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Initial data sets are assumed to satisfy the positive mass theorem. Under some conditions (e.g., additional decay assumptions), it is known that the initial data sets can be embedded isometrically into the Minkowski spacetime with second fundamental form \\(k\\). In the present paper, some of these assumptions are removed in an optimal way. The embedding result is proved in two simple ways, namely using spacetime harmonic functions and Liouville's theorem, or, alternatively, using the Killing machinery. 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