Merge branch 'refs/heads/master' into lis-spot/implement-vlm-predicat… #2297

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Run time

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Job	Run time
docformatter (3.10.14)	26s
lint (3.10.14)	6m 51s
isort (3.10.14)	12s
static-type-checking (3.10.14)	6m 9s
unit-tests (3.10.14)	6m 46s
yapf (3.10.14)	48s
	21m 12s