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Find Average of elements having less difference among each other

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Hi, Lets say, A=[20,10,22,10,12]. I want to calculate the difference among each element in the A. If the difference is less than 5 or 0, then average all that elements. So for this case, the result will be.
(20+22)/2 and (10+10+12)/3
Result=[21,10]. How to do it?

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