(?:-?(?:d+(?:.d*)|.d+)[ ]*)+
is one possibility. In more readable format:
(?:
-? # Optional negative sign
(?:
d+(?:.d*) # Either an integer part with optional decimal part
|
.d+ # Or a decimal part that starts with a period
)
[ ]* # Followed by any number of tabs or spaces
)+ # One or more times
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