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ORCIDHaiyang Yu 0002
Person information
- affiliation: Beihang University, School of Transportation Science and Engineering, State Key Lab of Intelligent Transportation System, Beijing, China
- affiliation: Zhongguancun Laboratory, Beijing, China
- affiliation: Beihang Hangzhou Innovation Institute Yuhang, China
- affiliation (PhD 2012): Jilin University, Changchun, China
Other persons with the same name
- Haiyang Yu — disambiguation page
- Haiyang Yu 0001
![[0000-0003-3761-9598]](https://dblp.org/img/orcid-mark.12x12.png "0000-0003-3761-9598")
— Beijing University of Technology, Data Mining and Security Lab and Beijing Key Laboratory of Trusted Computing, China (and 1 more) - Haiyang Yu 0003 — Alibaba Group, China (and 1 more)
- Haiyang Yu 0004 — Fudan University, School of Computer Science, Shanghai Key Laboratory of Intelligent Information Processing, China
- Haiyang Yu 0005 — Texas A&M University, Department of Computer Science and Engineering, College Station, TX, USA
- Haiyang Yu 0006 — University of Calgary, Department of Electrical and Computer Engineering, AB, Canada
- Haiyang Yu 0007 — Troyes University of Technology, Institute Charles Delaunay, France
- Haiyang Yu 0008 — Shizuoka University, Graduate School of Electronic Science and Technology, Japan
- Haiyang Yu 0009 — China Academy of Civil Aviation Science and Technology, Institute of Civil Aviation Development, Beijing, China
- Haiyang Yu 0010 — Dalian University of Technology, Research Center of Information and Control, China
- Haiyang Yu 0011 — Beijing Academy of Agriculture and Forestry Sciences, Beijing Research Center for Information Technology in Agriculture, China
- Haiyang Yu 0012 — Yang Zhou University, China
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Journal Articles
- 2026
[j51]Yuanhao Huang, Yilong Ren, Jinlei Wang, Lujia Huo, Xuesong Bai, Jinchuan Zhang, Haiyang Yu:
AdvReal: Physical adversarial patch generation framework for security evaluation of object detection systems. Expert Syst. Appl. 296: 128967 (2026)- 2025
- [j50]Yilong Ren, Zimo Li, Yang Yang, Haiyang Yu, Yanan Zhao, Xuan Wei:
A dynamic trust evaluation scheme based on cross-domain trust inheritance for VANETs. Ad Hoc Networks 175: 103872 (2025) - [j49]Xiang Fu, Yilong Ren, Han Jiang, Jiancheng Lv, Zhiyong Cui, Haiyang Yu:
CLlight: Enhancing representation of multi-agent reinforcement learning with contrastive learning for cooperative traffic signal control. Expert Syst. Appl. 262: 125578 (2025) - [j48]Yang Yang, Haiyang Yu, Yanan Zhao, Ming Chen, Jiewei Du, Yilong Ren:
A Dynamic-Pricing-Based Offloading and Resource Allocation Scheme With Data Security for Vehicle Platoon. IEEE Internet Things J. 12(6): 7149-7163 (2025) - [j47]Yilong Ren, Lingshan Liu, Zhengxing Lan, Zhiyong Cui, Haiyang Yu:
MLB-Traj: Map-Free Trajectory Prediction With Local Behavior Query for Autonomous Driving. IEEE Internet Things J. 12(14): 28556-28571 (2025) - [j46]Zhengxing Lan, Lingshan Liu, Yilong Ren, Zhiyong Cui, Haiyang Yu:
Brimory: Bringing Humanoid Memory Into Trajectory Prediction Model for Autonomous Driving. IEEE Internet Things J. 12(15): 30820-30834 (2025) - [j45]Yinghui Wang, Yufeng Bi, Haiyang Yu, Xinpeng Yao, Yilong Ren, Wen Rong:
AI-driven proactive security defense in distributed iov systems: Cyber threat intelligence modeling for connected autonomous vehicles. Peer Peer Netw. Appl. 18(4): 227 (2025) - [j44]Yilong Ren, Zhengxing Lan, Lingshan Liu, Haiyang Yu:
EMSIN: Enhanced Multistream Interaction Network for Vehicle Trajectory Prediction. IEEE Trans. Fuzzy Syst. 33(1): 54-68 (2025) - [j43]Liang Xu, Zhengyang Zhang, Han Jiang, Bin Zhou, Haiyang Yu, Yilong Ren:
Deep Reinforcement Learning With Fuzzy Feature Fusion for Cooperative Control in Traffic Light and Connected Autonomous Vehicles. IEEE Trans. Fuzzy Syst. 33(1): 377-391 (2025) - [j42]Jianru Xiao, Yilong Ren, Jiewei Du, Yanan Zhao, Saru Kumari, Mohammed J. F. Alenazi, Haiyang Yu:
CALRA: Practical Conditional Anonymous and Leakage-Resilient Authentication Scheme for Vehicular Crowdsensing Communication. IEEE Trans. Intell. Transp. Syst. 26(1): 1273-1285 (2025) - [j41]Xuan Cai, Xuesong Bai, Zhiyong Cui, Peng Hang, Haiyang Yu, Yilong Ren:
Adversarial Stress Test for Autonomous Vehicle via Series Reinforcement Learning Tasks With Reward Shaping. IEEE Trans. Intell. Veh. 10(2): 832-847 (2025) - [j40]Yuanhao Huang, Hao Wang, Xuesong Bai, Xuan Cai, Haiyang Yu, Yilong Ren:
Biomimetic Multi-UAV Swarm Exploration With U2U Communications Under Resource Constraints. IEEE Trans. Veh. Technol. 74(6): 9750-9766 (2025) - 2024
- [j39]He Lu, Yanan Zhao, Yajing Song, Yang Yang, Guanjie He, Haiyang Yu, Yilong Ren:
A transfer learning-based intrusion detection system for zero-day attack in communication-based train control system. Clust. Comput. 27(6): 8477-8492 (2024) - [j38]Xuesong Bai, Peng Dong, Yuanhao Huang, Saru Kumari, Haiyang Yu, Yilong Ren:
An AR-Based Meta Vehicle Road Cooperation Testing Systems: Framework, Components Modeling, and an Implementation Example. IEEE Internet Things J. 11(13): 23460-23474 (2024) - [j37]Shuai Liu, Haiyang Yu, Han Jiang, Zhenliang Ma, Zhiyong Cui, Yilong Ren:
MuGIL: A Multi-Graph Interaction Learning Network for Multi-Task Traffic Prediction. Knowl. Based Syst. 306: 112709 (2024) - [j36]Yanan Zhao, Haiyang Yu, Yuhao Liang, Mauro Conti, Wael Bazzi, Yilong Ren:
A Sanitizable Access Control With Policy-Protection for Vehicular Social Networks. IEEE Trans. Intell. Transp. Syst. 25(3): 2956-2965 (2024) - [j35]Han Jiang, Yilong Ren, Jing Fang, Yang Yang, Liang Xu, Haiyang Yu:
SHIP: A State-Aware Hybrid Incentive Program for Urban Crowd Sensing With for-Hire Vehicles. IEEE Trans. Intell. Transp. Syst. 25(3): 3041-3053 (2024) - [j34]Yanan Zhao, Haiyang Yu, Yang Yang, Liang Xu, Shuyue Pan, Yilong Ren:
Flexible and Secure Cross-Domain Signcrypted Data Authorization in Multi-Platoon Vehicular Networks. IEEE Trans. Intell. Transp. Syst. 25(3): 3166-3176 (2024) - [j33]Yanan Zhao, Haiyang Yu, Yuhao Liang, Alessandro Brighente, Mauro Conti, Jianfei Sun, Yilong Ren:
Secure Source Identification Scheme for Revocable Instruction Sharing in Vehicle Platoon. IEEE Trans. Intell. Transp. Syst. 25(5): 3671-3684 (2024) - [j32]Li Wang, Tao Xie, Xinyu Zhang, Zhiqiang Jiang, Linqi Yang, Haoming Zhang, Xiaoyu Li, Yilong Ren, Haiyang Yu, Jun Li, Huaping Liu:
Auto-Points: Automatic Learning for Point Cloud Analysis With Neural Architecture Search. IEEE Trans. Multim. 26: 2878-2893 (2024) - 2023
- [j31]Yilong Ren, Yuhao Liang, Xiaoyuan Feng, Yanan Zhao, Jiejie Zhao, Haiyang Yu:
A participant selection based vehicle platoon asynchronous federated learning framework. Trans. Emerg. Telecommun. Technol. 34(11) (2023) - [j30]Haiyang Yu, Shuai Liu, Yilong Ren, Yanan Zhao, Han Jiang, Runkun Liu:
Reducing hysteresis and over-smoothing in traffic estimation: A multistream spatial-temporal graph convolutional network. Trans. Emerg. Telecommun. Technol. 34(11) (2023) - [j29]Yilong Ren, Jianru Xiao, Yanan Zhao, Han Jiang, Saru Kumari, Haiyang Yu:
PRS-HDMC: An online participant recruitment scheme for vehicular crowdsensing-enabled HD map collection. Internet Things 24: 100948 (2023) - [j28]Yinghui Wang, Bin Yu, Haiyang Yu, Lingyun Xiao, Haojie Ji, Yanan Zhao:
Automotive Cybersecurity Vulnerability Assessment Using the Common Vulnerability Scoring System and Bayesian Network Model. IEEE Syst. J. 17(2): 2880-2891 (2023) - [j27]Yanan Zhao, Yunpeng Wang, Yuhao Liang, Haiyang Yu, Yilong Ren:
Identity-Based Broadcast Signcryption Scheme for Vehicular Platoon Communication. IEEE Trans. Ind. Informatics 19(6): 7814-7824 (2023) - [j26]Haiyang Yu, Cheng Chang, Shen Li, Li Li:
CD-DB: A Data Storage Model for Cooperative Driving. IEEE Trans. Intell. Veh. 8(1): 492-501 (2023) - [j25]Yilong Ren, Han Jiang, Xiaoyuan Feng, Yanan Zhao, Runkun Liu, Haiyang Yu:
ACP-Based Modeling of the Parallel Vehicular Crowd Sensing System: Framework, Components and an Application Example. IEEE Trans. Intell. Veh. 8(2): 1536-1548 (2023) - [j24]Yanan Zhao, Haiyang Yu, Yuhao Liang, Han Jiang, Gintare Marine, Yilong Ren:
Sanitizable Cross-System Authorization for Secure Communication in Intelligent Connected Vehicle. IEEE Trans. Veh. Technol. 72(11): 15002-15013 (2023) - [j23]Yang Yang, Haiyang Yu, Yanan Zhao, Han Jiang, Yilong Ren:
Towards load balancing in IoV system: A vehicle-assisted batch verification scheme. Veh. Commun. 44: 100683 (2023) - 2022
- [j22]Haiyang Yu, Runkun Liu, Zhiheng Li, Yilong Ren, Han Jiang:
An RSU Deployment Strategy Based on Traffic Demand in Vehicular Ad Hoc Networks (VANETs). IEEE Internet Things J. 9(9): 6496-6505 (2022) - [j21]Yilong Ren, Han Jiang, Nan Ji, Haiyang Yu:
TBSM: A traffic burst-sensitive model for short-term prediction under special events. Knowl. Based Syst. 240: 108120 (2022) - [j20]Yanan Zhao, Yunpeng Wang, Pengcheng Wang, Haiyang Yu:
PBTM: A Privacy-Preserving Announcement Protocol With Blockchain-Based Trust Management for IoV. IEEE Syst. J. 16(2): 3422-3432 (2022) - [j19]Chao Sun, Chuntao Zhang, Haiyang Yu, Weiqiang Liang, Qiang Ren, Jianwei Li:
An Eco-Driving Approach With Flow Uncertainty Tolerance for Connected Vehicles Against Waiting Queue Dynamics on Arterial Roads. IEEE Trans. Ind. Informatics 18(8): 5286-5296 (2022) - [j18]Junjie Zhang, Guangquan Lu, Haiyang Yu, Yunpeng Wang, Can Yang:
Effect of the Uncertainty Level of Vehicle-Position Information on the Stability and Safety of the Car-Following Process. IEEE Trans. Intell. Transp. Syst. 23(6): 4944-4958 (2022) - [j17]Yanan Zhao, Yunpeng Wang, Xiaochun Cheng, Hengwei Chen, Haiyang Yu, Yilong Ren:
RFAP: A Revocable Fine-Grained Access Control Mechanism for Autonomous Vehicle Platoon. IEEE Trans. Intell. Transp. Syst. 23(7): 9668-9679 (2022) - [j16]Runkun Liu, Yilong Ren, Haiyang Yu, Zhiheng Li, Han Jiang:
Connected and automated vehicle platoon maintenance under communication failures. Veh. Commun. 35: 100467 (2022) - 2021
- [j15]Xiaolei Ma, Enze Huo, Haiyang Yu, Honghai Li:
Mining truck platooning patterns through massive trajectory data. Knowl. Based Syst. 221: 106972 (2021) - [j14]Haiyang Yu, Yang Yang, Haoyang Zhang, Runkun Liu, Yilong Ren:
Reputation-Based Reverse Combination Auction Incentive Method to Encourage Vehicles to Participate in the VCS System. IEEE Trans. Netw. Sci. Eng. 8(3): 2469-2481 (2021) - [j13]Haiyang Yu, Jing Fang, Shuai Liu, Yilong Ren, Jian Lu:
A node optimization model based on the spatiotemporal characteristics of the road network for urban traffic mobile crowd sensing. Veh. Commun. 31: 100383 (2021) - [j12]Guixian Qu, Jianshan Zhou, Zhengguo Sheng, Haiyang Yu, Yilong Ren:
Reliability-Guaranteed Admission Control for Mobile Computation Offloading Under Nakagami Fading Channel. IEEE Wirel. Commun. Lett. 10(10): 2195-2199 (2021) - 2020
- [j11]Haiyang Yu, Chenyang Liu, Yilong Ren, Nan Ji, Can Yang:
Service node selection optimization for mobile crowd sensing in a road network environment. Veh. Commun. 22: 100203 (2020) - 2019
- [j10]Shan Jiang, Wentian Chen, Zhiheng Li, Haiyang Yu:
Short-Term Demand Prediction Method for Online Car-Hailing Services Based on a Least Squares Support Vector Machine. IEEE Access 7: 11882-11891 (2019) - [j9]Haiyang Yu, Nan Ji, Yilong Ren, Can Yang:
A Special Event-Based K-Nearest Neighbor Model for Short-Term Traffic State Prediction. IEEE Access 7: 81717-81729 (2019) - [j8]Junjie Zhang, Xiaoya Xu, Haiyang Yu, Miaomiao Liu, Can Yang:
Analytical Model for the Change of Travel Time Savings With Waiting Time and Service Level. IEEE Access 7: 185228-185238 (2019) - [j7]Wanli Dong, Yunpeng Wang, Haiyang Yu:
An identification model of critical control sub-regions based on macroscopic fundamental diagram theory. J. Intell. Transp. Syst. 23(5): 441-451 (2019) - 2018
- [j6]Haiyang Yu, Shuai Yang, Zhihai Wu, Xiaolei Ma:
Vehicle trajectory reconstruction from automatic license plate reader data. Int. J. Distributed Sens. Networks 14(2) (2018) - [j5]Gang Yang, Yunpeng Wang, Haiyang Yu, Yilong Ren, Jindong Xie:
Short-Term Traffic State Prediction Based on the Spatiotemporal Features of Critical Road Sections. Sensors 18(7): 2287 (2018) - 2017
- [j4]Wanli Dong, Yunpeng Wang, Haiyang Yu:
An identification model of urban critical links with macroscopic fundamental diagram theory. Frontiers Comput. Sci. 11(1): 27-37 (2017) - [j3]Jiyuan Tan, Xiangyun Shi, Zhiheng Li, Kaidi Yang, Na Xie, Haiyang Yu, Li Wang, Zhengxi Li:
Continuous and Discrete-Time Optimal Controls for an Isolated Signalized Intersection. J. Sensors 2017: 6290248:1-6290248:11 (2017) - [j2]Haiyang Yu, Zhihai Wu, Shuqin Wang, Yunpeng Wang, Xiaolei Ma:
Spatiotemporal Recurrent Convolutional Networks for Traffic Prediction in Transportation Networks. Sensors 17(7): 1501 (2017) - [j1]Haiyang Yu, Zhihai Wu, Dongwei Chen, Xiaolei Ma:
Probabilistic Prediction of Bus Headway Using Relevance Vector Machine Regression. IEEE Trans. Intell. Transp. Syst. 18(7): 1772-1781 (2017)
Conference and Workshop Papers
- 2025
- [c10]Zhenshu Ma, Xuan Cai, Changhang Tian, Yuqi Fan, Kemou Jiang, Gangfu Liu, Xuesong Bai, Aoyong Li, Yilong Ren, Haiyang Yu:
FullCycle: Full Stage Adversarial Attack For Reinforcement Learning Robustness Evaluation. CVPR Workshops 2025: 3554-3560 - [c9]Xuesong Bai, Changhang Tian, Wei Xia, Zhenshu Ma, Haiyang Yu, Yilong Ren:
EL-Attack: Explicit and Latent Space Hybrid Optimization based General and Effective Attack for Autonomous Driving Trajectory Prediction. CVPR Workshops 2025: 3582-3590 - 2024
- [c8]Xianbang Li, Yilong Ren, Han Jiang, Haiyang Yu, Yanlei Cui, Liang Xu:
DenseKoopman: A Plug-and-Play Framework for Dense Pedestrian Trajectory Prediction. IJCAI 2024: 1020-1028 - [c7]Yuanhao Huang, Qinfan Zhang, Jiandong Xing, Mengyue Cheng, Haiyang Yu, Yilong Ren, Xiao Xiong:
Advswap: Covert Adversarial Perturbation with High Frequency Info-Swapping for Autonomous Driving Perception. ITSC 2024: 1686-1693 - [c6]Lening Wang, Yilong Ren, Han Jiang, Pinlong Cai, Daocheng Fu, Tianqi Wang, Zhiyong Cui, Haiyang Yu, Xuesong Wang, Hanchu Zhou, Helai Huang, Yinhai Wang:
AccidentGPT: A V2X Environmental Perception Multi-modal Large Model for Accident Analysis and Prevention. IV 2024: 472-477 - [c5]Ruikai Li, Hao Shan, Han Jiang, Jianru Xiao, Yizhuo Chang, Yifan He, Haiyang Yu, Yilong Ren:
E-MLP: Effortless Online HD Map Construction with Linear Priors. IV 2024: 1008-1014 - [c4]Han Jiang, Jianbin Wang, Jianru Xiao, Yanan Zhao, Wanqing Chen, Yilong Ren, Haiyang Yu:
MLF3D: Multi-Level Fusion for Multi-Modal 3D Object Detection. IV 2024: 1588-1593 - 2021
- [c3]Jingjing Zhang, Haoyang Zhang, Haiyang Yu, Yilong Ren, Han Jiang:
P-SUS: Parallel Execution of Sensing Unit Selection for Mobile Crowd Sensing in an Urban Road Network. DTPI 2021: 1-4 - [c2]Haiyang Yu, Shuai Liu, Han Jiang, Yilong Ren:
Vehicle trajectory reconstruction using a tensor-based individual travel time matching method. DTPI 2021: 184-187 - 2009
- [c1]Yunpeng Wang, Haiyang Yu, Shiwu Li, Yi Chen:
Research on Temporal and Spatial Data Models Based on GIS for Urban Traffic Planning Information Support System. CIS (2) 2009: 576-579
Informal and Other Publications
- 2025
- [i15]Yuanhao Huang, Qinfan Zhang, Jiandong Xing, Mengyue Cheng, Haiyang Yu, Yilong Ren, Xiao Xiong:
AdvSwap: Covert Adversarial Perturbation with High Frequency Info-swapping for Autonomous Driving Perception. CoRR abs/2502.08374 (2025) - [i14]Xuan Cai, Xuesong Bai, Zhiyong Cui, Danmu Xie, Daocheng Fu, Haiyang Yu, Yilong Ren:
Text2Scenario: Text-Driven Scenario Generation for Autonomous Driving Test. CoRR abs/2503.02911 (2025) - [i13]Yuqi Fan, Zhiyong Cui, Zhenning Li, Yilong Ren, Haiyang Yu:
SAH-Drive: A Scenario-Aware Hybrid Planner for Closed-Loop Vehicle Trajectory Generation. CoRR abs/2505.24390 (2025) - [i12]Ziyang Yan, Ruikai Li, Zhiyong Cui, Bohan Li, Han Jiang, Yilong Ren, Aoyong Li, Zhenning Li, Sijia Wen, Haiyang Yu:
MapKD: Unlocking Prior Knowledge with Cross-Modal Distillation for Efficient Online HD Map Construction. CoRR abs/2508.15653 (2025) - 2024
- [i11]Yilong Ren, Yue Chen, Shuai Liu, Boyue Wang, Haiyang Yu, Zhiyong Cui:
TPLLM: A Traffic Prediction Framework Based on Pretrained Large Language Models. CoRR abs/2403.02221 (2024) - [i10]Lening Wang, Wenzhao Zheng, Yilong Ren, Han Jiang, Zhiyong Cui, Haiyang Yu, Jiwen Lu:
OccSora: 4D Occupancy Generation Models as World Simulators for Autonomous Driving. CoRR abs/2405.20337 (2024) - [i9]Kemou Jiang, Xuan Cai, Zhiyong Cui, Aoyong Li, Yilong Ren, Haiyang Yu, Hao Yang, Daocheng Fu, Licheng Wen, Pinlong Cai:
KoMA: Knowledge-driven Multi-agent Framework for Autonomous Driving with Large Language Models. CoRR abs/2407.14239 (2024) - [i8]Xuan Cai, Zhiyong Cui, Xuesong Bai, Ruimin Ke, Zhenshu Ma, Haiyang Yu, Yilong Ren:
VCAT: Vulnerability-aware and Curiosity-driven Adversarial Training for Enhancing Autonomous Vehicle Robustness. CoRR abs/2409.12997 (2024) - [i7]Yinghui Wang, Yilong Ren, Hongmao Qin, Zhiyong Cui, Yanan Zhao, Haiyang Yu:
A dataset for cyber threat intelligence modeling of connected autonomous vehicles. CoRR abs/2410.14600 (2024) - [i6]Yinghui Wang, Yilong Ren, Zhiyong Cui, Haiyang Yu:
Proactive security defense: cyber threat intelligence modeling for connected autonomous vehicles. CoRR abs/2410.16016 (2024) - [i5]Lening Wang, Wenzhao Zheng, Dalong Du, Yunpeng Zhang, Yilong Ren, Han Jiang, Zhiyong Cui, Haiyang Yu, Jie Zhou, Jiwen Lu, Shanghang Zhang:
Stag-1: Towards Realistic 4D Driving Simulation with Video Generation Model. CoRR abs/2412.05280 (2024) - [i4]Tongtong Zhang, Zhiyong Cui, Bingzhang Wang, Yilong Ren, Haiyang Yu, Pan Deng, Yinhai Wang:
PreMixer: MLP-Based Pre-training Enhanced MLP-Mixers for Large-scale Traffic Forecasting. CoRR abs/2412.13607 (2024) - 2023
- [i3]Lening Wang, Yilong Ren, Han Jiang, Pinlong Cai, Daocheng Fu, Tianqi Wang, Zhiyong Cui, Haiyang Yu, Xuesong Wang, Hanchu Zhou, Helai Huang, Yinhai Wang:
AccidentGPT: Accident Analysis and Prevention from V2X Environmental Perception with Multi-modal Large Model. CoRR abs/2312.13156 (2023) - 2020
- [i2]Xiaolei Ma, Enze Huo, Haiyang Yu, Honghai Li:
Mining Truck Platooning Patterns Through Massive Trajectory Data. CoRR abs/2010.05142 (2020) - 2017
- [i1]Haiyang Yu, Zhihai Wu, Shuqin Wang, Yunpeng Wang, Xiaolei Ma:
Spatiotemporal Recurrent Convolutional Networks for Traffic Prediction in Transportation Networks. CoRR abs/1705.02699 (2017)
Coauthor Index
[j51] [j50] [j49] [j48] [j47] [j46] [j45] [j44] [j43] [j42] [j41] [j40] [j39] [j38] [j37] [j36] [j35] [j34] [j33] [j32] [j31] [j30] [j29] [j27] [j25] [j24] [j23] [j22] [j21] [j17] [j16] [j14] [j13] [j12] [j11] [j9] [j5] [c10] [c9] [c8] [c7] [c6] [c5] [c4] [c3] [c2] [i15] [i14] [i13] [i12] [i11] [i10] [i9] [i8] [i7] [i6] [i5] [i4] [i3]
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