How to read parquet file from AWS S3 bucket using R without downloading it locally?

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I'm able to download the parquet file from AWS S3 bucket on local and then read from it (see the below code). But is there any way that I can directly read parquet file from S3 and read, without storing in local?

save_object("Financial_Sample.parquet", file = "Financial_Sample.parquet", bucket = 'my-bucket')
df <- read_parquet("Financial_Sample.parquet")```
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