There must be so much being shared between these systems too. Like as much as were outlining them as the three unique types of zero knowledge, like, just in terms of techniques, i imagine there's a lot of sharing. All of these systems, all of the efficient proof systems, use this beautiful technique called arithmetization. It was invented in the early eighties by the great alexander rasborov an used to prove circuit lo lower bounds in computational complexity. And later were transition into the area of proof systems in this beautiful paper by lund karlo.

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