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Add more complete derivations#1

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Foggalong merged 5 commits intomainFoggalong/RobustOCS:mainfrom derivationFoggalong/RobustOCS:derivationCopy head branch name to clipboardApr 19, 2024

+709-122

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Commits on Apr 17, 2024

• Missing $\lambda$ term

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Commits on Apr 18, 2024

• Fixed sign error in $U_{\mu}$ derivation

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Commits on Apr 19, 2024

• Minor doc fixes

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• Resolved doc TODOs

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• Added timing test

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