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ESS can be easily customized to your taste simply by including the appropriate lines in your `.emacs' file. There are numerous variables which affect the behavior of ESS in certain situations which can be modified to your liking. Keybindings may be set or changed to your preferences, and for per-buffer customizations hooks are also available.
Most of these variables can be viewed and set using the Custom facility within Emacs. Type M-x customize-group RET ess RET to see all the ESS variables that can be customized. Variables are grouped by subject to make it easy to find related variables.
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