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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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| 3 |
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task_categories:
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| 4 |
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- robotics
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| 5 |
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tags:
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| 6 |
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- LeRobot
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| 7 |
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configs:
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| 8 |
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- config_name: default
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| 9 |
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data_files: data/*/*.parquet
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| 10 |
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---
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| 11 |
+
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| 12 |
+
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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| 13 |
+
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| 14 |
+
## Dataset Description
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| 15 |
+
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| 16 |
+
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| 17 |
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| 18 |
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- **Homepage:** [More Information Needed]
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| 19 |
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- **Paper:** [More Information Needed]
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| 20 |
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- **License:** apache-2.0
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| 21 |
+
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| 22 |
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## Dataset Structure
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| 23 |
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| 24 |
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[meta/info.json](meta/info.json):
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| 25 |
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```json
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| 26 |
+
{
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| 27 |
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"codebase_version": "v2.1",
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| 28 |
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"robot_type": "robomimic",
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| 29 |
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"total_episodes": 2235,
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| 30 |
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"total_frames": 552031,
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| 31 |
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"total_tasks": 20,
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| 32 |
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"total_videos": 2235,
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| 33 |
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"total_chunks": 3,
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| 34 |
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"chunks_size": 1000,
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| 35 |
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"fps": 20,
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| 36 |
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"splits": {
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| 37 |
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"train": "0:1877",
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| 38 |
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"test": "1877:2235"
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| 39 |
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},
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| 40 |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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| 41 |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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| 42 |
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"features": {
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| 43 |
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"action": {
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| 44 |
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"dtype": "float32",
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| 45 |
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"shape": [
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| 46 |
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24
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| 47 |
+
],
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| 48 |
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"names": [
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| 49 |
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"action_0",
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| 50 |
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"action_1",
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| 51 |
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"action_2",
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| 52 |
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"action_3",
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| 53 |
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"action_4",
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| 54 |
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"action_5",
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| 55 |
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"action_6",
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| 56 |
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"action_7",
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| 57 |
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"action_8",
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| 58 |
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"action_9",
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| 59 |
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"action_10",
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| 60 |
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"action_11",
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| 61 |
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"action_12",
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| 62 |
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"action_13",
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| 63 |
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"action_14",
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| 64 |
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"action_15",
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| 65 |
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"action_16",
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| 66 |
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"action_17",
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| 67 |
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"action_18",
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| 68 |
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"action_19",
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| 69 |
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"action_20",
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| 70 |
+
"action_21",
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| 71 |
+
"action_22",
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| 72 |
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"action_23"
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| 73 |
+
]
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| 74 |
+
},
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| 75 |
+
"next.done": {
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| 76 |
+
"dtype": "bool",
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| 77 |
+
"shape": [
|
| 78 |
+
1
|
| 79 |
+
],
|
| 80 |
+
"names": [
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| 81 |
+
"done"
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| 82 |
+
]
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| 83 |
+
},
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| 84 |
+
"observation.state": {
|
| 85 |
+
"dtype": "float32",
|
| 86 |
+
"shape": [
|
| 87 |
+
43
|
| 88 |
+
],
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| 89 |
+
"names": [
|
| 90 |
+
"robot0_right_eef_pos",
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| 91 |
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"robot0_right_eef_quat",
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| 92 |
+
"robot0_right_gripper_qpos",
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| 93 |
+
"robot0_left_eef_pos",
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| 94 |
+
"robot0_left_eef_quat",
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| 95 |
+
"robot0_left_gripper_qpos",
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| 96 |
+
"robot0_base_pos",
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| 97 |
+
"robot0_base_quat"
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| 98 |
+
]
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| 99 |
+
},
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| 100 |
+
"observation.condition": {
|
| 101 |
+
"dtype": "float32",
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| 102 |
+
"shape": [
|
| 103 |
+
14
|
| 104 |
+
],
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| 105 |
+
"names": [
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| 106 |
+
"right_abs_pos_gr1_contact_condition",
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| 107 |
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"right_abs_rot_gr1_contact_condition",
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| 108 |
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"left_abs_pos_gr1_contact_condition",
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| 109 |
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"left_abs_rot_gr1_contact_condition"
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| 110 |
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]
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| 111 |
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},
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| 112 |
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"observation.images.egoview": {
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| 113 |
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"dtype": "video",
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| 114 |
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"shape": [
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| 115 |
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256,
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| 116 |
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256,
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| 117 |
+
3
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| 118 |
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],
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| 119 |
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"names": [
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| 120 |
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"height",
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| 121 |
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"width",
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| 122 |
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"channel"
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| 123 |
+
],
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| 124 |
+
"info": {
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| 125 |
+
"video.height": 256,
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| 126 |
+
"video.width": 256,
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| 127 |
+
"video.codec": "av1",
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| 128 |
+
"video.pix_fmt": "yuv420p",
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| 129 |
+
"video.is_depth_map": false,
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| 130 |
+
"video.fps": 20,
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| 131 |
+
"video.channels": 3,
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| 132 |
+
"has_audio": false
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| 133 |
+
}
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| 134 |
+
},
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| 135 |
+
"timestamp": {
|
| 136 |
+
"dtype": "float32",
|
| 137 |
+
"shape": [
|
| 138 |
+
1
|
| 139 |
+
],
|
| 140 |
+
"names": null
|
| 141 |
+
},
|
| 142 |
+
"frame_index": {
|
| 143 |
+
"dtype": "int64",
|
| 144 |
+
"shape": [
|
| 145 |
+
1
|
| 146 |
+
],
|
| 147 |
+
"names": null
|
| 148 |
+
},
|
| 149 |
+
"episode_index": {
|
| 150 |
+
"dtype": "int64",
|
| 151 |
+
"shape": [
|
| 152 |
+
1
|
| 153 |
+
],
|
| 154 |
+
"names": null
|
| 155 |
+
},
|
| 156 |
+
"index": {
|
| 157 |
+
"dtype": "int64",
|
| 158 |
+
"shape": [
|
| 159 |
+
1
|
| 160 |
+
],
|
| 161 |
+
"names": null
|
| 162 |
+
},
|
| 163 |
+
"task_index": {
|
| 164 |
+
"dtype": "int64",
|
| 165 |
+
"shape": [
|
| 166 |
+
1
|
| 167 |
+
],
|
| 168 |
+
"names": null
|
| 169 |
+
}
|
| 170 |
+
}
|
| 171 |
+
}
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| 172 |
+
```
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| 173 |
+
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| 174 |
+
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| 175 |
+
## Citation
|
| 176 |
+
|
| 177 |
+
**BibTeX:**
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| 178 |
+
|
| 179 |
+
```bibtex
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| 180 |
+
[More Information Needed]
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| 181 |
+
```
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