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We solve a long-standing open problem posed by Goodman and Pollack in 1988 by establishing a necessary and sufficient condition for a finite family of convex sets in $\mathbb{R}^d$ to admit a $k$-transversal (a $k$-dimensional affine subspace that intersects each set) for any $0 \le k \le d-1$. This result is a common generalization of …

