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ORCIDAlina Roitberg
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- affiliation: University of Stuttgart, Germany
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2020 – today
- 2024
[j8]Michael Heizmann, Jürgen Beyerer, Stefan Dietrich, Luisa Hoffmann, Jan-Philipp Kaiser, Gisela Lanza, Alina Roitberg, Rainer Stiefelhagen, Nicole Stricker, Helena Wexel, Frederik Zanger:
Managing uncertainty in product and process design for the circular factory. Autom. 72(9): 829-843 (2024)- [j7]Manuel Zaremski, Blanca Handwerker, Christian R. G. Dreher, Fabian Leven, David Schneider, Alina Roitberg, Rainer Stiefelhagen, Gerhard Neumann, Michael Heizmann, Tamim Asfour, Barbara Deml:
Learning human actions from complex manipulation tasks and their transfer to robots in the circular factory. Autom. 72(9): 844-860 (2024) - [c40]Kunyu Peng, Cheng Yin, Junwei Zheng, Ruiping Liu, David Schneider, Jiaming Zhang, Kailun Yang, M. Saquib Sarfraz, Rainer Stiefelhagen, Alina Roitberg
:
Navigating Open Set Scenarios for Skeleton-Based Action Recognition. AAAI 2024: 4487-4496 - [c39]Yiping Wei, Kunyu Peng, Alina Roitberg, Jiaming Zhang, Junwei Zheng, Ruiping Liu, Yufan Chen, Kailun Yang, Rainer Stiefelhagen:
Elevating Skeleton-Based Action Recognition with Efficient Multi-Modality Self-Supervision. ICASSP 2024: 6040-6044 - [c38]David Schneider, Marco Keller, Zeyun Zhong, Kunyu Peng, Alina Roitberg, Jürgen Beyerer, Rainer Stiefelhagen:
SynthAct: Towards Generalizable Human Action Recognition based on Synthetic Data. ICRA 2024: 13038-13045 - [c37]Omar Moured, Morris Baumgarten-Egemole, Karin Müller, Alina Roitberg, Thorsten Schwarz, Rainer Stiefelhagen:
Chart4Blind: An Intelligent Interface for Chart Accessibility Conversion. IUI 2024: 504-514 - [c36]Kunyu Peng, David Schneider, Alina Roitberg, Kailun Yang, Jiaming Zhang, Chen Deng, Kaiyu Zhang, M. Saquib Sarfraz, Rainer Stiefelhagen:
Towards Video-based Activated Muscle Group Estimation in the Wild. ACM Multimedia 2024: 4495-4504 - [i33]Omar Moured, Morris Baumgarten-Egemole, Alina Roitberg, Karin Müller, Thorsten Schwarz, Rainer Stiefelhagen:
Chart4Blind: An Intelligent Interface for Chart Accessibility Conversion. CoRR abs/2403.06693 (2024) - [i32]Yi Xu, Kunyu Peng, Di Wen, Ruiping Liu, Junwei Zheng, Yufan Chen, Jiaming Zhang, Alina Roitberg, Kailun Yang, Rainer Stiefelhagen:
Skeleton-Based Human Action Recognition with Noisy Labels. CoRR abs/2403.09975 (2024) - [i31]Kunyu Peng, Jia Fu, Kailun Yang, Di Wen, Yufan Chen, Ruiping Liu, Junwei Zheng, Jiaming Zhang, M. Saquib Sarfraz, Rainer Stiefelhagen, Alina Roitberg:
Referring Atomic Video Action Recognition. CoRR abs/2407.01872 (2024) - [i30]Thinesh Thiyakesan Ponbagavathi, Kunyu Peng, Alina Roitberg:
Probing Fine-Grained Action Understanding and Cross-View Generalization of Foundation Models. CoRR abs/2407.15605 (2024) - [i29]Jonas Nasimzada, Jens Kleesiek, Ken Herrmann, Alina Roitberg, Constantin Seibold:
Towards Synthetic Data Generation for Improved Pain Recognition in Videos under Patient Constraints. CoRR abs/2409.16382 (2024) - 2023
- [j6]Kunyu Peng, Alina Roitberg, Kailun Yang, Jiaming Zhang, Rainer Stiefelhagen:
Delving Deep Into One-Shot Skeleton-Based Action Recognition With Diverse Occlusions. IEEE Trans. Multim. 25: 1489-1504 (2023) - [c35]Hao Shi, Yu Li, Kailun Yang, Jiaming Zhang, Kunyu Peng, Alina Roitberg, Yaozu Ye, Huajian Ni, Kaiwei Wang, Rainer Stiefelhagen:
FishDreamer: Towards Fisheye Semantic Completion via Unified Image Outpainting and Segmentation. CVPR Workshops 2023: 6434-6444 - [c34]Omar Moured, Jiaming Zhang, Alina Roitberg, Thorsten Schwarz, Rainer Stiefelhagen:
Line Graphics Digitization: A Step Towards Full Automation. ICDAR (5) 2023: 438-453 - [c33]Calvin Tanama, Kunyu Peng, Zdravko Marinov, Rainer Stiefelhagen, Alina Roitberg:
Quantized Distillation: Optimizing Driver Activity Recognition Models for Resource-Constrained Environments. IROS 2023: 5479-5486 - [c32]Walter Morales-Alvarez, Novel Certad, Alina Roitberg, Rainer Stiefelhagen, Cristina Olaverri-Monreal:
On Transferability of Driver Observation Models from Simulated to Real Environments in Autonomous Cars. ITSC 2023: 3129-3134 - [i28]Kunyu Peng, David Schneider, Alina Roitberg, Kailun Yang, Jiaming Zhang, M. Saquib Sarfraz, Rainer Stiefelhagen:
MuscleMap: Towards Video-based Activated Muscle Group Estimation. CoRR abs/2303.00952 (2023) - [i27]Hao Shi, Yu Li, Kailun Yang, Jiaming Zhang, Kunyu Peng, Alina Roitberg, Yaozu Ye, Huajian Ni, Kaiwei Wang, Rainer Stiefelhagen:
FishDreamer: Towards Fisheye Semantic Completion via Unified Image Outpainting and Segmentation. CoRR abs/2303.13842 (2023) - [i26]Jiacheng Lin, Jiajun Chen, Kailun Yang, Alina Roitberg, Siyu Li, Zhiyong Li, Shutao Li:
AdaptiveClick: Clicks-aware Transformer with Adaptive Focal Loss for Interactive Image Segmentation. CoRR abs/2305.04276 (2023) - [i25]Kunyu Peng, Di Wen, David Schneider, Jiaming Zhang, Kailun Yang, M. Saquib Sarfraz, Rainer Stiefelhagen, Alina Roitberg:
FeatFSDA: Towards Few-shot Domain Adaptation for Video-based Activity Recognition. CoRR abs/2305.08420 (2023) - [i24]Omar Moured, Jiaming Zhang, Alina Roitberg, Thorsten Schwarz, Rainer Stiefelhagen:
Line Graphics Digitization: A Step Towards Full Automation. CoRR abs/2307.02065 (2023) - [i23]Walter Morales-Alvarez, Novel Certad, Alina Roitberg, Rainer Stiefelhagen, Cristina Olaverri-Monreal:
On Transferability of Driver Observation Models from Simulated to Real Environments in Autonomous Cars. CoRR abs/2307.16543 (2023) - [i22]Hejun Xiao, Kunyu Peng, Xiangsheng Huang, Alina Roitberg, Hao Li, Zhaohui Wang, Rainer Stiefelhagen:
Towards Privacy-Supporting Fall Detection via Deep Unsupervised RGB2Depth Adaptation. CoRR abs/2308.12049 (2023) - [i21]Yiping Wei, Kunyu Peng, Alina Roitberg, Jiaming Zhang, Junwei Zheng, Ruiping Liu, Yufan Chen, Kailun Yang, Rainer Stiefelhagen:
Elevating Skeleton-Based Action Recognition with Efficient Multi-Modality Self-Supervision. CoRR abs/2309.12009 (2023) - [i20]Yifei Chen, Kunyu Peng, Alina Roitberg, David Schneider, Jiaming Zhang, Junwei Zheng, Ruiping Liu, Yufan Chen, Kailun Yang, Rainer Stiefelhagen:
Unveiling the Hidden Realm: Self-supervised Skeleton-based Action Recognition in Occluded Environments. CoRR abs/2309.12029 (2023) - [i19]Calvin Tanama, Kunyu Peng, Zdravko Marinov, Rainer Stiefelhagen, Alina Roitberg:
Quantized Distillation: Optimizing Driver Activity Recognition Models for Resource-Constrained Environments. CoRR abs/2311.05970 (2023) - [i18]Kunyu Peng, Cheng Yin, Junwei Zheng, Ruiping Liu, David Schneider, Jiaming Zhang, Kailun Yang, M. Saquib Sarfraz, Rainer Stiefelhagen, Alina Roitberg:
Navigating Open Set Scenarios for Skeleton-based Action Recognition. CoRR abs/2312.06330 (2023) - 2022
- [j5]Christian R. G. Dreher, Manuel Zaremski, Fabian Leven, David Schneider, Alina Roitberg, Rainer Stiefelhagen, Michael Heizmann, Barbara Deml, Tamim Asfour:
Erfassung und Interpretation menschlicher Handlungen für die Programmierung von Robotern in der Produktion. Autom. 70(6): 517-533 (2022) - [j4]Jiaming Zhang, Chaoxiang Ma, Kailun Yang, Alina Roitberg, Kunyu Peng, Rainer Stiefelhagen:
Transfer Beyond the Field of View: Dense Panoramic Semantic Segmentation via Unsupervised Domain Adaptation. IEEE Trans. Intell. Transp. Syst. 23(7): 9478-9491 (2022) - [j3]Kunyu Peng, Juncong Fei, Kailun Yang, Alina Roitberg, Jiaming Zhang, Frank Bieder, Philipp Heidenreich, Christoph Stiller, Rainer Stiefelhagen:
MASS: Multi-Attentional Semantic Segmentation of LiDAR Data for Dense Top-View Understanding. IEEE Trans. Intell. Transp. Syst. 23(9): 15824-15840 (2022) - [j2]Alina Roitberg, Kunyu Peng, David Schneider, Kailun Yang, Marios Koulakis, Manuel Martínez, Rainer Stiefelhagen:
Is My Driver Observation Model Overconfident? Input-Guided Calibration Networks for Reliable and Interpretable Confidence Estimates. IEEE Trans. Intell. Transp. Syst. 23(12): 25271-25286 (2022) - [c31]Kunyu Peng, Alina Roitberg, Kailun Yang, Jiaming Zhang, Rainer Stiefelhagen:
Should I take a walk? Estimating Energy Expenditure from Video Data. CVPR Workshops 2022: 2074-2084 - [c30]David Schneider, M. Saquib Sarfraz, Alina Roitberg, Rainer Stiefelhagen:
Pose-based Contrastive Learning for Domain Agnostic Activity Representations. CVPR Workshops 2022: 3432-3442 - [c29]Xinyu Luo, Jiaming Zhang, Kailun Yang, Alina Roitberg, Kunyu Peng, Rainer Stiefelhagen:
Towards Robust Semantic Segmentation of Accident Scenes via Multi-Source Mixed Sampling and Meta-Learning. CVPR Workshops 2022: 4428-4438 - [c28]Zdravko Marinov, Alina Roitberg, David Schneider, Rainer Stiefelhagen:
ModSelect: Automatic Modality Selection for Synthetic-to-Real Domain Generalization. ECCV Workshops (8) 2022: 326-346 - [c27]Ping-Cheng Wei, Kunyu Peng, Alina Roitberg, Kailun Yang, Jiaming Zhang, Rainer Stiefelhagen:
Multi-modal Depression Estimation Based on Sub-attentional Fusion. ECCV Workshops (6) 2022: 623-639 - [c26]Kunyu Peng, Alina Roitberg, Kailun Yang, Jiaming Zhang, Rainer Stiefelhagen:
TransDARC: Transformer-based Driver Activity Recognition with Latent Space Feature Calibration. IROS 2022: 278-285 - [c25]Zdravko Marinov, David Schneider, Alina Roitberg, Rainer Stiefelhagen:
Multimodal Generation of Novel Action Appearances for Synthetic-to-Real Recognition of Activities of Daily Living. IROS 2022: 11320-11327 - [c24]Alina Roitberg, Kunyu Peng, Zdravko Marinov, Constantin Seibold, David Schneider, Rainer Stiefelhagen:
A Comparative Analysis of Decision-Level Fusion for Multimodal Driver Behaviour Understanding. IV 2022: 1438-1444 - [i17]Kunyu Peng, Alina Roitberg, Kailun Yang, Jiaming Zhang, Rainer Stiefelhagen:
Should I take a walk? Estimating Energy Expenditure from Video Data. CoRR abs/2202.00712 (2022) - [i16]Kunyu Peng, Alina Roitberg, Kailun Yang, Jiaming Zhang, Rainer Stiefelhagen:
ProFormer: Learning Data-efficient Representations of Body Movement with Prototype-based Feature Augmentation and Visual Transformers. CoRR abs/2202.11423 (2022) - [i15]Kunyu Peng, Alina Roitberg, Kailun Yang, Jiaming Zhang, Rainer Stiefelhagen:
TransDARC: Transformer-based Driver Activity Recognition with Latent Space Feature Calibration. CoRR abs/2203.00927 (2022) - [i14]Xinyu Luo, Jiaming Zhang, Kailun Yang, Alina Roitberg, Kunyu Peng, Rainer Stiefelhagen:
Towards Robust Semantic Segmentation of Accident Scenes via Multi-Source Mixed Sampling and Meta-Learning. CoRR abs/2203.10395 (2022) - [i13]Alina Roitberg, Kunyu Peng, David Schneider, Kailun Yang, Marios Koulakis, Manuel Martínez, Rainer Stiefelhagen:
Is my Driver Observation Model Overconfident? Input-guided Calibration Networks for Reliable and Interpretable Confidence Estimates. CoRR abs/2204.04674 (2022) - [i12]Alina Roitberg, Kunyu Peng, Zdravko Marinov, Constantin Seibold, David Schneider, Rainer Stiefelhagen:
A Comparative Analysis of Decision-Level Fusion for Multimodal Driver Behaviour Understanding. CoRR abs/2204.04734 (2022) - [i11]Ping-Cheng Wei, Kunyu Peng, Alina Roitberg, Kailun Yang, Jiaming Zhang, Rainer Stiefelhagen:
Multi-modal Depression Estimation based on Sub-attentional Fusion. CoRR abs/2207.06180 (2022) - [i10]Zdravko Marinov, David Schneider, Alina Roitberg, Rainer Stiefelhagen:
Multimodal Generation of Novel Action Appearances for Synthetic-to-Real Recognition of Activities of Daily Living. CoRR abs/2208.01910 (2022) - [i9]Zdravko Marinov, Alina Roitberg, David Schneider, Rainer Stiefelhagen:
ModSelect: Automatic Modality Selection for Synthetic-to-Real Domain Generalization. CoRR abs/2208.09414 (2022) - 2021
- [b1]Alina Roitberg:
Uncertainty-aware Models for Deep Learning-based Human Activity Recognition and Applications in Intelligent Vehicles. Karlsruhe Institute of Technology, Germany, 2021 - [c23]Kunyu Peng, Alina Roitberg, David Schneider, Marios Koulakis, Kailun Yang, Rainer Stiefelhagen:
Affect-DML: Context-Aware One-Shot Recognition of Human Affect using Deep Metric Learning. FG 2021: 1-8 - [c22]Alina Roitberg, David Schneider, Aulia Djamal, Constantin Seibold, Simon Reiß, Rainer Stiefelhagen:
Let's Play for Action: Recognizing Activities of Daily Living by Learning from Life Simulation Video Games. IROS 2021: 8563-8569 - [c21]Chaoxiang Ma, Jiaming Zhang, Kailun Yang, Alina Roitberg, Rainer Stiefelhagen:
DensePASS: Dense Panoramic Semantic Segmentation via Unsupervised Domain Adaptation with Attention-Augmented Context Exchange. ITSC 2021: 2766-2772 - [c20]Alina Roitberg, Simon Reiß, Rainer Stiefelhagen:
From Driver Talk To Future Action: Vehicle Maneuver Prediction by Learning from Driving Exam Dialogs. IV 2021: 566-571 - [i8]Alina Roitberg, Monica Haurilet, Manuel Martínez, Rainer Stiefelhagen:
Uncertainty-sensitive Activity Recognition: a Reliability Benchmark and the CARING Models. CoRR abs/2101.00468 (2021) - [i7]Kunyu Peng, Juncong Fei, Kailun Yang, Alina Roitberg, Jiaming Zhang, Frank Bieder, Philipp Heidenreich, Christoph Stiller, Rainer Stiefelhagen:
MASS: Multi-Attentional Semantic Segmentation of LiDAR Data for Dense Top-View Understanding. CoRR abs/2107.00346 (2021) - [i6]Alina Roitberg, David Schneider, Aulia Djamal, Constantin Seibold, Simon Reiß, Rainer Stiefelhagen:
Let's Play for Action: Recognizing Activities of Daily Living by Learning from Life Simulation Video Games. CoRR abs/2107.05617 (2021) - [i5]Chaoxiang Ma, Jiaming Zhang, Kailun Yang, Alina Roitberg, Rainer Stiefelhagen:
DensePASS: Dense Panoramic Semantic Segmentation via Unsupervised Domain Adaptation with Attention-Augmented Context Exchange. CoRR abs/2108.06383 (2021) - [i4]Jiaming Zhang, Chaoxiang Ma, Kailun Yang, Alina Roitberg, Kunyu Peng, Rainer Stiefelhagen:
Transfer beyond the Field of View: Dense Panoramic Semantic Segmentation via Unsupervised Domain Adaptation. CoRR abs/2110.11062 (2021) - [i3]Kunyu Peng, Alina Roitberg, David Schneider, Marios Koulakis, Kailun Yang, Rainer Stiefelhagen:
Affect-DML: Context-Aware One-Shot Recognition of Human Affect using Deep Metric Learning. CoRR abs/2111.15271 (2021) - 2020
- [c19]Simon Reiß, Alina Roitberg, Monica Haurilet, Rainer Stiefelhagen:
Activity-aware Attributes for Zero-Shot Driver Behavior Recognition. CVPR Workshops 2020: 3950-3955 - [c18]Alina Roitberg, Monica Haurilet, Manuel Martínez, Rainer Stiefelhagen:
Uncertainty-sensitive Activity Recognition: A Reliability Benchmark and the CARING Models. ICPR 2020: 3814-3821 - [c17]Robin Ruede, Verena Heusser, Lukas Frank, Alina Roitberg, Monica Haurilet, Rainer Stiefelhagen:
Multi-Task Learning for Calorie Prediction on a Novel Large-Scale Recipe Dataset Enriched with Nutritional Information. ICPR 2020: 4001-4008 - [c16]Alina Roitberg, Monica Haurilet, Simon Reiß, Rainer Stiefelhagen:
CNN-based Driver Activity Understanding: Shedding Light on Deep Spatiotemporal Representations. ITSC 2020: 1-6 - [c15]Simon Reiß, Alina Roitberg, Monica Haurilet, Rainer Stiefelhagen:
Deep Classification-driven Domain Adaptation for Cross-Modal Driver Behavior Recognition. IV 2020: 1042-1047 - [c14]Alina Roitberg, Chaoxiang Ma, Monica Haurilet, Rainer Stiefelhagen:
Open Set Driver Activity Recognition. IV 2020: 1048-1053 - [i2]Robin Ruede, Verena Heusser, Lukas Frank, Alina Roitberg, Monica Haurilet, Rainer Stiefelhagen:
Multi-Task Learning for Calorie Prediction on a Novel Large-Scale Recipe Dataset Enriched with Nutritional Information. CoRR abs/2011.01082 (2020)
2010 – 2019
- 2019
- [c13]Alina Roitberg, Tim Pollert, Monica Haurilet, Manuel Martin, Rainer Stiefelhagen:
Analysis of Deep Fusion Strategies for Multi-Modal Gesture Recognition. CVPR Workshops 2019: 198-206 - [c12]Monica Haurilet, Alina Roitberg, Rainer Stiefelhagen:
It's Not About the Journey; It's About the Destination: Following Soft Paths Under Question-Guidance for Visual Reasoning. CVPR 2019: 1930-1939 - [c11]Manuel Martin, Alina Roitberg, Monica Haurilet, Matthias Horne, Simon Reiß, Michael Voit, Rainer Stiefelhagen:
Drive&Act: A Multi-Modal Dataset for Fine-Grained Driver Behavior Recognition in Autonomous Vehicles. ICCV 2019: 2801-2810 - [c10]Sidney Bender, Monica Haurilet, Alina Roitberg, Rainer Stiefelhagen:
Learning Fine-Grained Image Representations for Mathematical Expression Recognition. GREC@ICDAR 2019: 56-61 - [c9]Monica Haurilet, Alina Roitberg, Manuel Martínez, Rainer Stiefelhagen:
WiSe - Slide Segmentation in the Wild. ICDAR 2019: 343-348 - [c8]Patrick Gebert, Alina Roitberg, Monica Haurilet, Rainer Stiefelhagen:
End-to-end Prediction of Driver Intention using 3D Convolutional Neural Networks. IV 2019: 969-974 - 2018
- [c7]Alina Roitberg, Ziad Al-Halah, Rainer Stiefelhagen:
Informed Democracy: Voting-based Novelty Detection for Action Recognition. BMVC 2018: 52 - [c6]Alina Roitberg, Manuel Martínez, Monica Haurilet, Rainer Stiefelhagen:
Towards a Fair Evaluation of Zero-Shot Action Recognition Using External Data. ECCV Workshops (4) 2018: 97-105 - [c5]Elena Wolf, Manuel Martínez, Alina Roitberg, Rainer Stiefelhagen, Barbara Deml:
Estimating mental load in passive and active tasks from pupil and gaze changes using bayesian surprise. MCPMD@ICMI 2018: 6 - [i1]Alina Roitberg, Ziad Al-Halah, Rainer Stiefelhagen:
Informed Democracy: Voting-based Novelty Detection for Action Recognition. CoRR abs/1810.12819 (2018) - 2017
- [j1]Egidio Falotico, Lorenzo Vannucci, Alessandro Ambrosano, Ugo Albanese, Stefan Ulbrich, Juan Camilo Vasquez Tieck, Georg Hinkel, Jacques Kaiser, Igor Peric, Oliver Denninger, Nino Cauli, Murat Kirtay, Arne Roennau, Gudrun Klinker, Axel von Arnim, Luc Guyot, Daniel Peppicelli, Pablo Martínez-Cañada, Eduardo Ros, Patrick Maier, Sandro Weber, Manuel Hubert, David A. Plecher, Florian Röhrbein, Stefan Deser, Alina Roitberg, Patrick van der Smagt, Rüdiger Dillmann, Paul Levi, Cecilia Laschi, Alois C. Knoll, Marc-Oliver Gewaltig:
Connecting Artificial Brains to Robots in a Comprehensive Simulation Framework: The Neurorobotics Platform. Frontiers Neurorobotics 11: 2 (2017) - [c4]Manuel Martínez, Alina Roitberg, Daniel Koester, Rainer Stiefelhagen, Boris Schauerte:
Using Technology Developed for Autonomous Cars to Help Navigate Blind People. ICCV Workshops 2017: 1424-1432 - 2016
- [c3]Marco Carraro, Matteo Munaro, Alina Roitberg, Emanuele Menegatti:
Improved Skeleton Estimation by Means of Depth Data Fusion from Multiple Depth Cameras. IAS 2016: 1155-1167 - 2015
- [c2]Alina Roitberg, Nikhil Somani, Alexander Clifford Perzylo, Markus Rickert, Alois C. Knoll:
Multimodal Human Activity Recognition for Industrial Manufacturing Processes in Robotic Workcells. ICMI 2015: 259-266 - 2014
- [c1]Alina Roitberg, Alexander Clifford Perzylo, Nikhil Somani, Manuel Giuliani, Markus Rickert, Alois C. Knoll:
Human activity recognition in the context of industrial human-robot interaction. APSIPA 2014: 1-10
Coauthor Index
Monica-Laura Haurilet
aka: Monica Haurilet
aka: Monica Haurilet
[j8] [j7] [c40] [c39] [c38] [c37] [c36] [i33] [i32] [i31] [j6] [c35] [c34] [c33] [c32] [i28] [i27] [i25] [i24] [i23] [i22] [i21] [i20] [i19] [i18] [j5] [j4] [j3] [j2] [c31] [c30] [c29] [c28] [c27] [c26] [c25] [c24] [i17] [i16] [i15] [i14] [i13] [i12] [i11] [i10] [i9] [c23] [c22] [c21] [c20] [i8] [i7] [i6] [i5] [i4] [i3] [c19] [c18] [c17] [c16] [c15] [c14] [i2] [c13] [c12] [c11] [c10] [c9] [c8] [c7] [c6] [c5] [i1] [c4]
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