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diff --git a/DORI/q3/3d_future/object_types.txt b/DORI/q3/3d_future/object_types.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c21014984a330ea0db878e37d39cd7dde1f8ec33
--- /dev/null
+++ b/DORI/q3/3d_future/object_types.txt
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+Cannot be determined,bottle/batch-1/34/frame000110,1,bottle,237.png
+forward,bike/batch-12/8/frame000030,1,bike,238.png
+right,chair/batch-5/40/frame000000,1,chair,239.png
+forward,chair/batch-2/27/frame000070,1,chair,240.png
+left,chair/batch-5/24/frame000064,1,chair,241.png
+Cannot be determined,bottle/batch-1/0/frame000000,1,bottle,242.png
+forward,bike/batch-1/46/frame000274,1,bike,243.png
+backward,chair/batch-3/42/frame000120,1,chair,244.png
+left,chair/batch-3/10/frame000030,1,chair,245.png
+right,bike/batch-5/10/frame000180,1,bike,246.png
+forward,chair/batch-1/29/frame000390,1,chair,247.png
+forward,chair/batch-3/30/frame000190,1,chair,248.png
+forward,bike/batch-1/46/frame000250,1,bike,249.png
+left,chair/batch-5/33/frame000000,1,chair,250.png
+backward,chair/batch-3/37/frame000150,1,chair,251.png
+left,chair/batch-3/10/frame000070,1,chair,252.png
+right,chair/batch-3/25/frame000330,1,chair,253.png
+forward,chair/batch-5/44/frame000110,1,chair,254.png
+forward,chair/batch-3/30/frame000130,1,chair,255.png
+Cannot be determined,bottle/batch-1/0/frame000150,1,bottle,256.png
+left,chair/batch-5/44/frame000345,1,chair,257.png
+forward,chair/batch-2/16/frame000000,1,chair,258.png
+backward,chair/batch-4/21/frame000150,1,chair,259.png
+backward,chair/batch-5/33/frame000090,1,chair,260.png
+right,chair/batch-1/29/frame000170,1,chair,261.png
+forward,chair/batch-1/49/frame000420,1,chair,262.png
+left,chair/batch-5/44/frame000390,1,chair,263.png
+left,chair/batch-1/0/frame000150,1,chair,264.png
+forward,chair/batch-3/30/frame000170,1,chair,265.png
+left,chair/batch-4/16/frame000060,1,chair,266.png
+forward,chair/batch-1/49/frame000300,1,chair,267.png
+left,chair/batch-5/42/frame000250,1,chair,268.png
+Cannot be determined,bottle/batch-1/34/frame000060,1,bottle,269.png
+left,chair/batch-3/8/frame000010,1,chair,270.png
+left,chair/batch-5/42/frame000030,1,chair,271.png
+Cannot be determined,bottle/batch-1/0/frame000180,1,bottle,272.png
+right,chair/batch-5/24/frame000320,1,chair,273.png
+forward,chair/batch-4/43/frame000010,1,chair,274.png
+Cannot be determined,bottle/batch-1/0/frame000540,1,bottle,275.png
+backward,chair/batch-4/48/frame000170,1,chair,276.png
+forward,chair/batch-3/30/frame000050,1,chair,277.png
+forward,chair/batch-4/28/frame000170,1,chair,278.png
+left,chair/batch-4/28/frame000060,1,chair,279.png
+right,chair/batch-1/28/frame000190,1,chair,280.png
+left,chair/batch-4/28/frame000010,1,chair,281.png
+right,bike/batch-10/15/frame000192,1,bike,282.png
+backward,bike/batch-1/27/frame000160,1,bike,283.png
+left,chair/batch-4/28/frame000000,1,chair,284.png
+Cannot be determined,bottle/batch-1/48/frame000090,1,bottle,285.png
+forward,chair/batch-5/44/frame000070,1,chair,286.png
+right,chair/batch-5/24/frame000288,1,chair,287.png
+forward,chair/batch-3/11/frame000110,1,chair,288.png
+backward,bike/batch-8/40/frame000030,1,bike,289.png
+Cannot be determined,bottle/batch-1/34/frame000120,1,bottle,290.png
+Cannot be determined,bottle/batch-1/0/frame000480,1,bottle,291.png
+Cannot be determined,bottle/batch-1/22/frame000030,1,bottle,292.png
+right,chair/batch-1/28/frame000110,1,chair,293.png
+right,chair/batch-4/27/frame000030,1,chair,294.png
+forward,chair/batch-5/44/frame000120,1,chair,295.png
+left,chair/batch-3/11/frame000120,1,chair,296.png
+left,chair/batch-5/42/frame000010,1,chair,297.png
+forward,chair/batch-4/27/frame000150,1,chair,298.png
+right,chair/batch-1/28/frame000000,1,chair,299.png
+Cannot be determined,bottle/batch-1/35/frame000060,1,bottle,300.png
+right,bike/batch-11/35/frame000270,1,bike,301.png
+left,chair/batch-5/1/frame000210,1,chair,302.png
+left,chair/batch-3/8/frame000060,1,chair,303.png
+right,bike/batch-5/10/frame000090,1,bike,304.png
+right,bike/batch-10/15/frame000210,1,bike,305.png
+Cannot be determined,bottle/batch-1/36/frame000240,1,bottle,306.png
+left,chair/batch-5/44/frame000330,1,chair,307.png
+right,chair/batch-3/10/frame000230,1,chair,308.png
+forward,chair/batch-5/1/frame000000,1,chair,309.png
+forward,chair/batch-3/4/frame000120,1,chair,310.png
+Cannot be determined,bottle/batch-1/36/frame000070,1,bottle,311.png
+right,bike/batch-10/15/frame000366,1,bike,312.png
+right,bike/batch-10/15/frame000222,1,bike,313.png
+right,chair/batch-1/28/frame000210,1,chair,314.png
+left,chair/batch-3/10/frame000010,1,chair,315.png
+left,chair/batch-4/28/frame000090,1,chair,316.png
+forward,chair/batch-1/29/frame000090,1,chair,317.png
+left,chair/batch-3/28/frame000130,1,chair,318.png
+left,chair/batch-4/16/frame000070,1,chair,319.png
+backward,chair/batch-3/43/frame000288,1,chair,320.png
+left,chair/batch-1/0/frame000240,1,chair,321.png
+forward,chair/batch-5/1/frame000010,1,chair,322.png
+forward,chair/batch-1/29/frame000330,1,chair,323.png
+left,chair/batch-5/33/frame000050,1,chair,324.png
+Cannot be determined,bottle/batch-1/48/frame000270,1,bottle,325.png
+left,chair/batch-1/29/frame000480,1,chair,326.png
+right,chair/batch-3/33/frame000050,1,chair,327.png
+right,chair/batch-5/45/frame000050,1,chair,328.png
+right,chair/batch-2/27/frame000230,1,chair,329.png
+Cannot be determined,bottle/batch-1/22/frame000070,1,bottle,330.png
+right,bike/batch-5/10/frame000130,1,bike,331.png
+backward,chair/batch-4/48/frame000150,1,chair,332.png
+Cannot be determined,bottle/batch-1/48/frame000180,1,bottle,333.png
+left,chair/batch-4/28/frame000110,1,chair,334.png
+Cannot be determined,bottle/batch-1/22/frame000050,1,bottle,335.png
+backward,bike/batch-1/27/frame000150,1,bike,336.png
+forward,chair/batch-5/44/frame000290,1,chair,337.png
+backward,chair/batch-4/48/frame000090,1,chair,338.png
+Cannot be determined,bottle/batch-1/0/frame000270,1,bottle,339.png
+left,chair/batch-5/42/frame000070,1,chair,340.png
+backward,chair/batch-4/16/frame000130,1,chair,341.png
+left,bike/batch-1/27/frame000220,1,bike,342.png
+forward,chair/batch-2/27/frame000060,1,chair,343.png
+Cannot be determined,bottle/batch-1/0/frame000360,1,bottle,344.png
+forward,chair/batch-1/29/frame000010,1,chair,345.png
+forward,chair/batch-5/44/frame000470,1,chair,346.png
+forward,bike/batch-12/8/frame000070,1,bike,347.png
+left,chair/batch-3/25/frame000000,1,chair,348.png
+right,chair/batch-3/33/frame000110,1,chair,349.png
+forward,chair/batch-3/11/frame000090,1,chair,350.png
+left,chair/batch-5/39/frame000064,1,chair,351.png
+forward,chair/batch-4/43/frame000030,1,chair,352.png
+Cannot be determined,bottle/batch-1/22/frame000180,1,bottle,353.png
+Cannot be determined,bottle/batch-1/35/frame000330,1,bottle,354.png
+Cannot be determined,bottle/batch-1/36/frame000060,1,bottle,355.png
+forward,chair/batch-1/29/frame000000,1,chair,356.png
+left,chair/batch-5/1/frame000170,1,chair,357.png
+forward,chair/batch-5/38/frame000150,1,chair,358.png
+backward,chair/batch-5/45/frame000180,1,chair,359.png
+forward,chair/batch-5/44/frame000450,1,chair,360.png
+left,chair/batch-4/27/frame000170,1,chair,361.png
+forward,chair/batch-5/44/frame000430,1,chair,362.png
+Cannot be determined,bottle/batch-1/36/frame000170,1,bottle,363.png
+backward,chair/batch-1/28/frame000250,1,chair,364.png
+Cannot be determined,bottle/batch-1/48/frame000300,1,bottle,365.png
+forward,chair/batch-3/30/frame000150,1,chair,366.png
+backward,chair/batch-4/48/frame000110,1,chair,367.png
+forward,chair/batch-1/0/frame000090,1,chair,368.png
+right,bike/batch-12/8/frame000180,1,bike,369.png
+backward,chair/batch-3/37/frame000180,1,chair,370.png
+forward,bike/batch-5/10/frame000000,1,bike,371.png
+left,chair/batch-3/30/frame000230,1,chair,372.png
+right,bike/batch-8/40/frame000180,1,bike,373.png
+backward,bike/batch-8/40/frame000060,1,bike,374.png
+left,chair/batch-5/45/frame000230,1,chair,375.png
+forward,chair/batch-1/29/frame000050,1,chair,376.png
+right,bike/batch-5/10/frame000120,1,bike,377.png
+right,chair/batch-1/29/frame000300,1,chair,378.png
+left,chair/batch-2/16/frame000210,1,chair,379.png
+left,chair/batch-5/44/frame000350,1,chair,380.png
+Cannot be determined,bottle/batch-1/0/frame000570,1,bottle,381.png
+left,bike/batch-1/27/frame000290,1,bike,382.png
+Cannot be determined,bottle/batch-1/48/frame000150,1,bottle,383.png
+forward,chair/batch-2/27/frame000000,1,chair,384.png
+left,chair/batch-4/21/frame000110,1,chair,385.png
+backward,bike/batch-1/27/frame000130,1,bike,386.png
+backward,chair/batch-3/37/frame000190,1,chair,387.png
+right,chair/batch-3/41/frame000010,1,chair,388.png
+forward,chair/batch-1/0/frame000130,1,chair,389.png
+right,chair/batch-5/40/frame000170,1,chair,390.png
+forward,chair/batch-3/4/frame000090,1,chair,391.png
+left,chair/batch-5/44/frame000410,1,chair,392.png
+forward,chair/batch-1/29/frame000420,1,chair,393.png
+Cannot be determined,bottle/batch-1/22/frame000150,1,bottle,394.png
+right,chair/batch-5/40/frame000010,1,chair,395.png
+Cannot be determined,bottle/batch-1/0/frame000390,1,bottle,396.png
+forward,chair/batch-2/16/frame000030,1,chair,397.png
+left,chair/batch-4/28/frame000070,1,chair,398.png
+right,bike/batch-11/35/frame000291,1,bike,399.png
+right,chair/batch-3/33/frame000070,1,chair,400.png
+right,chair/batch-1/28/frame000030,1,chair,401.png
+backward,chair/batch-5/39/frame000256,1,chair,402.png
+forward,chair/batch-3/31/frame000230,1,chair,403.png
+forward,chair/batch-5/44/frame000060,1,chair,404.png
+right,chair/batch-5/33/frame000180,1,chair,405.png
+left,chair/batch-5/42/frame000130,1,chair,406.png
+left,bike/batch-1/27/frame000250,1,bike,407.png
+right,chair/batch-3/25/frame000300,1,chair,408.png
+Cannot be determined,bottle/batch-1/35/frame000000,1,bottle,409.png
+forward,chair/batch-3/11/frame000070,1,chair,410.png
+forward,chair/batch-1/49/frame000390,1,chair,411.png
+forward,bike/batch-12/8/frame000010,1,bike,412.png
+forward,chair/batch-2/27/frame000030,1,chair,413.png
+left,chair/batch-4/28/frame000050,1,chair,414.png
+Cannot be determined,bottle/batch-1/0/frame000060,1,bottle,415.png
+Cannot be determined,bottle/batch-1/22/frame000130,1,bottle,416.png
+forward,chair/batch-5/38/frame000130,1,chair,417.png
+right,chair/batch-3/41/frame000000,1,chair,418.png
+Cannot be determined,bottle/batch-1/22/frame000170,1,bottle,419.png
+forward,bike/batch-12/8/frame000050,1,bike,420.png
+backward,chair/batch-5/33/frame000120,1,chair,421.png
+forward,chair/batch-5/44/frame000010,1,chair,422.png
+left,bike/batch-1/27/frame000230,1,bike,423.png
+right,chair/batch-3/42/frame000270,1,chair,424.png
+forward,chair/batch-1/29/frame000410,1,chair,425.png
+Cannot be determined,bottle/batch-1/35/frame000180,1,bottle,426.png
+forward,chair/batch-3/28/frame000120,1,chair,427.png
+Cannot be determined,bottle/batch-1/36/frame000180,1,bottle,428.png
+left,chair/batch-3/8/frame000030,1,chair,429.png
+forward,chair/batch-3/8/frame000130,1,chair,430.png
+Cannot be determined,bottle/batch-1/48/frame000330,1,bottle,431.png
+backward,chair/batch-4/21/frame000180,1,chair,432.png
+forward,chair/batch-3/10/frame000170,1,chair,433.png
+Cannot be determined,bottle/batch-1/36/frame000090,1,bottle,434.png
+right,chair/batch-5/40/frame000230,1,chair,435.png
+Cannot be determined,bottle/batch-1/34/frame000070,1,bottle,436.png
+left,chair/batch-4/28/frame000270,1,chair,437.png
+forward,chair/batch-1/0/frame000010,1,chair,438.png
+forward,bike/batch-12/8/frame000090,1,bike,439.png
+right,bike/batch-5/10/frame000050,1,bike,440.png
+forward,chair/batch-5/38/frame000070,1,chair,441.png
+Cannot be determined,bottle/batch-1/34/frame000210,1,bottle,442.png
+forward,chair/batch-3/30/frame000000,1,chair,443.png
+right,chair/batch-3/33/frame000090,1,chair,444.png
+forward,chair/batch-1/0/frame000120,1,chair,445.png
+Cannot be determined,bottle/batch-1/0/frame000330,1,bottle,446.png
+forward,chair/batch-3/4/frame000150,1,chair,447.png
+forward,chair/batch-3/8/frame000070,1,chair,448.png
+backward,chair/batch-4/16/frame000180,1,chair,449.png
+left,chair/batch-3/11/frame000150,1,chair,450.png
+backward,chair/batch-4/16/frame000170,1,chair,451.png
+forward,chair/batch-5/38/frame000310,1,chair,452.png
+right,chair/batch-1/29/frame000290,1,chair,453.png
+forward,chair/batch-3/41/frame000170,1,chair,454.png
+backward,chair/batch-3/42/frame000150,1,chair,455.png
+forward,chair/batch-5/38/frame000000,1,chair,456.png
+right,chair/batch-1/29/frame000240,1,chair,457.png
+Cannot be determined,bottle/batch-1/34/frame000230,1,bottle,458.png
+forward,chair/batch-1/49/frame000480,1,chair,459.png
+left,chair/batch-1/0/frame000230,1,chair,460.png
+backward,chair/batch-3/25/frame000210,1,chair,461.png
+left,chair/batch-4/28/frame000240,1,chair,462.png
+forward,chair/batch-5/44/frame000030,1,chair,463.png
+forward,chair/batch-3/8/frame000120,1,chair,464.png
+forward,chair/batch-3/30/frame000070,1,chair,465.png
+backward,chair/batch-4/48/frame000190,1,chair,466.png
+Cannot be determined,bottle/batch-1/0/frame000600,1,bottle,467.png
+Cannot be determined,bottle/batch-1/0/frame000120,1,bottle,468.png
+Cannot be determined,bottle/batch-1/35/frame000150,1,bottle,469.png
+forward,chair/batch-5/44/frame000465,1,chair,470.png
+backward,chair/batch-3/43/frame000320,1,chair,471.png
+backward,chair/batch-5/45/frame000170,1,chair,472.png
+right,chair/batch-1/29/frame000150,1,chair,473.png
+right,bike/batch-5/10/frame000060,1,bike,474.png
+forward,chair/batch-1/49/frame000360,1,chair,475.png
+forward,chair/batch-3/8/frame000110,1,chair,476.png
+left,chair/batch-2/16/frame000270,1,chair,477.png
+left,chair/batch-5/42/frame000180,1,chair,478.png
+forward,bike/batch-1/46/frame000270,1,bike,479.png
+left,chair/batch-5/42/frame000050,1,chair,480.png
+forward,chair/batch-1/29/frame000310,1,chair,481.png
+right,bike/batch-5/10/frame000240,1,bike,482.png
+right,chair/batch-5/40/frame000190,1,chair,483.png
+left,chair/batch-5/39/frame000224,1,chair,484.png
+forward,chair/batch-5/44/frame000230,1,chair,485.png
+Cannot be determined,bottle/batch-1/34/frame000240,1,bottle,486.png
+left,chair/batch-5/1/frame000250,1,chair,487.png
+forward,chair/batch-1/29/frame000490,1,chair,488.png
+right,chair/batch-3/42/frame000330,1,chair,489.png
+Cannot be determined,bottle/batch-1/35/frame000300,1,bottle,490.png
+left,chair/batch-4/28/frame000180,1,chair,491.png
+forward,chair/batch-5/48/frame000090,1,chair,492.png
+forward,chair/batch-1/49/frame000270,1,chair,493.png
+left,chair/batch-3/4/frame000000,1,chair,494.png
+backward,chair/batch-3/27/frame000240,1,chair,495.png
+right,chair/batch-1/28/frame000010,1,chair,496.png
+forward,chair/batch-1/29/frame000110,1,chair,497.png
+Cannot be determined,bottle/batch-1/34/frame000170,1,bottle,498.png
+forward,chair/batch-3/41/frame000210,1,chair,499.png
+right,chair/batch-1/28/frame000060,1,chair,500.png
+forward,chair/batch-4/28/frame000150,1,chair,501.png
+right,chair/batch-4/27/frame000060,1,chair,502.png
+right,bike/batch-8/40/frame000300,1,bike,503.png
+left,chair/batch-4/28/frame000250,1,chair,504.png
+forward,chair/batch-5/1/frame000060,1,chair,505.png
+Cannot be determined,bottle/batch-1/0/frame000030,1,bottle,506.png
+forward,chair/batch-5/1/frame000050,1,chair,507.png
+forward,chair/batch-1/49/frame000180,1,chair,508.png
+left,chair/batch-5/1/frame000120,1,chair,509.png
+forward,chair/batch-1/29/frame000370,1,chair,510.png
+left,chair/batch-5/24/frame000032,1,chair,511.png
+right,chair/batch-5/33/frame000190,1,chair,512.png
+forward,chair/batch-2/27/frame000050,1,chair,513.png
+right,chair/batch-5/33/frame000170,1,chair,514.png
+right,chair/batch-5/45/frame000010,1,chair,515.png
+Cannot be determined,bottle/batch-1/36/frame000050,1,bottle,516.png
+Cannot be determined,bottle/batch-1/35/frame000090,1,bottle,517.png
+forward,chair/batch-1/29/frame000430,1,chair,518.png
+Cannot be determined,bottle/batch-1/36/frame000130,1,bottle,519.png
+forward,chair/batch-1/0/frame000060,1,chair,520.png
+backward,chair/batch-4/16/frame000150,1,chair,521.png
+backward,chair/batch-3/25/frame000180,1,chair,522.png
+right,bike/batch-10/15/frame000282,1,bike,523.png
+left,chair/batch-1/0/frame000210,1,chair,524.png
+forward,chair/batch-3/8/frame000090,1,chair,525.png
+right,chair/batch-5/33/frame000210,1,chair,526.png
+backward,chair/batch-4/16/frame000120,1,chair,527.png
+forward,chair/batch-1/0/frame000110,1,chair,528.png
+forward,chair/batch-5/38/frame000090,1,chair,529.png
+forward,chair/batch-1/29/frame000060,1,chair,530.png
+backward,chair/batch-5/45/frame000130,1,chair,531.png
+right,bike/batch-8/40/frame000150,1,bike,532.png
+backward,chair/batch-3/37/frame000130,1,chair,533.png
+left,chair/batch-5/1/frame000110,1,chair,534.png
+backward,chair/batch-5/24/frame000160,1,chair,535.png
+backward,chair/batch-1/28/frame000270,1,chair,536.png
+forward,chair/batch-5/38/frame000050,1,chair,537.png
+right,chair/batch-1/28/frame000150,1,chair,538.png
+Cannot be determined,bottle/batch-1/48/frame000120,1,bottle,539.png
+forward,chair/batch-5/1/frame000030,1,chair,540.png
+forward,chair/batch-3/11/frame000000,1,chair,541.png
+left,chair/batch-2/16/frame000120,1,chair,542.png
+Cannot be determined,bottle/batch-1/36/frame000230,1,bottle,543.png
+left,chair/batch-5/1/frame000130,1,chair,544.png
+Cannot be determined,bottle/batch-1/48/frame000030,1,bottle,545.png
+forward,chair/batch-2/22/frame000110,1,chair,546.png
+left,bike/batch-1/27/frame000280,1,bike,547.png
+backward,chair/batch-3/42/frame000240,1,chair,548.png
+left,chair/batch-5/45/frame000190,1,chair,549.png
+left,chair/batch-3/11/frame000130,1,chair,550.png
+forward,chair/batch-5/44/frame000150,1,chair,551.png
+forward,chair/batch-3/8/frame000150,1,chair,552.png
+right,bike/batch-5/10/frame000190,1,bike,553.png
+Cannot be determined,bottle/batch-1/34/frame000190,1,bottle,554.png
+forward,chair/batch-3/27/frame000060,1,chair,555.png
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