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Automatic merge from submit-queue. Manual cherrypick of kube-openapi changes for release-1.9 **What this PR does / why we need it**: Cherry-picks https://github.com/kubernetes/kube-openapi/pull/64 and https://github.com/kubernetes/kube-openapi/pull/67 Fixes bugs that make apiserver panic when aggregating valid but not well formed OpenAPI spec (with empty `Paths`/`Definitions`) **Release note**: ```release-note Fixes bugs that make apiserver panic when aggregating valid but not well formed OpenAPI spec ``` /cc @mbohlool /sig api-machinery Kubernetes-commit: 8d48604c2eca912159636be258a5e68bfc4c6643
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