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What do we mean by "Efficient Computing" of a Span Program (SP)?

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I'm reading "Quadratic Span Programs and Succinct NIZKs without PCPs" and I'm having trouble understanding the "Efficiency" of a span program. I can see that a span program cannot compute some functions, but I have no idea what does it mean to compute a function efficiently. Because in turning machines there is and Idea of time (steps) or space (tape) but there is no such thing in a span program.

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