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to be based on; to take into account; to build upon; to have origin in
to have one's feet firmly planted on; to plant oneself on
現状を踏まえて新しい計画を立てます。
Make plans based on the current situation.
今回の計画は過去の失敗を踏まえている。
This plan is based on past failures.
事実を踏まえた冷静な議論が必要です。
A discussion based on facts is needed.