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% References sections and subsections, specified with the standard \section and \subsection commands. If you want to display all sections and subsections on one slide, just use \tableofcontents. If you want to just display each section one at a time (in subsequent slides) use \tableofcontents[pausesections].
\begin{frame}
\frametitle{Table of Contents} % Slide title, remove this command for no title
\tableofcontents % Output the table of contents (all sections on one slide)
%\tableofcontents[pausesections] % Output the table of contents (break sections up across separate slides)