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Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
- data/chunk-000/episode_000003.parquet +3 -0
- data/chunk-000/episode_000004.parquet +3 -0
- meta/episodes.jsonl +5 -0
- meta/episodes_stats.jsonl +5 -0
- meta/info.json +150 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.front/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000003.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000004.mp4 +3 -0
- videos/chunk-000/observation.images.side/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.side/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.side/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.side/episode_000003.mp4 +3 -0
- videos/chunk-000/observation.images.side/episode_000004.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000003.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000004.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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data/chunk-000/episode_000002.parquet
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data/chunk-000/episode_000004.parquet
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["If the scene includes a charging brick, start by opening the drawer by grasping the golden handle and pulling it open. Next, take the mouse and place it inside the drawer, then close the drawer. If the scene includes a marker, pick up the marker and place it on the book."], "length": 1023}
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{"episode_index": 1, "tasks": ["If the scene includes a charging brick, start by opening the drawer by grasping the golden handle and pulling it open. Next, take the mouse and place it inside the drawer, then close the drawer. If the scene includes a marker, pick up the marker and place it on the book."], "length": 1050}
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{"episode_index": 2, "tasks": ["If the scene includes a charging brick, start by opening the drawer by grasping the golden handle and pulling it open. Next, take the mouse and place it inside the drawer, then close the drawer. If the scene includes a marker, pick up the marker and place it on the book."], "length": 1120}
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{"episode_index": 3, "tasks": ["If the scene includes a charging brick, start by opening the drawer by grasping the golden handle and pulling it open. Next, take the mouse and place it inside the drawer, then close the drawer. If the scene includes a marker, pick up the marker and place it on the book."], "length": 1070}
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{"episode_index": 4, "tasks": ["If the scene includes a charging brick, start by opening the drawer by grasping the golden handle and pulling it open. Next, take the mouse and place it inside the drawer, then close the drawer. If the scene includes a marker, pick up the marker and place it on the book."], "length": 1129}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-8.262945175170898, -99.27214050292969, -72.45401763916016, -66.11182403564453, -99.63455963134766, 0.0], "max": [33.52919387817383, 38.859683990478516, 99.91027069091797, 100.0, -15.531192779541016, 29.298381805419922], "mean": [5.228077411651611, -33.09945297241211, 43.99531555175781, 34.29527282714844, -53.942161560058594, 7.365233898162842], "std": [14.871721267700195, 50.88276290893555, 57.74222946166992, 54.716548919677734, 29.463781356811523, 9.49197006225586], "count": [1023]}, "observation.state": {"min": [-8.002937316894531, -98.13480377197266, -69.16181182861328, -65.19149017333984, -99.69254302978516, 1.5414258241653442], "max": [33.33333206176758, 39.63543701171875, 100.0, 99.57447052001953, -15.757109642028809, 28.965959548950195], "mean": [5.271853923797607, -32.507991790771484, 45.369197845458984, 34.51564025878906, -53.979400634765625, 10.022947311401367], "std": [14.911772727966309, 51.2863655090332, 56.89522171020508, 54.53092575073242, 29.447057723999023, 9.83057975769043], "count": [1023]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5008760178376906]], [[0.4943209865196079]], [[0.4897237552196805]]], "std": [[[0.18627719524842223]], [[0.18698139101175967]], [[0.18564963007150392]]], "count": [180]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5025348833514888]], [[0.5558783167665214]], [[0.5497839619644154]]], "std": [[[0.2211442156095247]], [[0.22129682783579185]], [[0.22720187818276932]]], "count": [180]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4497911878177197]], [[0.44198547680646333]], [[0.438276570442992]]], "std": [[[0.2405959862713943]], [[0.22969041951907387]], [[0.22755126539134815]]], "count": [180]}, "timestamp": {"min": [0.0], "max": [34.06666666666667], "mean": [17.03333333333333], "std": [9.843817386600625], "count": [1023]}, "frame_index": {"min": [0], "max": [1022], "mean": [511.0], "std": [295.31452159801876], "count": [1023]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1023]}, "index": {"min": [0], "max": [1022], "mean": [511.0], "std": [295.31452159801876], "count": [1023]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1023]}}}
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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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|
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|
|
|
|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "so101_follower",
|
| 4 |
+
"total_episodes": 5,
|
| 5 |
+
"total_frames": 5392,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
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"total_videos": 15,
|
| 8 |
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"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:5"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"action": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
6
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"shoulder_pan.pos",
|
| 24 |
+
"shoulder_lift.pos",
|
| 25 |
+
"elbow_flex.pos",
|
| 26 |
+
"wrist_flex.pos",
|
| 27 |
+
"wrist_roll.pos",
|
| 28 |
+
"gripper.pos"
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
"observation.state": {
|
| 32 |
+
"dtype": "float32",
|
| 33 |
+
"shape": [
|
| 34 |
+
6
|
| 35 |
+
],
|
| 36 |
+
"names": [
|
| 37 |
+
"shoulder_pan.pos",
|
| 38 |
+
"shoulder_lift.pos",
|
| 39 |
+
"elbow_flex.pos",
|
| 40 |
+
"wrist_flex.pos",
|
| 41 |
+
"wrist_roll.pos",
|
| 42 |
+
"gripper.pos"
|
| 43 |
+
]
|
| 44 |
+
},
|
| 45 |
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"observation.images.front": {
|
| 46 |
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"dtype": "video",
|
| 47 |
+
"shape": [
|
| 48 |
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|
| 49 |
+
640,
|
| 50 |
+
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|
| 51 |
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],
|
| 52 |
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"names": [
|
| 53 |
+
"height",
|
| 54 |
+
"width",
|
| 55 |
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"channels"
|
| 56 |
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],
|
| 57 |
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"info": {
|
| 58 |
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"video.height": 480,
|
| 59 |
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|
| 60 |
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"video.codec": "av1",
|
| 61 |
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"video.pix_fmt": "yuv420p",
|
| 62 |
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"video.is_depth_map": false,
|
| 63 |
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"video.fps": 30,
|
| 64 |
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"video.channels": 3,
|
| 65 |
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"has_audio": false
|
| 66 |
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}
|
| 67 |
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},
|
| 68 |
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"observation.images.wrist": {
|
| 69 |
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"dtype": "video",
|
| 70 |
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"shape": [
|
| 71 |
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480,
|
| 72 |
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640,
|
| 73 |
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3
|
| 74 |
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|
| 75 |
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"names": [
|
| 76 |
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"height",
|
| 77 |
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"width",
|
| 78 |
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"channels"
|
| 79 |
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|
| 80 |
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"info": {
|
| 81 |
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"video.height": 480,
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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}
|
| 90 |
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},
|
| 91 |
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"observation.images.side": {
|
| 92 |
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"dtype": "video",
|
| 93 |
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"shape": [
|
| 94 |
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480,
|
| 95 |
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640,
|
| 96 |
+
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|
| 97 |
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|
| 98 |
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"names": [
|
| 99 |
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"height",
|
| 100 |
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"width",
|
| 101 |
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"channels"
|
| 102 |
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],
|
| 103 |
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"info": {
|
| 104 |
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"video.height": 480,
|
| 105 |
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"video.width": 640,
|
| 106 |
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"video.codec": "av1",
|
| 107 |
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|
| 108 |
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"video.is_depth_map": false,
|
| 109 |
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"video.fps": 30,
|
| 110 |
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"video.channels": 3,
|
| 111 |
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"has_audio": false
|
| 112 |
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}
|
| 113 |
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},
|
| 114 |
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"timestamp": {
|
| 115 |
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"dtype": "float32",
|
| 116 |
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"shape": [
|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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},
|
| 128 |
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|
| 129 |
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|
| 130 |
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"shape": [
|
| 131 |
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|
| 132 |
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|
| 133 |
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"names": null
|
| 134 |
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},
|
| 135 |
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"index": {
|
| 136 |
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|
| 137 |
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"shape": [
|
| 138 |
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1
|
| 139 |
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|
| 140 |
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"names": null
|
| 141 |
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|
| 142 |
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"task_index": {
|
| 143 |
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"dtype": "int64",
|
| 144 |
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"shape": [
|
| 145 |
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|
| 146 |
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|
| 147 |
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"names": null
|
| 148 |
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|
| 149 |
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|
| 150 |
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}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "If the scene includes a charging brick, start by opening the drawer by grasping the golden handle and pulling it open. Next, take the mouse and place it inside the drawer, then close the drawer. If the scene includes a marker, pick up the marker and place it on the book."}
|
videos/chunk-000/observation.images.front/episode_000000.mp4
ADDED
|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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ADDED
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videos/chunk-000/observation.images.front/episode_000002.mp4
ADDED
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ADDED
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ADDED
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ADDED
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ADDED
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ADDED
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ADDED
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ADDED
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