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WATCH: Top judo moments from the 2016 Rio Olympic Games

From outstanding upsets to Kayla Harrison going out on top, these were the stories everyone was talking about in judo

Judo provided plenty of memorable action at the Rio Games.

For Team USA, two athletes reached the gold medal match in their division: Kayla Harrison and Travis Stevens. Harrison repeated as Olympic champion in the women's 78kg weight class, sending her out on top after what is likely to be her final judo competition. Stevens ended up with silver in the men's 81kg division, giving him his first Olympic medal in three appearances.

Meanwhile, the rest of the field provided exciting match-ending ippons, huge upsets, historic gold medals and, of course, just a little bit of controversy.

Re-watch the top moments below.

Kayla Harrison wins second gold medal

Travis Stevens earns silver

Best of Team USA's other judoka

Underdogs and upsets

Rafaela Silva wins Brazil's first gold of the Olympics

Majlinda Kelmendi wins Kosovo's first Olympic gold ever

Teddy Riner wins second straight gold medal, keeps six-year winning streak alive

Exciting ippons

Controversies