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sql - What is semi-join in database?

I am having trouble while trying to understand the concept of semi-join and how it is different from conventional join. I have tried some article already but not satisfied with the explanation, could someone please help me to understand it?

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Simple example. Let's select students with grades using left outer join:

SELECT DISTINCT s.id
FROM  students s
      LEFT JOIN grades g ON g.student_id = s.id
WHERE g.student_id IS NOT NULL

Now the same with left semi-join:

SELECT s.id
FROM  students s
WHERE EXISTS (SELECT 1 FROM grades g
              WHERE g.student_id = s.id)

The latter is much more efficient.


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