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With kallisto | bustools you can
The kallisto | bustools workflow is described in:
Páll Melsted*, A. Sina Booeshaghi*, Lauren Liu, Fan Gao, Lambda Lu, Kyung Hoi (Joseph) Min, Eduardo da Veiga Beltrame, Kristján Eldjárn Hjörleifsson, Jase Gehring & Lior Pachter† Modular and efficient pre-processing of single-cell RNA-seq, Nature Biotechnology (2021).
Documentation and tutorials for the kallisto bustools workflow are available at http://pachterlab.github.io/kallistobustools.
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scRNA-seq_intro
https://pachterlab.github.io/kallistobustools/tutorials/scRNA-seq_intro/python/scRNA-seq_intro/