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Whenever I draw or paint from a model in a class, or an open studio session where there's a model, I get him or her to sign a release for me, before the session starts. I don't know what kind of arrangement the model has made with the art school who hired them, but I want to know that I personally have permission to use their image, in case it turns out to be something I want to show later.
You might want to contact the art school where you saw the models that you used. They often use the same models over and over again, and you might still be able to get their signature.
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