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  ______     ___    __    __   __   __    _  _   
 /_   _//   / _ \\  \ \\ / //  \ \\/ //  | \| || 
   | ||    / //\ \\  \ \/ //    \ ` //   |  ' || 
  _| ||   |  ___  ||  \  //      | ||    | .  || 
 /__//    |_||  |_||   \//       |_||    |_|\_|| 
 `--`     `-`   `-`     `        `-`'    `-` -`

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Text this: Optimized dynamic policy for robust receding horizon control