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I have a small doubt about the solution provided in the paper of 2022. During the conversion of FG(p XOR q), wouldn't there be an -> operator instead of &? Can you please tell me if the below equation would be right:

in * TF "Emb. Sys. and Rob." by (500 points)
Why it got changed to implication?  In the formula of LO2 it is & operator I guess

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Yes, you are right, that should be an implication, and it has now be fixed. Thank you for point out that mistake!
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Thanks for the verification. Glad it was helpful!

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