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ORCIDYoshitaka Ushiku
Person information
- affiliation: OMRON SINIC X Corp., Tokyo, Japan
- affiliation (PhD 2014): University of Tokyo, Department of Mechano-Informatics, Japan
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2020 – today
- 2024
[i42]Kuniaki Saito, Kihyuk Sohn, Chen-Yu Lee, Yoshitaka Ushiku:
Unsupervised LLM Adaptation for Question Answering. CoRR abs/2402.12170 (2024)- [i41]Tong Zheng, Shusaku Sone, Yoshitaka Ushiku, Yuki Oba, Jiaxin Ma:
TNF: Tri-branch Neural Fusion for Multimodal Medical Data Classification. CoRR abs/2403.01802 (2024) - [i40]Tatsunori Taniai, Ryo Igarashi, Yuta Suzuki, Naoya Chiba, Kotaro Saito, Yoshitaka Ushiku, Kanta Ono:
Crystalformer: Infinitely Connected Attention for Periodic Structure Encoding. CoRR abs/2403.11686 (2024) - 2023
- [j8]Yutaka Maruyama
, Ryo Igarashi, Yoshitaka Ushiku, Ayori Mitsutake:
Analysis of Protein Folding Simulation with Moving Root Mean Square Deviation. J. Chem. Inf. Model. 63(5): 1529-1541 (2023) - [j7]Taichi Nishimura, Atsushi Hashimoto, Yoshitaka Ushiku, Hirotaka Kameko, Shinsuke Mori:
State-aware video procedural captioning. Multim. Tools Appl. 82(24): 37273-37301 (2023) - [c49]Yusaku Nakajima, Masashi Hamaya, Kazutoshi Tanaka, Takafumi Hawai, Felix von Drigalski, Yasuo Takeichi, Yoshitaka Ushiku, Kanta Ono:
Robotic Powder Grinding with Audio-Visual Feedback for Laboratory Automation in Materials Science. IROS 2023: 8283-8290 - [c48]Rintaro Yanagi, Atsushi Hashimoto, Naoya Chiba, Yoshitaka Ushiku:
Reference-based Dense Pose Estimation via Partial 3D Point Cloud Matching. ACM Multimedia 2023: 9411-9413 - [i39]Qing Yu, Atsushi Hashimoto, Yoshitaka Ushiku:
Noisy Universal Domain Adaptation via Divergence Optimization for Visual Recognition. CoRR abs/2304.10333 (2023) - [i38]Shiqi Yang, Atsushi Hashimoto, Yoshitaka Ushiku:
A Critical Look at the Current Usage of Foundation Model for Dense Recognition Task. CoRR abs/2307.02862 (2023) - [i37]Shusaku Sone, Jiaxin Ma, Atsushi Hashimoto, Naoya Chiba, Yoshitaka Ushiku:
WeaveNet for Approximating Two-sided Matching Problems. CoRR abs/2310.12515 (2023) - [i36]Keisuke Shirai, Cristian C. Beltran-Hernandez, Masashi Hamaya, Atsushi Hashimoto, Shohei Tanaka, Kento Kawaharazuka, Kazutoshi Tanaka, Yoshitaka Ushiku, Shinsuke Mori:
Vision-Language Interpreter for Robot Task Planning. CoRR abs/2311.00967 (2023) - [i35]Takehiko Ohkawa, Takuma Yagi, Taichi Nishimura, Ryosuke Furuta, Atsushi Hashimoto, Yoshitaka Ushiku, Yoichi Sato:
Exo2EgoDVC: Dense Video Captioning of Egocentric Procedural Activities Using Web Instructional Videos. CoRR abs/2311.16444 (2023) - [i34]Florian Lalande, Yoshitomo Matsubara, Naoya Chiba, Tatsunori Taniai, Ryo Igarashi, Yoshitaka Ushiku:
A Transformer Model for Symbolic Regression towards Scientific Discovery. CoRR abs/2312.04070 (2023) - 2022
- [j6]Mutsuki Nakahara, Mai Nishimura, Yoshitaka Ushiku, Takayuki Nishio, Kazuki Maruta, Yu Nakayama, Daisuke Hisano:
Edge Computing-Assisted DNN Image Recognition System With Progressive Image Retransmission. IEEE Access 10: 91253-91262 (2022) - [j5]Yuta Suzuki, Tatsunori Taniai, Kotaro Saito, Yoshitaka Ushiku, Kanta Ono:
Self-supervised learning of materials concepts from crystal structures via deep neural networks. Mach. Learn. Sci. Technol. 3(4): 45034 (2022) - [c47]Keisuke Shirai, Atsushi Hashimoto, Taichi Nishimura, Hirotaka Kameko, Shuhei Kurita, Yoshitaka Ushiku, Shinsuke Mori:
Visual Recipe Flow: A Dataset for Learning Visual State Changes of Objects with Recipe Flows. COLING 2022: 3570-3577 - [c46]Jiaxin Ma, Yoshitaka Ushiku, Miori Sagara:
The Effect of Improving Annotation Quality on Object Detection Datasets: A Preliminary Study. CVPR Workshops 2022: 4849-4858 - [c45]Atsushi Hashimoto, Taichi Nishimura, Yoshitaka Ushiku, Hirotaka Kameko, Shinsuke Mori:
Cross-modal Representation Learning for Understanding Manufacturing Procedure. HCI (11) 2022: 44-57 - [c44]Yusaku Nakajima, Masashi Hamaya, Yuta Suzuki, Takafumi Hawai, Felix von Drigalski, Kazutoshi Tanaka, Yoshitaka Ushiku, Kanta Ono:
Robotic Powder Grinding with a Soft Jig for Laboratory Automation in Material Science. IROS 2022: 2320-2326 - [i33]Rintaro Yanagi, Atsushi Hashimoto, Shusaku Sone, Naoya Chiba, Jiaxin Ma, Yoshitaka Ushiku:
Edge-Selective Feature Weaving for Point Cloud Matching. CoRR abs/2202.02149 (2022) - [i32]Yoshitomo Matsubara, Naoya Chiba, Ryo Igarashi, Tatsunori Taniai, Yoshitaka Ushiku:
Rethinking Symbolic Regression Datasets and Benchmarks for Scientific Discovery. CoRR abs/2206.10540 (2022) - [i31]Keisuke Shirai, Atsushi Hashimoto, Taichi Nishimura, Hirotaka Kameko, Shuhei Kurita, Yoshitaka Ushiku, Shinsuke Mori:
Visual Recipe Flow: A Dataset for Learning Visual State Changes of Objects with Recipe Flows. CoRR abs/2209.05840 (2022) - [i30]Taichi Nishimura, Atsushi Hashimoto, Yoshitaka Ushiku, Hirotaka Kameko, Shinsuke Mori:
Recipe Generation from Unsegmented Cooking Videos. CoRR abs/2209.10134 (2022) - [i29]Naoya Chiba, Yuta Suzuki, Tatsunori Taniai, Ryo Igarashi, Yoshitaka Ushiku, Kotaro Saito, Kanta Ono:
Neural Structure Fields with Application to Crystal Structure Autoencoders. CoRR abs/2212.13120 (2022) - 2021
- [j4]Taichi Nishimura, Atsushi Hashimoto, Yoshitaka Ushiku, Hirotaka Kameko, Yoko Yamakata, Shinsuke Mori:
Structure-Aware Procedural Text Generation From an Image Sequence. IEEE Access 9: 2125-2141 (2021) - [j3]Takehiko Ohkawa, Takuma Yagi, Atsushi Hashimoto, Yoshitaka Ushiku, Yoichi Sato:
Foreground-Aware Stylization and Consensus Pseudo-Labeling for Domain Adaptation of First-Person Hand Segmentation. IEEE Access 9: 94644-94655 (2021) - [j2]Hiroaki Minoura, Ryo Yonetani, Mai Nishimura, Yoshitaka Ushiku:
Crowd Density Forecasting by Modeling Patch-Based Dynamics. IEEE Robotics Autom. Lett. 6(1): 287-294 (2021) - [c43]Qing Yu, Atsushi Hashimoto, Yoshitaka Ushiku:
Divergence Optimization for Noisy Universal Domain Adaptation. CVPR 2021: 2515-2524 - [c42]Ukyo Honda, Yoshitaka Ushiku, Atsushi Hashimoto, Taro Watanabe, Yuji Matsumoto:
Removing Word-Level Spurious Alignment between Images and Pseudo-Captions in Unsupervised Image Captioning. EACL 2021: 3692-3702 - [c41]Taichi Nishimura, Kojiro Sakoda, Atsushi Hashimoto, Yoshitaka Ushiku, Natsuko Tanaka, Fumihito Ono, Hirotaka Kameko, Shinsuke Mori:
Egocentric Biochemical Video-and-Language Dataset. ICCVW 2021: 3122-3126 - [c40]Taichi Nishimura, Atsushi Hashimoto, Yoshitaka Ushiku, Hirotaka Kameko, Shinsuke Mori:
State-aware Video Procedural Captioning. ACM Multimedia 2021: 1766-1774 - [c39]Mutsuki Nakahara, Daisuke Hisano, Mai Nishimura, Yoshitaka Ushiku, Kazuki Maruta, Yu Nakayama:
Retransmission Edge Computing System Conducting Adaptive Image Compression Based on Image Recognition Accuracy. VTC Fall 2021: 1-5 - [i28]Qing Yu, Atsushi Hashimoto, Yoshitaka Ushiku:
Divergence Optimization for Noisy Universal Domain Adaptation. CoRR abs/2104.00246 (2021) - [i27]Ukyo Honda, Yoshitaka Ushiku, Atsushi Hashimoto, Taro Watanabe, Yuji Matsumoto:
Removing Word-Level Spurious Alignment between Images and Pseudo-Captions in Unsupervised Image Captioning. CoRR abs/2104.13872 (2021) - [i26]Takehiko Ohkawa, Takuma Yagi, Atsushi Hashimoto, Yoshitaka Ushiku, Yoichi Sato:
Foreground-Aware Stylization and Consensus Pseudo-Labeling for Domain Adaptation of First-Person Hand Segmentation. CoRR abs/2107.02718 (2021) - 2020
- [c38]Taichi Nishimura, Suzushi Tomori, Hayato Hashimoto, Atsushi Hashimoto, Yoko Yamakata, Jun Harashima, Yoshitaka Ushiku, Shinsuke Mori:
Visual Grounding Annotation of Recipe Flow Graph. LREC 2020: 4275-4284
2010 – 2019
- 2019
- [j1]Yusuke Mori, Hiroaki Yamane, Yoshitaka Ushiku, Tatsuya Harada:
How narratives move your mind: A corpus of shared-character stories for connecting emotional flow and interestingness. Inf. Process. Manag. 56(5): 1865-1879 (2019) - [c37]Akane Iseki, Yusuke Mukuta, Yoshitaka Ushiku, Tatsuya Harada:
Estimating the Causal Effect from Partially Observed Time Series. AAAI 2019: 3919-3926 - [c36]Takuhiro Kaneko, Yoshitaka Ushiku, Tatsuya Harada:
Class-Distinct and Class-Mutual Image Generation with GANs. BMVC 2019: 16 - [c35]Takuhiro Kaneko, Yoshitaka Ushiku, Tatsuya Harada:
Label-Noise Robust Generative Adversarial Networks. CVPR 2019: 2467-2476 - [c34]Kuniaki Saito, Yoshitaka Ushiku, Tatsuya Harada, Kate Saenko:
Strong-Weak Distribution Alignment for Adaptive Object Detection. CVPR 2019: 6956-6965 - [c33]Mikihiro Tanaka, Takayuki Itamochi, Kenichi Narioka, Ikuro Sato, Yoshitaka Ushiku, Tatsuya Harada:
Generating Easy-to-Understand Referring Expressions for Target Identifications. ICCV 2019: 5793-5802 - [c32]Yang Li, Yoshitaka Ushiku, Tatsuya Harada:
Pose Graph optimization for Unsupervised Monocular Visual Odometry. ICRA 2019: 5439-5445 - [i25]Yang Li, Yoshitaka Ushiku, Tatsuya Harada:
Pose Graph Optimization for Unsupervised Monocular Visual Odometry. CoRR abs/1903.06315 (2019) - [i24]Ryo Yonetani, Tomohiro Takahashi, Atsushi Hashimoto, Yoshitaka Ushiku:
Decentralized Learning of Generative Adversarial Networks from Multi-Client Non-iid Data. CoRR abs/1905.09684 (2019) - [i23]Hiroaki Minoura, Ryo Yonetani, Mai Nishimura, Yoshitaka Ushiku:
Crowd Density Forecasting by Modeling Patch-based Dynamics. CoRR abs/1911.09814 (2019) - 2018
- [c31]Katsunori Ohnishi, Shohei Yamamoto, Yoshitaka Ushiku, Tatsuya Harada:
Hierarchical Video Generation From Orthogonal Information: Optical Flow and Texture. AAAI 2018: 2387-2394 - [c30]Yusuke Mukuta, Yoshitaka Ushiku, Tatsuya Harada:
Alternating Circulant Random Features for Semigroup Kernels. AAAI 2018: 3836-3843 - [c29]Kuniaki Saito, Kohei Watanabe, Yoshitaka Ushiku, Tatsuya Harada:
Maximum Classifier Discrepancy for Unsupervised Domain Adaptation. CVPR 2018: 3723-3732 - [c28]Hiroharu Kato, Yoshitaka Ushiku, Tatsuya Harada:
Neural 3D Mesh Renderer. CVPR 2018: 3907-3916 - [c27]Yuji Tokozume, Yoshitaka Ushiku, Tatsuya Harada:
Between-Class Learning for Image Classification. CVPR 2018: 5486-5494 - [c26]Atsushi Kanehira, Luc Van Gool, Yoshitaka Ushiku, Tatsuya Harada:
Viewpoint-Aware Video Summarization. CVPR 2018: 7435-7444 - [c25]Andrew Shin, Yoshitaka Ushiku, Tatsuya Harada:
Customized Image Narrative Generation via Interactive Visual Question Generation and Answering. CVPR 2018: 8925-8933 - [c24]Kuniaki Saito, Shohei Yamamoto, Yoshitaka Ushiku, Tatsuya Harada:
Open Set Domain Adaptation by Backpropagation. ECCV (5) 2018: 156-171 - [c23]Kohei Uehara, Antonio Tejero-de-Pablos, Yoshitaka Ushiku, Tatsuya Harada:
Visual Question Generation for Class Acquisition of Unknown Objects. ECCV (12) 2018: 492-507 - [c22]Kohei Watanabe, Kuniaki Saito, Yoshitaka Ushiku, Tatsuya Harada:
Multichannel Semantic Segmentation with Unsupervised Domain Adaptation. ECCV Workshops (5) 2018: 600-616 - [c21]Toshihiko Matsuura, Kuniaki Saito, Yoshitaka Ushiku, Tatsuya Harada:
Generalized Bayesian Canonical Correlation Analysis with Missing Modalities. ECCV Workshops (6) 2018: 641-656 - [c20]Kuniaki Saito, Yoshitaka Ushiku, Tatsuya Harada, Kate Saenko:
Adversarial Dropout Regularization. ICLR (Poster) 2018 - [c19]Yuji Tokozume, Yoshitaka Ushiku, Tatsuya Harada:
Learning from Between-class Examples for Deep Sound Recognition. ICLR (Poster) 2018 - [i22]Atsushi Kanehira, Luc Van Gool, Yoshitaka Ushiku, Tatsuya Harada:
Viewpoint-aware Video Summarization. CoRR abs/1804.02843 (2018) - [i21]Kuniaki Saito, Shohei Yamamoto, Yoshitaka Ushiku, Tatsuya Harada:
Open Set Domain Adaptation by Backpropagation. CoRR abs/1804.10427 (2018) - [i20]Andrew Shin, Yoshitaka Ushiku, Tatsuya Harada:
Customized Image Narrative Generation via Interactive Visual Question Generation and Answering. CoRR abs/1805.00460 (2018) - [i19]Kohei Uehara, Antonio Tejero-de-Pablos, Yoshitaka Ushiku, Tatsuya Harada:
Visual Question Generation for Class Acquisition of Unknown Objects. CoRR abs/1808.01821 (2018) - [i18]Takuhiro Kaneko, Yoshitaka Ushiku, Tatsuya Harada:
Class-Distinct and Class-Mutual Image Generation with GANs. CoRR abs/1811.11163 (2018) - [i17]Takuhiro Kaneko, Yoshitaka Ushiku, Tatsuya Harada:
Label-Noise Robust Generative Adversarial Networks. CoRR abs/1811.11165 (2018) - [i16]Mikihiro Tanaka, Takayuki Itamochi, Kenichi Narioka, Ikuro Sato, Yoshitaka Ushiku, Tatsuya Harada:
Towards Human-Friendly Referring Expression Generation. CoRR abs/1811.12104 (2018) - [i15]Shohei Yamamoto, Antonio Tejero-de-Pablos, Yoshitaka Ushiku, Tatsuya Harada:
Conditional Video Generation Using Action-Appearance Captions. CoRR abs/1812.01261 (2018) - [i14]Kohei Watanabe, Kuniaki Saito, Yoshitaka Ushiku, Tatsuya Harada:
Multichannel Semantic Segmentation with Unsupervised Domain Adaptation. CoRR abs/1812.04351 (2018) - [i13]Kuniaki Saito, Yoshitaka Ushiku, Tatsuya Harada, Kate Saenko:
Strong-Weak Distribution Alignment for Adaptive Object Detection. CoRR abs/1812.04798 (2018) - 2017
- [c18]Masataka Yamaguchi, Kuniaki Saito, Yoshitaka Ushiku, Tatsuya Harada:
Spatio-Temporal Person Retrieval via Natural Language Queries. ICCV 2017: 1462-1471 - [c17]Yusuke Mukuta, Yoshitaka Ushiku, Tatsuya Harada:
Spatial-Temporal Weighted Pyramid Using Spatial Orthogonal Pooling. ICCV Workshops 2017: 1041-1049 - [c16]Tatsuya Harada, Kuniaki Saito, Yusuke Mukuta, Yoshitaka Ushiku:
Deep Modality Invariant Adversarial Network for Shared Representation Learning. ICCV Workshops 2017: 2623-2629 - [c15]Kuniaki Saito, Andrew Shin, Yoshitaka Ushiku, Tatsuya Harada:
DualNet: Domain-invariant network for visual question answering. ICME 2017: 829-834 - [c14]Kuniaki Saito, Yoshitaka Ushiku, Tatsuya Harada:
Asymmetric Tri-training for Unsupervised Domain Adaptation. ICML 2017: 2988-2997 - [c13]Qishen Ha, Kohei Watanabe, Takumi Karasawa, Yoshitaka Ushiku, Tatsuya Harada:
MFNet: Towards real-time semantic segmentation for autonomous vehicles with multi-spectral scenes. IROS 2017: 5108-5115 - [c12]Takumi Karasawa, Kohei Watanabe, Qishen Ha, Antonio Tejero-de-Pablos, Yoshitaka Ushiku, Tatsuya Harada:
Multispectral Object Detection for Autonomous Vehicles. ACM Multimedia (Thematic Workshops) 2017: 35-43 - [c11]Masatoshi Hidaka, Yuichiro Kikura, Yoshitaka Ushiku, Tatsuya Harada:
WebDNN: Fastest DNN Execution Framework on Web Browser. ACM Multimedia 2017: 1213-1216 - [i12]Kuniaki Saito, Yoshitaka Ushiku, Tatsuya Harada:
Asymmetric Tri-training for Unsupervised Domain Adaptation. CoRR abs/1702.08400 (2017) - [i11]Masataka Yamaguchi, Kuniaki Saito, Yoshitaka Ushiku, Tatsuya Harada:
Spatio-temporal Person Retrieval via Natural Language Queries. CoRR abs/1704.07945 (2017) - [i10]Andrew Shin, Léopold Crestel, Hiroharu Kato, Kuniaki Saito, Katsunori Ohnishi, Masataka Yamaguchi, Masahiro Nakawaki, Yoshitaka Ushiku, Tatsuya Harada:
Melody Generation for Pop Music via Word Representation of Musical Properties. CoRR abs/1710.11549 (2017) - [i9]Kuniaki Saito, Yoshitaka Ushiku, Tatsuya Harada, Kate Saenko:
Adversarial Dropout Regularization. CoRR abs/1711.01575 (2017) - [i8]Hiroharu Kato, Yoshitaka Ushiku, Tatsuya Harada:
Neural 3D Mesh Renderer. CoRR abs/1711.07566 (2017) - [i7]Katsunori Ohnishi, Shohei Yamamoto, Yoshitaka Ushiku, Tatsuya Harada:
Hierarchical Video Generation from Orthogonal Information: Optical Flow and Texture. CoRR abs/1711.09618 (2017) - [i6]Yuji Tokozume, Yoshitaka Ushiku, Tatsuya Harada:
Learning from Between-class Examples for Deep Sound Recognition. CoRR abs/1711.10282 (2017) - [i5]Yuji Tokozume, Yoshitaka Ushiku, Tatsuya Harada:
Between-class Learning for Image Classification. CoRR abs/1711.10284 (2017) - [i4]Kuniaki Saito, Kohei Watanabe, Yoshitaka Ushiku, Tatsuya Harada:
Maximum Classifier Discrepancy for Unsupervised Domain Adaptation. CoRR abs/1712.02560 (2017) - 2016
- [c10]Andrew Shin, Yoshitaka Ushiku, Tatsuya Harada:
Image Captioning with Sentiment Terms via Weakly-Supervised Sentiment Dataset. BMVC 2016 - [i3]Kuniaki Saito, Andrew Shin, Yoshitaka Ushiku, Tatsuya Harada:
DualNet: Domain-Invariant Network for Visual Question Answering. CoRR abs/1606.06108 (2016) - [i2]Andrew Shin, Yoshitaka Ushiku, Tatsuya Harada:
The Color of the Cat is Gray: 1 Million Full-Sentences Visual Question Answering (FSVQA). CoRR abs/1609.06657 (2016) - [i1]Kuniaki Saito, Yusuke Mukuta, Yoshitaka Ushiku, Tatsuya Harada:
DeMIAN: Deep Modality Invariant Adversarial Network. CoRR abs/1612.07976 (2016) - 2015
- [c9]Yoshitaka Ushiku, Masataka Yamaguchi, Yusuke Mukuta, Tatsuya Harada:
Common Subspace for Model and Similarity: Phrase Learning for Caption Generation from Images. ICCV 2015: 2668-2676 - 2014
- [c8]Yoshitaka Ushiku, Masatoshi Hidaka, Tatsuya Harada:
Three Guidelines of Online Learning for Large-Scale Visual Recognition. CVPR 2014: 3574-3581 - [c7]Asako Kanezaki, Sho Inaba, Yoshitaka Ushiku, Yuya Yamashita, Hiroshi Muraoka, Yasuo Kuniyoshi, Tatsuya Harada:
Hard negative classes for multiple object detection. ICRA 2014: 3066-3073 - 2012
- [c6]Yoshitaka Ushiku, Hiroshi Muraoka, Sho Inaba, Teppei Fujisawa, Koki Yasumoto, Naoyuki Gunji, Takayuki Higuchi, Yuko Hara, Tatsuya Harada, Yasuo Kuniyoshi:
ISI at ImageCLEF 2012: Scalable System for Image Annotation. CLEF (Online Working Notes/Labs/Workshop) 2012 - [c5]Yoshitaka Ushiku, Tatsuya Harada, Yasuo Kuniyoshi:
Efficient image annotation for automatic sentence generation. ACM Multimedia 2012: 549-558 - 2011
- [c4]Tatsuya Harada, Yoshitaka Ushiku, Yuya Yamashita, Yasuo Kuniyoshi:
Discriminative spatial pyramid. CVPR 2011: 1617-1624 - [c3]Yoshitaka Ushiku, Tatsuya Harada, Yasuo Kuniyoshi:
Understanding images with natural sentences. ACM Multimedia 2011: 679-682 - [c2]Yoshitaka Ushiku, Tatsuya Harada, Yasuo Kuniyoshi:
Automatic sentence generation from images. ACM Multimedia 2011: 1533-1536 - 2010
- [c1]Yoshitaka Ushiku, Tatsuya Harada, Yasuo Kuniyoshi:
Improving image similarity measures for image browsing and retrieval through latent space learning between images and long texts. ICIP 2010: 2365-2368
Coauthor Index
[j1] [c37] [c36] [c35] [c34] [c33] [c32] [i25] [c31] [c30] [c29] [c28] [c27] [c26] [c25] [c24] [c23] [c22] [c21] [c20] [c19] [i22] [i21] [i20] [i19] [i18] [i17] [i16] [i15] [i14] [i13] [c18] [c17] [c16] [c15] [c14] [c13] [c12] [c11] [i12] [i11] [i10] [i9] [i8] [i7] [i6] [i5] [i4] [c10] [i3] [i2] [i1] [c9] [c8] [c7] [c6] [c5] [c4] [c3] [c2] [c1]
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