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Why do we require intervals in Jensen's inequality?

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In my notes I have

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where $I$ is the interval on which $X$ takes values. I am struggling to see why do we require for our random variable to be contained in an interval. I thought looking at the proof will show us why but I can't seem to find where it breaks. I am referencing page 29 of https://www.statslab.cam.ac.uk/~james/Lectures/pm.pdf .

Question: Is it result still true for when $I= \mathbb R$ instead?


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