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  _____     _____    __   _     _____    _____    
 / ____||  |  ___|| | || | ||  |  ___|| |  __ \\  
/ //---`'  | ||__   | '--' ||  | ||__   | |  \ || 
\ \\___    | ||__   | .--. ||  | ||__   | |__/ || 
 \_____||  |_____|| |_|| |_||  |_____|| |_____//  
  `----`   `-----`  `-`  `-`   `-----`   -----`

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Text this: Methods for autonomously decomposing and performing long-horizon sequential decision tasks