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Bei Yi (or Pi Yi) was a man from the time of Emperor Yao. Yao’s teacher was Xu You; Xu You’s teacher was Nie Que; Nie Que’s teacher was Wang Ni; and Wang Ni’s teacher was Bei Yi.
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Mencius said: “Zilu was delighted whenever someone pointed out his faults. Yu the Great would bow in gratitude whenever he heard wise and virtuous words.”