master/Unity.gitignore
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#
|
||||
/[Ll]ibrary/
|
||||
/[Tt]emp/
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||||
/[Oo]bj/
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||||
/[Bb]uild/
|
||||
/[Bb]uilds/
|
||||
/[Ll]ogs/
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||||
/[Mm]emoryCaptures/
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||||
|
||||
# Never ignore Asset meta data
|
||||
!/[Aa]ssets/**/*.meta
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||||
|
||||
# Uncomment this line if you wish to ignore the asset store tools plugin
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# /[Aa]ssets/AssetStoreTools*
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# TextMesh Pro files
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[Aa]ssets/TextMesh*Pro/
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[Aa]ssets/Plugins/Editor/JetBrains*
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.vs/
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# Gradle cache directory
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.gradle/
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||||
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||||
# Autogenerated VS/MD/Consulo solution and project files
|
||||
ExportedObj/
|
||||
.consulo/
|
||||
*.csproj
|
||||
*.unityproj
|
||||
*.sln
|
||||
*.suo
|
||||
*.tmp
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||||
*.user
|
||||
*.userprefs
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||||
*.pidb
|
||||
*.booproj
|
||||
*.svd
|
||||
*.pdb
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*.mdb
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||||
*.opendb
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*.VC.db
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||||
|
||||
# Unity3D generated meta files
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||||
*.pidb.meta
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*.pdb.meta
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||||
*.mdb.meta
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# Unity3D generated file on crash reports
|
||||
sysinfo.txt
|
||||
|
||||
# Builds
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||||
*.apk
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*.unitypackage
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||||
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||||
# Crashlytics generated file
|
||||
crashlytics-build.properties
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||||
|
6
.vsconfig
Normal file
@ -0,0 +1,6 @@
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||||
{
|
||||
"version": "1.0",
|
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"components": [
|
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"Microsoft.VisualStudio.Workload.ManagedGame"
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]
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}
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8
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8
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7
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using System.Collections.Generic;
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using UnityEngine;
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using Unity.MLAgents;
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using Unity.MLAgents.Sensors;
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using Unity.MLAgents.Actuators;
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public class RollerAgent : Agent
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{
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public Transform Target;
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public Transform MinLocation;
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public GameObject UPArrow;
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public GameObject DownArrow;
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public GameObject LArrow;
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public GameObject RPArrow;
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public int timeLimit = 8;
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public float forceMultiplier = 10;
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public float WINREWARD = 10.0f;
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public float FAILREWARD = -10.0f;
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private float minDistance = 0f;
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Rigidbody rBody;
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private float startTime = 0;
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void Start()
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{
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rBody = GetComponent<Rigidbody>();
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}
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//Episode开始时执行
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public override void OnEpisodeBegin()
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{
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startTime = Time.time;//Reset StartTime as now time
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float dist = Vector3.Distance(this.transform.localPosition, NewTargetPosition);
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}
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// 观察情报
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public override void CollectObservations(VectorSensor sensor)
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{
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// Target and Agent positions
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sensor.AddObservation(Target.localPosition.x);
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sensor.AddObservation(Target.localPosition.z);
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sensor.AddObservation(this.transform.localPosition.x);
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sensor.AddObservation(this.transform.localPosition.z);
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// Agent velocity
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sensor.AddObservation(rBody.velocity.x);
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sensor.AddObservation(rBody.velocity.z);
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}
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// 移动
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public void MoveBall(int action_x, int action_z)
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{
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// action = [0,0]
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Vector3 controlSignal = Vector3.zero;
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controlSignal.x = action_x;
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controlSignal.z = action_z;
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{
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Destroy(gameObject, 0);
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}
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{
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}else if(action_x == -1)
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{
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Instantiate(DownArrow, new Vector3(this.transform.localPosition.x - 1.0f, this.transform.localPosition.y + 0.5f, this.transform.localPosition.z + 0.0f), Quaternion.Euler(0, 180, 0));
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}
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{
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}
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else if (action_z == -1)
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{
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Instantiate(RPArrow, new Vector3(this.transform.localPosition.x - 0.0f, this.transform.localPosition.y + 0.5f, this.transform.localPosition.z - 1.0f), Quaternion.Euler(0, 90, 0));
|
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}
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rBody.AddForce(controlSignal * forceMultiplier);
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}
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// agent 输入处理
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public override void OnActionReceived(ActionBuffers actionBuffers)
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{
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// Actions, size = 2
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int inpX = 0;
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int inpZ = 0;
|
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inpX = actionBuffers.DiscreteActions[0];
|
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inpZ = actionBuffers.DiscreteActions[1];
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//Debug.Log(actionBuffers.DiscreteActions[0]);
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MoveBall(inpX, inpZ);
|
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// Rewards
|
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// 向target靠近则会获取reward,step靠近target的距离。
|
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float nowDistanceToTarget = Vector3.Distance(this.transform.localPosition, Target.localPosition);
|
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|
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|
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if (Time.time - startTime >= timeLimit || this.transform.localPosition.y < 0)
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{
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// Time UP or Fall from game area
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SetReward(FAILREWARD);
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//Debug.Log("Rewards = " + thisReward);
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EndEpisode();
|
||||
}
|
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else if(nowDistanceToTarget < 1.42f)
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{
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// Got the target
|
||||
SetReward(WINREWARD);
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//Debug.Log("Rewards = " + thisReward);
|
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EndEpisode();
|
||||
}
|
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else
|
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{
|
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float thisReward = 0f;
|
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if (nowDistanceToTarget < minDistance)
|
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{
|
||||
thisReward = minDistance - nowDistanceToTarget;
|
||||
minDistance = nowDistanceToTarget;
|
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MinLocation.localPosition = this.transform.localPosition;
|
||||
SetReward(thisReward);
|
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//Debug.Log("Rewards = " + thisReward);
|
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}
|
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else if (nowDistanceToTarget > minDistance)
|
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{
|
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thisReward = minDistance - nowDistanceToTarget;
|
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SetReward(thisReward);
|
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//Debug.Log("Rewards = " + thisReward);
|
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}
|
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else
|
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{
|
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thisReward = 0f;
|
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SetReward(thisReward);
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//Debug.Log("Rewards = " + thisReward);
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}
|
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}
|
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}
|
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|
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// 键盘控制调试
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public override void Heuristic(in ActionBuffers actionsOut)
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{
|
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//ActionSegment<float> continuousActions = actionsOut.ContinuousActions;
|
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ActionSegment<int> discreteActions = actionsOut.DiscreteActions;
|
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|
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int inpX = 0;
|
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int inpY = 0;
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if (Input.GetKey(KeyCode.W))
|
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{
|
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inpX = 1;
|
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}
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else if (Input.GetKey(KeyCode.S))
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{
|
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inpX = -1;
|
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}
|
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else
|
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{
|
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inpX = 0;
|
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}
|
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if (Input.GetKey(KeyCode.A))
|
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{
|
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inpY = 1;
|
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}
|
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else if (Input.GetKey(KeyCode.D))
|
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{
|
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inpY = -1;
|
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}
|
||||
else
|
||||
{
|
||||
inpY = 0;
|
||||
}
|
||||
|
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discreteActions[0] = inpX;
|
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discreteActions[1] = inpY;
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}
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}
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