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Pipe dreams for Schubert polynomials of the classical groups

Schubert polynomials for the classical groups were defined by S.Billey and M.Haiman in 1995; they are polynomial representatives of Schubert classes in a full flag variety of a classical group. We provide a combinatorial description for these polynomials, as well as their double versions, by introducing analogues of pipe dreams, or RC-graphs, for the Weyl groups of the classical types.