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README.md
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| 1 |
+
---
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| 2 |
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license: apache-2.0
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task_categories:
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- robotics
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tags:
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- LeRobot
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configs:
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- config_name: default
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data_files: data/*/*.parquet
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---
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=kd-forge/aloha_sim_transfer_cube_insertion">
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<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
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<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
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</a>
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## Dataset Description
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| 22 |
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- **Homepage:** [More Information Needed]
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- **Paper:** [More Information Needed]
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| 27 |
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- **License:** apache-2.0
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| 28 |
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| 29 |
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## Dataset Structure
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| 30 |
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[meta/info.json](meta/info.json):
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```json
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{
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"codebase_version": "v3.0",
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"robot_type": "aloha",
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"total_episodes": 200,
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| 37 |
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"total_frames": 85000,
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| 38 |
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"total_tasks": 2,
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| 39 |
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"chunks_size": 1000000,
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| 40 |
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"data_files_size_in_mb": 10000,
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| 41 |
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"video_files_size_in_mb": 50000,
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| 42 |
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"fps": 50,
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"splits": {
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"train": "0:200"
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},
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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| 47 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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| 48 |
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"features": {
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| 49 |
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"observation.images.top": {
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"dtype": "video",
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"shape": [
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480,
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640,
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3
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],
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"names": [
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| 57 |
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"height",
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| 58 |
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"width",
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| 59 |
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"channel"
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| 60 |
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],
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"video_info": {
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"video.fps": 50.0,
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| 63 |
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"video.codec": "av1",
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"video.pix_fmt": "yuv420p",
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| 65 |
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"video.is_depth_map": false,
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| 66 |
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"has_audio": false
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| 67 |
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}
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},
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"observation.state": {
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"dtype": "float32",
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| 71 |
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"shape": [
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| 72 |
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14
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| 73 |
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],
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| 74 |
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"names": {
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| 75 |
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"motors": [
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| 76 |
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"left_waist",
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| 77 |
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"left_shoulder",
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| 78 |
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"left_elbow",
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| 79 |
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"left_forearm_roll",
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| 80 |
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"left_wrist_angle",
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| 81 |
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"left_wrist_rotate",
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| 82 |
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"left_gripper",
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| 83 |
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"right_waist",
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| 84 |
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"right_shoulder",
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| 85 |
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"right_elbow",
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| 86 |
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"right_forearm_roll",
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| 87 |
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"right_wrist_angle",
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| 88 |
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"right_wrist_rotate",
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| 89 |
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"right_gripper"
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| 90 |
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]
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| 91 |
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},
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| 92 |
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"fps": 50
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| 93 |
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},
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| 94 |
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"action": {
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"dtype": "float32",
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| 96 |
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"shape": [
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| 97 |
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14
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| 98 |
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],
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| 99 |
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"names": {
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| 100 |
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"motors": [
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| 101 |
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"left_waist",
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| 102 |
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"left_shoulder",
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| 103 |
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"left_elbow",
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| 104 |
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"left_forearm_roll",
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| 105 |
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"left_wrist_angle",
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| 106 |
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"left_wrist_rotate",
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| 107 |
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"left_gripper",
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| 108 |
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"right_waist",
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| 109 |
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"right_shoulder",
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| 110 |
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"right_elbow",
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| 111 |
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"right_forearm_roll",
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| 112 |
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"right_wrist_angle",
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| 113 |
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"right_wrist_rotate",
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| 114 |
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"right_gripper"
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| 115 |
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]
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| 116 |
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},
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| 117 |
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"fps": 50
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| 118 |
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},
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| 119 |
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"episode_index": {
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| 120 |
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"dtype": "int64",
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| 121 |
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"shape": [
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| 122 |
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1
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| 123 |
+
],
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| 124 |
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"names": null
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| 125 |
+
},
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| 126 |
+
"frame_index": {
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| 127 |
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"dtype": "int64",
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| 128 |
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"shape": [
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| 129 |
+
1
|
| 130 |
+
],
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| 131 |
+
"names": null
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| 132 |
+
},
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| 133 |
+
"timestamp": {
|
| 134 |
+
"dtype": "float32",
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| 135 |
+
"shape": [
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| 136 |
+
1
|
| 137 |
+
],
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| 138 |
+
"names": null
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| 139 |
+
},
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| 140 |
+
"next.done": {
|
| 141 |
+
"dtype": "bool",
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| 142 |
+
"shape": [
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| 143 |
+
1
|
| 144 |
+
],
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| 145 |
+
"names": null,
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| 146 |
+
"fps": 50
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| 147 |
+
},
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| 148 |
+
"index": {
|
| 149 |
+
"dtype": "int64",
|
| 150 |
+
"shape": [
|
| 151 |
+
1
|
| 152 |
+
],
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| 153 |
+
"names": null
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| 154 |
+
},
|
| 155 |
+
"task_index": {
|
| 156 |
+
"dtype": "int64",
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| 157 |
+
"shape": [
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| 158 |
+
1
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| 159 |
+
],
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| 160 |
+
"names": null
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| 161 |
+
}
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| 162 |
+
}
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| 163 |
+
}
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| 164 |
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```
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| 165 |
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| 167 |
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## Citation
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| 168 |
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| 169 |
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**BibTeX:**
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| 170 |
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| 171 |
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```bibtex
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| 172 |
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[More Information Needed]
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| 173 |
+
```
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