What does it mean for a polynomial to be positive semi-definite?

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I'm reading proofs about Cauchy-Schwarz inequality.

Some of them use the argument of a polynomial being positive semi-definite as the starting argument.

That is, they argue that

$$\forall x,y \in\mathbb{R^n}, a\in\mathbb{R}\\\langle {ax+y,ax+y} \rangle$$

Is a positive semi-definite polynomial (when expanded).
How is this seen?

There's one proof here if you can see it (page 2):

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It means that the expression $$\langle ax+y, ax+y\rangle$$

is always greater than or equal to zero.

This is true because the inequality $\langle x,x\rangle \geq 0$ is true for any element $x$ in your vector space.