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  1. .gitattributes +32 -0
  2. dataset_info.json +52 -0
  3. features.json +158 -0
  4. libero_object-train.tfrecord-00000-of-00032 +3 -0
  5. libero_object-train.tfrecord-00001-of-00032 +3 -0
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.gitattributes CHANGED
@@ -58,3 +58,35 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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  # Video files - compressed
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  # Video files - compressed
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  *.mp4 filter=lfs diff=lfs merge=lfs -text
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  *.webm filter=lfs diff=lfs merge=lfs -text
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+ libero_object-train.tfrecord-00000-of-00032 filter=lfs diff=lfs merge=lfs -text
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dataset_info.json ADDED
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+ {
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+ "citation": "// TODO(example_dataset): BibTeX citation",
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+ "description": "TODO(example_dataset): Markdown description of your dataset.\nDescription is **formatted** as markdown.\n\nIt should also contain any processing which has been applied (if any),\n(e.g. corrupted example skipped, images cropped,...):",
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+ "fileFormat": "tfrecord",
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+ "moduleName": "LIBERO_Object.LIBERO_Object_dataset_builder",
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+ "name": "libero_object",
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+ "releaseNotes": {
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+ "1.0.0": "Initial release."
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+ },
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+ "splits": [
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+ {
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+ "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
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+ "name": "train",
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+ "numBytes": "2817311159",
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+ "shardLengths": [
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+ "14",
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+ "14",
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+ "15",
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+ "14",
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+ "14",
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+ "14",
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+ "14",
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+ "15",
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+ "14",
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+ "14",
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+ "14",
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+ "14",
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+ "14",
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+ "15",
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+ "14",
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+ "14",
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+ "14",
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+ "14",
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+ "15",
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+ "14",
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+ "15",
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+ "14",
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+ "14"
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+ ]
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+ }
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+ ],
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+ "version": "1.0.0"
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+ }
features.json ADDED
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+ {
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+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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+ "featuresDict": {
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+ "steps": {
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+ "pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset",
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+ "sequence": {
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+ "feature": {
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+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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+ "featuresDict": {
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+ "features": {
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+ "action": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {
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+ "dimensions": [
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+ "7"
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+ ]
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+ },
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+ "dtype": "float32",
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+ "encoding": "none"
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+ },
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+ "description": "Robot EEF action."
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+ },
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+ "is_terminal": {
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+ "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "bool",
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+ "encoding": "none"
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+ },
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+ "description": "True on last step of the episode if it is a terminal step, True for demos."
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+ },
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+ "is_last": {
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+ "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "bool",
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+ "encoding": "none"
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+ },
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+ "description": "True on last step of the episode."
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+ },
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+ "language_instruction": {
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+ "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
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+ "text": {},
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+ "description": "Language Instruction."
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+ },
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+ "observation": {
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+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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+ "featuresDict": {
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+ "features": {
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+ "wrist_image": {
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+ "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
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+ "image": {
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+ "shape": {
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+ "dimensions": [
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+ "256",
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+ "256",
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+ "3"
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+ ]
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+ },
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+ "dtype": "uint8",
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+ "encodingFormat": "jpeg"
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+ },
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+ "description": "Wrist camera RGB observation."
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+ },
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+ "image": {
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+ "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
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+ "image": {
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+ "256",
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+ "3"
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+ "dtype": "uint8",
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+ "encodingFormat": "jpeg"
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+ },
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+ "description": "Main camera RGB observation."
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+ },
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+ "state": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {
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+ "dimensions": [
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+ "8"
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+ ]
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+ },
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+ "dtype": "float32",
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+ "encoding": "none"
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+ },
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+ "description": "Robot EEF state (6D pose, 2D gripper)."
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+ },
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+ "joint_state": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {
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+ "dimensions": [
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+ "7"
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+ ]
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+ },
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+ "dtype": "float32",
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+ "encoding": "none"
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+ },
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+ "description": "Robot joint angles."
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+ }
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+ }
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+ }
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+ },
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+ "is_first": {
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+ "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "bool",
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+ "encoding": "none"
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+ },
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+ "description": "True on first step of the episode."
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+ },
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+ "discount": {
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+ "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "float32",
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+ "encoding": "none"
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+ },
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+ "description": "Discount if provided, default to 1."
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+ },
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+ "reward": {
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+ "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "float32",
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+ "encoding": "none"
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+ },
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+ "description": "Reward if provided, 1 on final step for demos."
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+ },
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+ "length": "-1"
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+ }
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+ "episode_metadata": {
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+ "featuresDict": {
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+ "features": {
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+ "file_path": {
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+ "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
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+ "text": {},
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+ "description": "Path to the original data file."
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+ }
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+ }
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+ }
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+ }
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+ }
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+ }
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+ }
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