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- annotations/episode_00000002.json +323 -0
- annotations/episode_00000003.json +323 -0
- annotations/episode_00000005.json +323 -0
- annotations/episode_00000010.json +323 -0
- annotations/episode_00000015.json +323 -0
- annotations/episode_00000017.json +323 -0
- annotations/episode_00000018.json +323 -0
- annotations/episode_00000026.json +323 -0
- annotations/episode_00000028.json +323 -0
- annotations/episode_00000036.json +323 -0
- annotations/episode_00000037.json +323 -0
- annotations/episode_00000044.json +323 -0
- annotations/episode_00000045.json +323 -0
- annotations/episode_00000054.json +323 -0
- annotations/episode_00000066.json +323 -0
- annotations/episode_00000071.json +323 -0
- annotations/episode_00000078.json +323 -0
- annotations/episode_00000079.json +323 -0
- annotations/episode_00000080.json +323 -0
- annotations/episode_00000085.json +323 -0
- annotations/episode_00000092.json +323 -0
- annotations/episode_00000109.json +323 -0
- annotations/episode_00000114.json +323 -0
- annotations/episode_00000115.json +323 -0
- annotations/episode_00000124.json +323 -0
- annotations/episode_00000130.json +323 -0
- annotations/episode_00000132.json +323 -0
- annotations/episode_00000147.json +323 -0
- annotations/episode_00000151.json +323 -0
- annotations/episode_00000152.json +323 -0
- annotations/episode_00000165.json +323 -0
- annotations/episode_00000195.json +323 -0
- annotations/episode_00000247.json +323 -0
- annotations/episode_00000250.json +323 -0
- annotations/episode_00000257.json +323 -0
- annotations/episode_00000259.json +323 -0
- annotations/episode_00000262.json +323 -0
- annotations/episode_00000277.json +323 -0
- annotations/episode_00000279.json +323 -0
- annotations/episode_00000286.json +323 -0
- annotations/episode_00000293.json +323 -0
- annotations/episode_00000294.json +323 -0
- annotations/episode_00000296.json +323 -0
- meta/sim/episode_00000001.json +0 -0
- meta/sim/episode_00000003.json +0 -0
- meta/sim/episode_00000008.json +0 -0
- meta/sim/episode_00000009.json +0 -0
- meta/sim/episode_00000011.json +0 -0
- meta/sim/episode_00000014.json +0 -0
- meta/sim/episode_00000015.json +0 -0
annotations/episode_00000002.json
ADDED
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| 1 |
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{
|
| 2 |
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"task_name": "make microwave popcorn",
|
| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 18 |
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| 19 |
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| 169 |
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| 193 |
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| 257 |
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| 258 |
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|
| 303 |
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|
| 304 |
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|
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|
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|
| 322 |
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|
| 323 |
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}
|
annotations/episode_00000003.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "make microwave popcorn",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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| 7 |
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| 12 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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|
| 26 |
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| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 55 |
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| 56 |
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| 57 |
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| 59 |
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| 60 |
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| 81 |
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| 97 |
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| 111 |
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| 187 |
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| 190 |
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| 213 |
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| 241 |
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|
| 242 |
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|
| 243 |
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|
| 244 |
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| 245 |
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| 246 |
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|
| 247 |
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| 248 |
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| 249 |
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|
| 250 |
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|
| 251 |
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|
| 252 |
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|
| 253 |
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[
|
| 254 |
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|
| 255 |
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|
| 256 |
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|
| 257 |
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| 258 |
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|
| 259 |
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| 266 |
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|
| 267 |
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| 268 |
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|
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|
| 270 |
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|
| 271 |
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| 272 |
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| 275 |
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|
| 280 |
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|
| 281 |
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|
| 282 |
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|
| 283 |
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|
| 284 |
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|
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|
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|
| 287 |
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|
| 288 |
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|
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|
| 291 |
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|
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|
| 293 |
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|
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|
| 297 |
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|
| 298 |
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|
| 299 |
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|
| 300 |
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|
| 301 |
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|
| 302 |
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|
| 303 |
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|
| 304 |
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|
| 305 |
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|
| 306 |
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[
|
| 307 |
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|
| 308 |
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|
| 309 |
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|
| 310 |
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|
| 311 |
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|
| 312 |
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|
| 313 |
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|
| 314 |
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|
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|
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|
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|
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| 319 |
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|
| 320 |
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|
| 321 |
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|
| 322 |
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]
|
| 323 |
+
}
|
annotations/episode_00000005.json
ADDED
|
@@ -0,0 +1,323 @@
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|
|
| 1 |
+
{
|
| 2 |
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"task_name": "make microwave popcorn",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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],
|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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"object_id": [
|
| 21 |
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[
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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],
|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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{
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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| 48 |
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| 49 |
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|
| 50 |
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| 51 |
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| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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{
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| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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| 66 |
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|
| 67 |
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| 68 |
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| 69 |
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|
| 70 |
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| 71 |
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|
| 72 |
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| 73 |
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|
| 74 |
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|
| 75 |
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| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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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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| 90 |
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|
| 91 |
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| 92 |
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| 93 |
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| 94 |
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| 95 |
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| 96 |
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| 97 |
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| 98 |
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| 99 |
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| 100 |
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| 101 |
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| 102 |
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| 103 |
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|
| 104 |
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| 105 |
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|
| 106 |
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|
| 107 |
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| 108 |
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|
| 109 |
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| 110 |
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| 111 |
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{
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| 112 |
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|
| 113 |
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| 114 |
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|
| 115 |
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| 117 |
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|
| 118 |
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| 119 |
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| 121 |
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|
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| 145 |
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| 168 |
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|
| 169 |
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| 170 |
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| 171 |
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| 172 |
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|
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|
| 182 |
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| 183 |
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|
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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| 195 |
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| 196 |
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|
| 197 |
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| 199 |
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3426,
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| 205 |
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| 206 |
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| 207 |
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| 208 |
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| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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| 214 |
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|
| 215 |
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| 216 |
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|
| 218 |
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| 219 |
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| 220 |
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| 221 |
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|
| 222 |
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| 223 |
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|
| 255 |
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|
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|
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|
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|
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|
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|
| 301 |
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|
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|
| 303 |
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|
| 304 |
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|
| 305 |
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|
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|
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|
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|
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|
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|
| 321 |
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|
| 322 |
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]
|
| 323 |
+
}
|
annotations/episode_00000010.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "make microwave popcorn",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 9 |
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| 10 |
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| 11 |
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|
| 12 |
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|
| 13 |
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|
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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[
|
| 22 |
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|
| 23 |
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| 24 |
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|
| 25 |
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|
| 26 |
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| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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{
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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| 46 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 55 |
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|
| 56 |
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| 57 |
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| 58 |
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| 59 |
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|
| 60 |
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| 61 |
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| 62 |
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| 70 |
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| 71 |
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| 72 |
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| 73 |
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| 80 |
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| 81 |
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| 84 |
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| 85 |
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| 91 |
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| 92 |
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| 94 |
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| 95 |
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| 96 |
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| 97 |
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| 98 |
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| 106 |
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| 107 |
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| 108 |
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| 110 |
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| 111 |
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| 112 |
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|
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|
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|
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| 145 |
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|
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|
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| 168 |
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|
| 169 |
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| 170 |
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| 171 |
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| 172 |
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|
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|
| 182 |
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| 183 |
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|
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|
| 185 |
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|
| 186 |
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{
|
| 187 |
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|
| 188 |
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| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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| 195 |
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| 196 |
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|
| 197 |
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| 199 |
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|
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|
| 322 |
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|
| 323 |
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}
|
annotations/episode_00000015.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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| 6 |
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| 12 |
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| 15 |
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|
| 18 |
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|
| 19 |
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| 20 |
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| 22 |
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| 26 |
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| 28 |
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| 31 |
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| 32 |
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| 33 |
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|
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|
| 35 |
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| 36 |
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|
| 37 |
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| 39 |
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|
| 40 |
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| 42 |
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| 43 |
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| 46 |
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| 55 |
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| 56 |
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| 60 |
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| 91 |
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| 94 |
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| 97 |
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| 98 |
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| 104 |
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| 105 |
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| 106 |
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| 107 |
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| 108 |
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| 111 |
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| 112 |
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| 115 |
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| 172 |
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{
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| 187 |
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|
| 188 |
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|
| 190 |
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|
| 322 |
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|
| 323 |
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}
|
annotations/episode_00000017.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "make microwave popcorn",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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| 12 |
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| 15 |
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|
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|
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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| 46 |
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| 55 |
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| 56 |
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| 57 |
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| 60 |
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| 97 |
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| 106 |
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| 107 |
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| 111 |
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| 112 |
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| 119 |
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| 131 |
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| 132 |
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| 135 |
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| 136 |
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|
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|
| 142 |
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| 145 |
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| 146 |
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| 147 |
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| 148 |
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| 149 |
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| 162 |
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| 163 |
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| 165 |
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|
| 166 |
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| 167 |
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| 168 |
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|
| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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| 323 |
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}
|
annotations/episode_00000018.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
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{
|
| 2 |
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| 3 |
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| 4 |
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| 33 |
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| 36 |
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|
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|
| 322 |
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|
| 323 |
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}
|
annotations/episode_00000026.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
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{
|
| 2 |
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"task_name": "make microwave popcorn",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 12 |
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|
| 15 |
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|
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|
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 50 |
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| 55 |
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| 56 |
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| 57 |
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| 60 |
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| 85 |
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| 91 |
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| 92 |
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| 93 |
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| 94 |
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| 95 |
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| 96 |
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| 97 |
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| 98 |
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| 106 |
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| 107 |
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| 108 |
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| 111 |
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{
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| 112 |
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|
| 115 |
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| 117 |
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| 118 |
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| 119 |
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| 131 |
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| 132 |
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| 135 |
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| 136 |
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|
| 137 |
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| 139 |
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|
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|
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|
| 321 |
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|
| 322 |
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|
| 323 |
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}
|
annotations/episode_00000028.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "make microwave popcorn",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
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|
| 9 |
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| 10 |
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| 11 |
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|
| 12 |
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|
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|
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|
| 15 |
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|
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|
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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| 24 |
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|
| 25 |
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|
| 26 |
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| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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| 46 |
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| 49 |
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| 50 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 57 |
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| 59 |
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| 60 |
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| 77 |
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|
| 80 |
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| 81 |
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|
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| 84 |
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| 85 |
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| 86 |
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| 91 |
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| 92 |
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| 94 |
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| 95 |
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| 96 |
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| 97 |
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| 98 |
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| 100 |
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| 101 |
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| 102 |
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| 103 |
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| 104 |
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| 105 |
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| 106 |
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| 107 |
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| 108 |
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| 109 |
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| 110 |
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| 111 |
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{
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| 112 |
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|
| 113 |
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|
| 115 |
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|
| 116 |
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| 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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|
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|
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|
| 322 |
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|
| 323 |
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}
|
annotations/episode_00000036.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
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{
|
| 2 |
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"task_name": "make microwave popcorn",
|
| 3 |
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|
| 4 |
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|
| 5 |
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| 6 |
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| 15 |
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|
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|
| 18 |
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|
| 19 |
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| 20 |
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|
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| 22 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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|
| 32 |
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|
| 33 |
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|
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|
| 35 |
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|
| 36 |
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| 37 |
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| 38 |
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| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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| 43 |
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| 44 |
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| 46 |
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| 57 |
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| 60 |
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| 85 |
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| 91 |
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| 92 |
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| 94 |
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| 95 |
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| 96 |
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| 97 |
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| 98 |
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| 105 |
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| 106 |
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| 107 |
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|
| 108 |
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|
| 109 |
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| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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| 114 |
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| 115 |
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| 116 |
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|
| 117 |
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|
| 118 |
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| 119 |
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| 121 |
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| 132 |
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|
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|
| 304 |
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|
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|
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|
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|
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|
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|
| 320 |
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|
| 321 |
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|
| 322 |
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]
|
| 323 |
+
}
|
annotations/episode_00000037.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "make microwave popcorn",
|
| 3 |
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"data_folder": "",
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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[
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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399
|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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{
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
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| 48 |
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| 49 |
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|
| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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|
| 56 |
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| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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{
|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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|
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| 70 |
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| 71 |
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|
| 72 |
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| 73 |
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| 74 |
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| 77 |
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| 79 |
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| 80 |
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| 81 |
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|
| 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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"pick up from"
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| 91 |
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|
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|
| 322 |
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|
| 323 |
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}
|
annotations/episode_00000044.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "make microwave popcorn",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
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| 10 |
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| 11 |
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|
| 12 |
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|
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|
| 15 |
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|
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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| 24 |
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| 25 |
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|
| 26 |
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| 27 |
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| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 49 |
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| 50 |
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| 54 |
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| 55 |
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| 56 |
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| 57 |
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| 59 |
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| 60 |
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{
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| 61 |
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| 71 |
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| 72 |
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| 73 |
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|
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|
| 322 |
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|
| 323 |
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}
|
annotations/episode_00000045.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "make microwave popcorn",
|
| 3 |
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"data_folder": "",
|
| 4 |
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"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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| 9 |
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| 10 |
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|
| 11 |
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|
| 12 |
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|
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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| 24 |
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| 25 |
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|
| 26 |
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| 27 |
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| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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{
|
| 37 |
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|
| 38 |
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| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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| 44 |
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|
| 45 |
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| 46 |
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| 49 |
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| 50 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 57 |
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| 58 |
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| 60 |
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|
| 322 |
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|
| 323 |
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}
|
annotations/episode_00000054.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "make microwave popcorn",
|
| 3 |
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"data_folder": "",
|
| 4 |
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"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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| 11 |
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|
| 12 |
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|
| 14 |
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| 15 |
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|
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| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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| 21 |
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| 22 |
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| 24 |
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| 25 |
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| 26 |
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| 28 |
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323
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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|
| 36 |
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{
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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|
| 323 |
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}
|
annotations/episode_00000066.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "make microwave popcorn",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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"task_duration": 3450,
|
| 6 |
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"valid_duration": [
|
| 7 |
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|
| 8 |
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3450
|
| 9 |
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]
|
| 10 |
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},
|
| 11 |
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|
| 12 |
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| 13 |
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|
| 14 |
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| 15 |
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|
| 16 |
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],
|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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"object_id": [
|
| 21 |
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[
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 322 |
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|
| 323 |
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}
|
annotations/episode_00000071.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "make microwave popcorn",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2981,
|
| 6 |
+
"valid_duration": [
|
| 7 |
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|
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|
| 322 |
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|
| 323 |
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}
|
annotations/episode_00000078.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 29 |
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| 30 |
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| 31 |
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|
| 32 |
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| 33 |
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| 62 |
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| 63 |
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| 66 |
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| 69 |
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| 70 |
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| 71 |
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| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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|
| 80 |
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| 81 |
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|
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| 83 |
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| 84 |
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|
| 85 |
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|
| 86 |
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| 95 |
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| 96 |
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| 103 |
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| 104 |
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| 105 |
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| 106 |
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| 107 |
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| 108 |
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|
| 109 |
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| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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| 114 |
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| 115 |
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|
| 116 |
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| 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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| 131 |
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| 132 |
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| 135 |
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| 137 |
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| 142 |
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|
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|
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|
| 304 |
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| 305 |
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| 306 |
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|
| 310 |
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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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|
| 322 |
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|
| 323 |
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}
|
annotations/episode_00000079.json
ADDED
|
@@ -0,0 +1,323 @@
|
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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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
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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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|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
|
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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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|
|
|
|
|
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|
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|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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|
| 29 |
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| 30 |
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| 31 |
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|
| 32 |
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| 33 |
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|
| 34 |
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| 36 |
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| 37 |
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| 39 |
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| 40 |
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| 42 |
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| 56 |
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| 57 |
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| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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|
| 66 |
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|
| 67 |
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| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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| 72 |
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|
| 73 |
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| 74 |
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| 75 |
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| 76 |
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|
| 77 |
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| 78 |
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| 79 |
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|
| 80 |
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|
| 81 |
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|
| 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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| 90 |
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| 91 |
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| 92 |
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| 93 |
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| 94 |
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|
| 95 |
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| 96 |
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|
| 97 |
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| 102 |
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| 103 |
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|
| 104 |
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| 105 |
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| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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| 114 |
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| 115 |
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| 116 |
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|
| 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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| 125 |
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| 126 |
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| 128 |
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| 131 |
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| 132 |
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| 135 |
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| 136 |
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| 137 |
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| 141 |
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| 142 |
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| 143 |
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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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|
| 299 |
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|
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|
| 303 |
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|
| 304 |
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|
| 305 |
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|
| 306 |
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|
| 307 |
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|
| 308 |
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|
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|
| 310 |
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|
| 311 |
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|
| 312 |
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|
| 313 |
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|
| 314 |
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|
| 315 |
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|
| 316 |
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|
| 317 |
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|
| 318 |
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|
| 319 |
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|
| 320 |
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|
| 321 |
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|
| 322 |
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]
|
| 323 |
+
}
|
annotations/episode_00000080.json
ADDED
|
@@ -0,0 +1,323 @@
|
|
|
|
|
|
|
|
|
|
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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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|
|
|
|
|
|
|
|
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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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|
|
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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 |
+
"task_name": "make microwave popcorn",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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|
| 51 |
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| 52 |
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|
| 53 |
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|
| 54 |
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| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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{
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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[
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 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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|
| 92 |
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|
| 93 |
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[
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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| 98 |
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|
| 99 |
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|
| 100 |
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| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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{
|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 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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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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{
|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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| 150 |
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|
| 151 |
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| 153 |
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| 154 |
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|
| 155 |
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|
| 156 |
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| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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| 174 |
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|
| 175 |
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| 176 |
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|
| 177 |
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| 178 |
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| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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| 196 |
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|
| 197 |
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|
| 198 |
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| 199 |
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|
| 200 |
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|
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| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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| 217 |
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|
| 218 |
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| 219 |
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|
| 220 |
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|
| 221 |
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| 222 |
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| 223 |
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| 224 |
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|
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| 228 |
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| 231 |
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|
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|
| 234 |
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|
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|
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|
| 238 |
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|
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| 242 |
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|
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|
| 244 |
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|
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|
| 246 |
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|
| 249 |
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|
| 250 |
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|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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|
| 255 |
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|
| 256 |
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|
| 257 |
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|
| 258 |
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|
| 259 |
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| 261 |
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|
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|
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|
| 265 |
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|
| 266 |
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|
| 267 |
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|
| 268 |
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|
| 269 |
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|
| 270 |
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|
| 271 |
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|
| 272 |
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|
| 273 |
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|
| 274 |
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|
| 275 |
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|
| 276 |
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|
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|
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|
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|
| 281 |
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|
| 282 |
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|
| 283 |
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|
| 284 |
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|
| 285 |
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|
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|
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|
| 288 |
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|
| 289 |
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|
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|
| 291 |
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|
| 292 |
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|
| 293 |
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|
| 294 |
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|
| 295 |
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|
| 296 |
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|
| 297 |
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|
| 298 |
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|
| 299 |
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|
| 300 |
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|
| 301 |
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|
| 302 |
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|
| 303 |
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|
| 304 |
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|
| 305 |
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|
| 306 |
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|
| 307 |
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|
| 308 |
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|
| 309 |
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|
| 310 |
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|
| 311 |
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|
| 312 |
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|
| 313 |
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|
| 314 |
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|
| 315 |
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|
| 316 |
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|
| 317 |
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|
| 318 |
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|
| 319 |
+
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|
| 320 |
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|
| 321 |
+
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|
| 322 |
+
]
|
| 323 |
+
}
|
annotations/episode_00000085.json
ADDED
|
@@ -0,0 +1,323 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
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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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|
|
|
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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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|
|
|
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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 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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| 23 |
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|
| 24 |
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| 25 |
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|
| 26 |
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| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
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| 42 |
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|
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| 44 |
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| 45 |
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| 46 |
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| 49 |
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| 51 |
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| 55 |
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| 56 |
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| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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{
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 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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|
| 92 |
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|
| 93 |
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| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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| 98 |
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| 99 |
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| 100 |
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| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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{
|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 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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|
| 131 |
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|
| 132 |
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|
| 133 |
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| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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| 138 |
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|
| 139 |
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|
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|
| 141 |
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|
| 142 |
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| 143 |
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| 144 |
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| 145 |
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|
| 146 |
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|
| 147 |
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| 148 |
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| 149 |
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|
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| 156 |
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| 157 |
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| 158 |
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| 159 |
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|
| 160 |
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| 161 |
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|
| 162 |
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| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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| 170 |
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|
| 171 |
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| 172 |
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| 173 |
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| 175 |
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| 176 |
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| 177 |
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|
| 182 |
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| 183 |
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|
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 190 |
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|
| 192 |
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| 193 |
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| 194 |
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| 196 |
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|
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| 199 |
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| 203 |
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| 207 |
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| 208 |
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| 209 |
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| 210 |
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| 211 |
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|
| 212 |
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|
| 213 |
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| 214 |
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|
| 215 |
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|
| 216 |
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| 217 |
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|
| 218 |
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| 220 |
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|
| 221 |
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| 222 |
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|
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|
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|
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|
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| 250 |
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|
| 252 |
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|
| 253 |
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| 254 |
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|
| 255 |
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|
| 257 |
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|
| 258 |
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|
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|
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|
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|
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| 271 |
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|
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|
| 273 |
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|
| 274 |
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| 275 |
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|
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|
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|
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| 282 |
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|
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| 284 |
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|
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|
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|
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|
| 288 |
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|
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|
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|
| 293 |
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|
| 294 |
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|
| 295 |
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|
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|
| 297 |
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|
| 298 |
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|
| 299 |
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|
| 300 |
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|
| 301 |
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|
| 302 |
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|
| 303 |
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|
| 304 |
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|
| 305 |
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|
| 306 |
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|
| 307 |
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|
| 308 |
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|
| 309 |
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|
| 310 |
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|
| 311 |
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|
| 312 |
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|
| 313 |
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|
| 314 |
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|
| 315 |
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|
| 316 |
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|
| 317 |
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|
| 318 |
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|
| 319 |
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|
| 320 |
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|
| 321 |
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|
| 322 |
+
]
|
| 323 |
+
}
|
annotations/episode_00000092.json
ADDED
|
@@ -0,0 +1,323 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
|
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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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|
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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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|
|
|
|
|
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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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|
|
|
|
|
|
|
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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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|
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|
|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "make microwave popcorn",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 50 |
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|
| 51 |
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|
| 53 |
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| 54 |
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| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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{
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 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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|
| 92 |
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|
| 93 |
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| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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| 98 |
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| 99 |
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|
| 100 |
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| 101 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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{
|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 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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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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[
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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| 150 |
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|
| 151 |
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| 153 |
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| 154 |
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|
| 155 |
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|
| 156 |
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| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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{
|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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| 172 |
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|
| 173 |
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| 174 |
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|
| 175 |
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| 176 |
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| 177 |
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| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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| 189 |
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|
| 190 |
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|
| 192 |
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|
| 193 |
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| 194 |
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| 195 |
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| 196 |
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|
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| 199 |
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| 200 |
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|
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| 203 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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| 217 |
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|
| 218 |
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|
| 220 |
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|
| 221 |
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| 222 |
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| 223 |
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|
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|
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|
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|
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|
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| 249 |
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| 251 |
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|
| 252 |
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|
| 253 |
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| 254 |
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|
| 255 |
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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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|
| 271 |
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|
| 273 |
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|
| 274 |
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|
| 275 |
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|
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|
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|
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|
| 281 |
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| 282 |
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|
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| 284 |
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|
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|
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|
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|
| 288 |
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|
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|
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|
| 293 |
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|
| 294 |
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|
| 295 |
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|
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|
| 297 |
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|
| 298 |
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|
| 299 |
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|
| 300 |
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|
| 301 |
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|
| 302 |
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|
| 303 |
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|
| 304 |
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|
| 305 |
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|
| 306 |
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|
| 307 |
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|
| 308 |
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|
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|
| 310 |
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|
| 311 |
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|
| 312 |
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|
| 313 |
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|
| 314 |
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|
| 315 |
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|
| 316 |
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|
| 317 |
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|
| 318 |
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|
| 319 |
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|
| 320 |
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|
| 321 |
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|
| 322 |
+
]
|
| 323 |
+
}
|
annotations/episode_00000109.json
ADDED
|
@@ -0,0 +1,323 @@
|
|
|
|
|
|
|
|
|
|
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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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|
|
|
|
|
|
|
|
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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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|
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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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|
|
|
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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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|
|
|
|
|
|
|
|
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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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|
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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 |
+
"task_name": "make microwave popcorn",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
+
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|
| 6 |
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|
| 7 |
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0,
|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
+
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|
| 12 |
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{
|
| 13 |
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|
| 14 |
+
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|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
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|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
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|
| 21 |
+
[
|
| 22 |
+
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|
| 23 |
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|
| 24 |
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|
| 25 |
+
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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],
|
| 31 |
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|
| 32 |
+
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|
| 33 |
+
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|
| 34 |
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]
|
| 35 |
+
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|
| 36 |
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{
|
| 37 |
+
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|
| 38 |
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|
| 39 |
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10
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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{
|
| 61 |
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|
| 62 |
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|
| 63 |
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1
|
| 64 |
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|
| 65 |
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|
| 66 |
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"move to"
|
| 67 |
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|
| 68 |
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"object_id": [
|
| 69 |
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[
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
+
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|
| 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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"pick up from"
|
| 91 |
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|
| 92 |
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|
| 93 |
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[
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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"uncoordinated"
|
| 109 |
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]
|
| 110 |
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},
|
| 111 |
+
{
|
| 112 |
+
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|
| 113 |
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"skill_id": [
|
| 114 |
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1
|
| 115 |
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|
| 116 |
+
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|
| 117 |
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"move to"
|
| 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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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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{
|
| 136 |
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|
| 137 |
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|
| 138 |
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4
|
| 139 |
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|
| 140 |
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|
| 141 |
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"place in"
|
| 142 |
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],
|
| 143 |
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|
| 144 |
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[
|
| 145 |
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"popcorn_bag_73",
|
| 146 |
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|
| 147 |
+
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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2610
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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{
|
| 163 |
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|
| 164 |
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|
| 165 |
+
12
|
| 166 |
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|
| 167 |
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|
| 168 |
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"close door"
|
| 169 |
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|
| 170 |
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|
| 171 |
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[
|
| 172 |
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"microwave_hjjxmi_0"
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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{
|
| 187 |
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|
| 188 |
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|
| 189 |
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69
|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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[
|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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{
|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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[
|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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|
| 231 |
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|
| 232 |
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|
| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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|
| 238 |
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|
| 239 |
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|
| 240 |
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|
| 241 |
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|
| 242 |
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|
| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
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|
| 248 |
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|
| 249 |
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|
| 250 |
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|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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|
| 255 |
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|
| 256 |
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|
| 257 |
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|
| 258 |
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|
| 259 |
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|
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|
| 261 |
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|
| 262 |
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|
| 263 |
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|
| 264 |
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|
| 265 |
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|
| 266 |
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|
| 267 |
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|
| 268 |
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|
| 269 |
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|
| 270 |
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|
| 271 |
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|
| 272 |
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|
| 273 |
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|
| 274 |
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|
| 275 |
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|
| 276 |
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|
| 277 |
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|
| 278 |
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|
| 279 |
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|
| 280 |
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|
| 281 |
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|
| 282 |
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|
| 283 |
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|
| 284 |
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|
| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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|
| 289 |
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|
| 290 |
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|
| 291 |
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|
| 292 |
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|
| 293 |
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|
| 294 |
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|
| 295 |
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|
| 296 |
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|
| 297 |
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|
| 298 |
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|
| 299 |
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|
| 300 |
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|
| 301 |
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|
| 302 |
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|
| 303 |
+
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|
| 304 |
+
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|
| 305 |
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|
| 306 |
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|
| 307 |
+
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|
| 308 |
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|
| 309 |
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|
| 310 |
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|
| 311 |
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|
| 312 |
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|
| 313 |
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|
| 314 |
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|
| 315 |
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|
| 316 |
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|
| 317 |
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|
| 318 |
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|
| 319 |
+
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|
| 320 |
+
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|
| 321 |
+
}
|
| 322 |
+
]
|
| 323 |
+
}
|
annotations/episode_00000114.json
ADDED
|
@@ -0,0 +1,323 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "make microwave popcorn",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2530,
|
| 6 |
+
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|
| 7 |
+
0,
|
| 8 |
+
2530
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"microwave_hjjxmi_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
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|
| 26 |
+
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|
| 27 |
+
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|
| 28 |
+
0,
|
| 29 |
+
262
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
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|
| 45 |
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[
|
| 46 |
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"microwave_hjjxmi_0"
|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
+
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|
| 51 |
+
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|
| 52 |
+
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|
| 53 |
+
634
|
| 54 |
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],
|
| 55 |
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|
| 56 |
+
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|
| 57 |
+
"uncoordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
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"skill_id": [
|
| 63 |
+
1
|
| 64 |
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],
|
| 65 |
+
"skill_description": [
|
| 66 |
+
"move to"
|
| 67 |
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],
|
| 68 |
+
"object_id": [
|
| 69 |
+
[
|
| 70 |
+
"popcorn_bag_73"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
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|
| 75 |
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"frame_duration": [
|
| 76 |
+
636,
|
| 77 |
+
780
|
| 78 |
+
],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
"skill_id": [
|
| 87 |
+
2
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"pick up from"
|
| 91 |
+
],
|
| 92 |
+
"object_id": [
|
| 93 |
+
[
|
| 94 |
+
"popcorn_bag_73",
|
| 95 |
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"bar_byvbuc_0"
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
+
"manipulating_object_id": [
|
| 99 |
+
"popcorn_bag_73"
|
| 100 |
+
],
|
| 101 |
+
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|
| 102 |
+
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|
| 103 |
+
806,
|
| 104 |
+
1316
|
| 105 |
+
],
|
| 106 |
+
"mp_ef": [],
|
| 107 |
+
"skill_type": [
|
| 108 |
+
"uncoordinated"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"skill_idx": 4,
|
| 113 |
+
"skill_id": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"skill_description": [
|
| 117 |
+
"move to"
|
| 118 |
+
],
|
| 119 |
+
"object_id": [
|
| 120 |
+
[
|
| 121 |
+
"microwave_hjjxmi_0"
|
| 122 |
+
]
|
| 123 |
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],
|
| 124 |
+
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|
| 125 |
+
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|
| 126 |
+
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|
| 127 |
+
1324,
|
| 128 |
+
1686
|
| 129 |
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],
|
| 130 |
+
"mp_ef": [],
|
| 131 |
+
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|
| 132 |
+
"navigation"
|
| 133 |
+
]
|
| 134 |
+
},
|
| 135 |
+
{
|
| 136 |
+
"skill_idx": 5,
|
| 137 |
+
"skill_id": [
|
| 138 |
+
4
|
| 139 |
+
],
|
| 140 |
+
"skill_description": [
|
| 141 |
+
"place in"
|
| 142 |
+
],
|
| 143 |
+
"object_id": [
|
| 144 |
+
[
|
| 145 |
+
"popcorn_bag_73",
|
| 146 |
+
"microwave_hjjxmi_0"
|
| 147 |
+
]
|
| 148 |
+
],
|
| 149 |
+
"manipulating_object_id": [
|
| 150 |
+
"popcorn_bag_73"
|
| 151 |
+
],
|
| 152 |
+
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|
| 153 |
+
"frame_duration": [
|
| 154 |
+
1696,
|
| 155 |
+
1980
|
| 156 |
+
],
|
| 157 |
+
"mp_ef": [],
|
| 158 |
+
"skill_type": [
|
| 159 |
+
"uncoordinated"
|
| 160 |
+
]
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"skill_idx": 6,
|
| 164 |
+
"skill_id": [
|
| 165 |
+
12
|
| 166 |
+
],
|
| 167 |
+
"skill_description": [
|
| 168 |
+
"close door"
|
| 169 |
+
],
|
| 170 |
+
"object_id": [
|
| 171 |
+
[
|
| 172 |
+
"microwave_hjjxmi_0"
|
| 173 |
+
]
|
| 174 |
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],
|
| 175 |
+
"manipulating_object_id": [],
|
| 176 |
+
"spatial_prefix": [],
|
| 177 |
+
"frame_duration": [
|
| 178 |
+
1982,
|
| 179 |
+
2208
|
| 180 |
+
],
|
| 181 |
+
"mp_ef": [],
|
| 182 |
+
"skill_type": [
|
| 183 |
+
"uncoordinated"
|
| 184 |
+
]
|
| 185 |
+
},
|
| 186 |
+
{
|
| 187 |
+
"skill_idx": 7,
|
| 188 |
+
"skill_id": [
|
| 189 |
+
69
|
| 190 |
+
],
|
| 191 |
+
"skill_description": [
|
| 192 |
+
"turn on switch"
|
| 193 |
+
],
|
| 194 |
+
"object_id": [
|
| 195 |
+
[
|
| 196 |
+
"microwave_hjjxmi_0"
|
| 197 |
+
]
|
| 198 |
+
],
|
| 199 |
+
"manipulating_object_id": [
|
| 200 |
+
"microwave_hjjxmi_0"
|
| 201 |
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],
|
| 202 |
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|
| 203 |
+
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|
| 204 |
+
2279,
|
| 205 |
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2530
|
| 206 |
+
],
|
| 207 |
+
"mp_ef": [],
|
| 208 |
+
"skill_type": [
|
| 209 |
+
"uncoordinated"
|
| 210 |
+
]
|
| 211 |
+
}
|
| 212 |
+
],
|
| 213 |
+
"primitive_annotation": [
|
| 214 |
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{
|
| 215 |
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"primitive_idx": 0,
|
| 216 |
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"primitive_id": [
|
| 217 |
+
10
|
| 218 |
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],
|
| 219 |
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|
| 220 |
+
"open door"
|
| 221 |
+
],
|
| 222 |
+
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|
| 223 |
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[
|
| 224 |
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"microwave_hjjxmi_0"
|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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0,
|
| 231 |
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|
| 232 |
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|
| 233 |
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|
| 234 |
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0,
|
| 235 |
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1
|
| 236 |
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|
| 237 |
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|
| 238 |
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{
|
| 239 |
+
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|
| 240 |
+
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|
| 241 |
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2,
|
| 242 |
+
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|
| 243 |
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|
| 244 |
+
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|
| 245 |
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"pick up from",
|
| 246 |
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|
| 247 |
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|
| 248 |
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|
| 249 |
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[
|
| 250 |
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|
| 251 |
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|
| 252 |
+
],
|
| 253 |
+
[
|
| 254 |
+
"popcorn_bag_73",
|
| 255 |
+
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|
| 256 |
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|
| 257 |
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|
| 258 |
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|
| 259 |
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|
| 260 |
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|
| 261 |
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|
| 262 |
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|
| 263 |
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|
| 264 |
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|
| 265 |
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|
| 266 |
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|
| 267 |
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|
| 268 |
+
2,
|
| 269 |
+
3,
|
| 270 |
+
4,
|
| 271 |
+
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|
| 272 |
+
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|
| 273 |
+
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|
| 274 |
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{
|
| 275 |
+
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|
| 276 |
+
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|
| 277 |
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|
| 278 |
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|
| 279 |
+
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|
| 280 |
+
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|
| 281 |
+
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|
| 282 |
+
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|
| 283 |
+
[
|
| 284 |
+
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|
| 285 |
+
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|
| 286 |
+
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|
| 287 |
+
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|
| 288 |
+
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|
| 289 |
+
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|
| 290 |
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|
| 291 |
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|
| 292 |
+
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|
| 293 |
+
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|
| 294 |
+
6
|
| 295 |
+
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|
| 296 |
+
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|
| 297 |
+
{
|
| 298 |
+
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|
| 299 |
+
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|
| 300 |
+
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|
| 301 |
+
],
|
| 302 |
+
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|
| 303 |
+
"turn on switch"
|
| 304 |
+
],
|
| 305 |
+
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|
| 306 |
+
[
|
| 307 |
+
"microwave_hjjxmi_0"
|
| 308 |
+
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|
| 309 |
+
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|
| 310 |
+
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|
| 311 |
+
"microwave_hjjxmi_0"
|
| 312 |
+
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|
| 313 |
+
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|
| 314 |
+
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|
| 315 |
+
2279,
|
| 316 |
+
2530
|
| 317 |
+
],
|
| 318 |
+
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|
| 319 |
+
7
|
| 320 |
+
]
|
| 321 |
+
}
|
| 322 |
+
]
|
| 323 |
+
}
|
annotations/episode_00000115.json
ADDED
|
@@ -0,0 +1,323 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "make microwave popcorn",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
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|
| 5 |
+
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|
| 6 |
+
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|
| 7 |
+
0,
|
| 8 |
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2790
|
| 9 |
+
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|
| 10 |
+
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|
| 11 |
+
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|
| 12 |
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{
|
| 13 |
+
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|
| 14 |
+
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|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
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|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"microwave_hjjxmi_0"
|
| 23 |
+
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|
| 24 |
+
],
|
| 25 |
+
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|
| 26 |
+
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|
| 27 |
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|
| 28 |
+
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|
| 29 |
+
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|
| 30 |
+
],
|
| 31 |
+
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|
| 32 |
+
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|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
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{
|
| 37 |
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|
| 38 |
+
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|
| 39 |
+
10
|
| 40 |
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],
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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[
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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{
|
| 61 |
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|
| 62 |
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|
| 63 |
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1
|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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"object_id": [
|
| 69 |
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[
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
+
"navigation"
|
| 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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"pick up from"
|
| 91 |
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|
| 92 |
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|
| 93 |
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[
|
| 94 |
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"popcorn_bag_73",
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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"mp_ef": [],
|
| 107 |
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"skill_type": [
|
| 108 |
+
"uncoordinated"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
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"skill_idx": 4,
|
| 113 |
+
"skill_id": [
|
| 114 |
+
1
|
| 115 |
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],
|
| 116 |
+
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|
| 117 |
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"move to"
|
| 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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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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{
|
| 136 |
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|
| 137 |
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|
| 138 |
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4
|
| 139 |
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],
|
| 140 |
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|
| 141 |
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"place in"
|
| 142 |
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],
|
| 143 |
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|
| 144 |
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[
|
| 145 |
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"popcorn_bag_73",
|
| 146 |
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|
| 147 |
+
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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2253
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
+
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|
| 162 |
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{
|
| 163 |
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"skill_idx": 6,
|
| 164 |
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|
| 165 |
+
12
|
| 166 |
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],
|
| 167 |
+
"skill_description": [
|
| 168 |
+
"close door"
|
| 169 |
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],
|
| 170 |
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|
| 171 |
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[
|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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{
|
| 187 |
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|
| 188 |
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|
| 189 |
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69
|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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[
|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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{
|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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[
|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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|
| 231 |
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|
| 232 |
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|
| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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|
| 238 |
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|
| 239 |
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|
| 240 |
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|
| 241 |
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|
| 242 |
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|
| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
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|
| 248 |
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|
| 249 |
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|
| 250 |
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|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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|
| 255 |
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|
| 256 |
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|
| 257 |
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|
| 258 |
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|
| 259 |
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|
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|
| 261 |
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|
| 262 |
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|
| 263 |
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|
| 264 |
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|
| 265 |
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|
| 266 |
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|
| 267 |
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|
| 268 |
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|
| 269 |
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|
| 270 |
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|
| 271 |
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|
| 272 |
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|
| 273 |
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|
| 274 |
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|
| 275 |
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|
| 276 |
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|
| 277 |
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|
| 278 |
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|
| 279 |
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|
| 280 |
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|
| 281 |
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|
| 282 |
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|
| 283 |
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|
| 284 |
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|
| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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|
| 289 |
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|
| 290 |
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|
| 291 |
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|
| 292 |
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|
| 293 |
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|
| 294 |
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|
| 295 |
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|
| 296 |
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|
| 297 |
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|
| 298 |
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|
| 299 |
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|
| 300 |
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|
| 301 |
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|
| 302 |
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|
| 303 |
+
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|
| 304 |
+
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|
| 305 |
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|
| 306 |
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|
| 307 |
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|
| 308 |
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|
| 309 |
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|
| 310 |
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|
| 311 |
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|
| 312 |
+
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|
| 313 |
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|
| 314 |
+
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|
| 315 |
+
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|
| 316 |
+
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|
| 317 |
+
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|
| 318 |
+
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|
| 319 |
+
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|
| 320 |
+
]
|
| 321 |
+
}
|
| 322 |
+
]
|
| 323 |
+
}
|
annotations/episode_00000124.json
ADDED
|
@@ -0,0 +1,323 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "make microwave popcorn",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
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|
| 5 |
+
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|
| 6 |
+
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|
| 7 |
+
0,
|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
+
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|
| 12 |
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{
|
| 13 |
+
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|
| 14 |
+
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|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
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|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
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|
| 21 |
+
[
|
| 22 |
+
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|
| 23 |
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|
| 24 |
+
],
|
| 25 |
+
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|
| 26 |
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|
| 27 |
+
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|
| 28 |
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|
| 29 |
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|
| 30 |
+
],
|
| 31 |
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|
| 32 |
+
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|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
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{
|
| 37 |
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|
| 38 |
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|
| 39 |
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10
|
| 40 |
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],
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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{
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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"move to"
|
| 67 |
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|
| 68 |
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"object_id": [
|
| 69 |
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[
|
| 70 |
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"popcorn_bag_73"
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 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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"pick up from"
|
| 91 |
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|
| 92 |
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|
| 93 |
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[
|
| 94 |
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|
| 95 |
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|
| 96 |
+
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
+
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|
| 107 |
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|
| 108 |
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"uncoordinated"
|
| 109 |
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]
|
| 110 |
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},
|
| 111 |
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{
|
| 112 |
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|
| 113 |
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|
| 114 |
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1
|
| 115 |
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|
| 116 |
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|
| 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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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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{
|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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],
|
| 140 |
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|
| 141 |
+
"place in"
|
| 142 |
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],
|
| 143 |
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|
| 144 |
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[
|
| 145 |
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|
| 146 |
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|
| 147 |
+
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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{
|
| 163 |
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|
| 164 |
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|
| 165 |
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12
|
| 166 |
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],
|
| 167 |
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|
| 168 |
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"close door"
|
| 169 |
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|
| 170 |
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|
| 171 |
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[
|
| 172 |
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"microwave_hjjxmi_0"
|
| 173 |
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|
| 174 |
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| 175 |
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|
| 176 |
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|
| 177 |
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| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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{
|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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[
|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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|
| 231 |
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|
| 232 |
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|
| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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|
| 238 |
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|
| 239 |
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|
| 240 |
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|
| 241 |
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|
| 242 |
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|
| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
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|
| 248 |
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|
| 249 |
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|
| 250 |
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|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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|
| 255 |
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|
| 256 |
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|
| 257 |
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|
| 258 |
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|
| 259 |
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|
| 260 |
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|
| 261 |
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|
| 262 |
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|
| 263 |
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|
| 264 |
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|
| 265 |
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|
| 266 |
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|
| 267 |
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|
| 268 |
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|
| 269 |
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|
| 270 |
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|
| 271 |
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|
| 272 |
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|
| 273 |
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|
| 274 |
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|
| 275 |
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|
| 276 |
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|
| 277 |
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|
| 278 |
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|
| 279 |
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|
| 280 |
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|
| 281 |
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|
| 282 |
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|
| 283 |
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|
| 284 |
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|
| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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|
| 289 |
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|
| 290 |
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|
| 291 |
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|
| 292 |
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|
| 293 |
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|
| 294 |
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|
| 295 |
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|
| 296 |
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|
| 297 |
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|
| 298 |
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|
| 299 |
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|
| 300 |
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|
| 301 |
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|
| 302 |
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|
| 303 |
+
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|
| 304 |
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|
| 305 |
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|
| 306 |
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|
| 307 |
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|
| 308 |
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|
| 309 |
+
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|
| 310 |
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|
| 311 |
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|
| 312 |
+
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|
| 313 |
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|
| 314 |
+
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|
| 315 |
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|
| 316 |
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|
| 317 |
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|
| 318 |
+
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|
| 319 |
+
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|
| 320 |
+
]
|
| 321 |
+
}
|
| 322 |
+
]
|
| 323 |
+
}
|
annotations/episode_00000130.json
ADDED
|
@@ -0,0 +1,323 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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| 323 |
+
}
|
annotations/episode_00000132.json
ADDED
|
@@ -0,0 +1,323 @@
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|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "make microwave popcorn",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2980,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
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2980
|
| 9 |
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]
|
| 10 |
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},
|
| 11 |
+
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|
| 12 |
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{
|
| 13 |
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|
| 14 |
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|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
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|
| 18 |
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"move to"
|
| 19 |
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],
|
| 20 |
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"object_id": [
|
| 21 |
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[
|
| 22 |
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|
| 23 |
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]
|
| 24 |
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],
|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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486
|
| 30 |
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],
|
| 31 |
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|
| 32 |
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|
| 33 |
+
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|
| 34 |
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]
|
| 35 |
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},
|
| 36 |
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{
|
| 37 |
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|
| 38 |
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|
| 39 |
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10
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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[
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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{
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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| 75 |
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|
| 76 |
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|
| 77 |
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| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 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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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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| 98 |
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|
| 99 |
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|
| 100 |
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| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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{
|
| 112 |
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|
| 113 |
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| 114 |
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|
| 115 |
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|
| 116 |
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|
| 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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|
| 125 |
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| 126 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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| 138 |
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|
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|
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|
| 141 |
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|
| 142 |
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| 143 |
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| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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| 148 |
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| 149 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 166 |
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| 168 |
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|
| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 176 |
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| 177 |
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| 182 |
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| 183 |
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|
| 184 |
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| 185 |
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| 186 |
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| 187 |
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|
| 188 |
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| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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| 194 |
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| 195 |
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| 196 |
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|
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| 207 |
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| 208 |
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|
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| 213 |
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|
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|
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|
| 306 |
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[
|
| 307 |
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|
| 308 |
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|
| 309 |
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|
| 310 |
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|
| 311 |
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|
| 312 |
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|
| 313 |
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|
| 314 |
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|
| 315 |
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| 316 |
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| 317 |
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|
| 318 |
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|
| 319 |
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|
| 320 |
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|
| 321 |
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|
| 322 |
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]
|
| 323 |
+
}
|
annotations/episode_00000147.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "make microwave popcorn",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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| 9 |
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| 10 |
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| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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|
| 26 |
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| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 49 |
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| 50 |
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| 56 |
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| 57 |
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| 59 |
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| 60 |
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| 81 |
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| 94 |
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| 95 |
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| 97 |
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| 102 |
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| 103 |
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| 104 |
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| 105 |
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| 106 |
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|
| 107 |
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| 108 |
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| 110 |
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| 111 |
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| 112 |
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| 289 |
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|
| 290 |
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|
| 291 |
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|
| 292 |
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|
| 293 |
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|
| 294 |
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|
| 295 |
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|
| 296 |
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|
| 297 |
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|
| 298 |
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|
| 299 |
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|
| 300 |
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|
| 301 |
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|
| 302 |
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|
| 303 |
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|
| 304 |
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|
| 305 |
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|
| 306 |
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|
| 307 |
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|
| 308 |
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|
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|
| 310 |
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|
| 312 |
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|
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|
| 322 |
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]
|
| 323 |
+
}
|
annotations/episode_00000151.json
ADDED
|
@@ -0,0 +1,323 @@
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|
|
| 1 |
+
{
|
| 2 |
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"task_name": "make microwave popcorn",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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],
|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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[
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 49 |
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| 50 |
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| 51 |
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| 55 |
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| 56 |
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| 57 |
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| 58 |
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| 59 |
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|
| 60 |
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| 61 |
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| 80 |
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| 81 |
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| 84 |
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| 85 |
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| 94 |
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| 95 |
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| 96 |
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| 97 |
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| 98 |
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| 102 |
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| 105 |
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| 106 |
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|
| 107 |
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| 108 |
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| 110 |
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| 111 |
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| 112 |
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|
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| 187 |
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|
| 190 |
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|
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| 192 |
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| 193 |
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| 208 |
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|
| 212 |
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| 213 |
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| 222 |
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|
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|
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| 250 |
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| 253 |
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| 254 |
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| 272 |
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| 273 |
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| 274 |
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| 275 |
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| 276 |
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| 277 |
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| 278 |
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| 280 |
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|
| 281 |
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| 282 |
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| 283 |
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|
| 284 |
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|
| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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| 289 |
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|
| 290 |
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|
| 291 |
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|
| 292 |
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|
| 293 |
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|
| 298 |
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| 299 |
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| 300 |
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| 301 |
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| 302 |
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|
| 303 |
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|
| 304 |
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| 305 |
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| 306 |
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|
| 307 |
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|
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|
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|
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|
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|
| 312 |
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|
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|
| 322 |
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|
| 323 |
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}
|
annotations/episode_00000152.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "make microwave popcorn",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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| 9 |
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| 10 |
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| 11 |
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|
| 12 |
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|
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|
| 15 |
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|
| 16 |
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|
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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[
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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|
| 29 |
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| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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| 39 |
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|
| 40 |
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|
| 41 |
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| 42 |
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|
| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 49 |
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| 50 |
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| 51 |
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| 55 |
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| 56 |
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| 57 |
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| 60 |
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| 61 |
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| 80 |
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| 97 |
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| 106 |
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| 107 |
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| 108 |
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| 111 |
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| 188 |
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| 190 |
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| 212 |
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| 213 |
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| 248 |
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| 250 |
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| 252 |
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|
| 253 |
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|
| 254 |
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| 255 |
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| 256 |
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| 257 |
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|
| 322 |
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|
| 323 |
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}
|
annotations/episode_00000165.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
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{
|
| 2 |
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"task_name": "make microwave popcorn",
|
| 3 |
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|
| 4 |
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|
| 5 |
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| 6 |
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| 12 |
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|
| 15 |
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|
| 16 |
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|
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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|
| 29 |
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| 30 |
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|
| 31 |
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| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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| 38 |
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| 39 |
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|
| 40 |
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| 41 |
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| 43 |
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| 44 |
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| 46 |
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| 49 |
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| 60 |
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| 108 |
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| 190 |
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| 192 |
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| 193 |
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| 213 |
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| 240 |
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| 244 |
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| 253 |
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|
| 254 |
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|
| 255 |
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|
| 256 |
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|
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|
| 271 |
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|
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|
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|
| 288 |
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|
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|
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|
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|
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|
| 299 |
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|
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|
| 301 |
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|
| 302 |
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|
| 303 |
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|
| 304 |
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|
| 305 |
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|
| 306 |
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|
| 307 |
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|
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|
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|
| 310 |
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|
| 311 |
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|
| 312 |
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|
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|
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|
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|
| 320 |
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|
| 321 |
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|
| 322 |
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]
|
| 323 |
+
}
|
annotations/episode_00000195.json
ADDED
|
@@ -0,0 +1,323 @@
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|
|
| 1 |
+
{
|
| 2 |
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"task_name": "make microwave popcorn",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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],
|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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"object_id": [
|
| 21 |
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[
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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],
|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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{
|
| 37 |
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|
| 38 |
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|
| 39 |
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10
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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| 47 |
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| 48 |
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| 49 |
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|
| 50 |
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| 51 |
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| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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| 62 |
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| 63 |
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|
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|
| 67 |
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| 70 |
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| 71 |
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|
| 72 |
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| 73 |
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| 74 |
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| 77 |
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| 80 |
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|
| 81 |
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| 84 |
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| 85 |
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| 86 |
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| 87 |
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|
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| 90 |
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|
| 91 |
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| 92 |
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| 93 |
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| 94 |
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| 95 |
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| 96 |
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| 97 |
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| 98 |
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| 100 |
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| 101 |
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| 102 |
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| 103 |
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| 104 |
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| 105 |
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| 106 |
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|
| 107 |
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| 108 |
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|
| 109 |
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| 110 |
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| 111 |
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{
|
| 112 |
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| 113 |
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| 114 |
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|
| 115 |
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| 117 |
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|
| 118 |
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| 119 |
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| 121 |
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|
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|
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|
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| 145 |
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|
| 146 |
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|
| 147 |
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|
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| 149 |
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| 163 |
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|
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|
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|
| 167 |
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| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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| 172 |
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| 173 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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{
|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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| 200 |
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|
| 201 |
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|
| 202 |
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| 203 |
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| 204 |
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|
| 205 |
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2056
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| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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| 214 |
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|
| 215 |
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|
| 216 |
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| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 322 |
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|
| 323 |
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}
|
annotations/episode_00000247.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
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{
|
| 2 |
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"task_name": "make microwave popcorn",
|
| 3 |
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|
| 4 |
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|
| 5 |
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| 6 |
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| 12 |
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| 15 |
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|
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 30 |
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| 31 |
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|
| 32 |
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| 33 |
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|
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|
| 35 |
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|
| 36 |
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|
| 37 |
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| 38 |
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| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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| 43 |
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| 44 |
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| 46 |
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| 55 |
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| 56 |
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| 57 |
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| 60 |
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|
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| 172 |
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{
|
| 187 |
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|
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|
| 190 |
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| 191 |
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| 192 |
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| 193 |
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| 194 |
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| 196 |
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|
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|
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|
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|
| 322 |
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|
| 323 |
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}
|
annotations/episode_00000250.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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| 6 |
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| 12 |
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| 15 |
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|
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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| 26 |
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| 28 |
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| 31 |
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| 32 |
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|
| 33 |
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|
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|
| 35 |
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| 36 |
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|
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| 39 |
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|
| 40 |
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|
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| 43 |
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| 46 |
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| 56 |
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| 57 |
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| 60 |
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| 108 |
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| 172 |
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| 186 |
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{
|
| 187 |
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|
| 188 |
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|
| 189 |
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| 322 |
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|
| 323 |
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}
|
annotations/episode_00000257.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
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{
|
| 2 |
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"task_name": "make microwave popcorn",
|
| 3 |
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|
| 4 |
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|
| 5 |
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| 15 |
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|
| 18 |
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|
| 19 |
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| 22 |
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| 31 |
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| 32 |
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| 33 |
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| 35 |
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| 36 |
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| 40 |
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| 170 |
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| 171 |
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| 172 |
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| 323 |
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}
|
annotations/episode_00000259.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
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{
|
| 2 |
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| 3 |
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| 33 |
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| 36 |
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|
| 322 |
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|
| 323 |
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}
|
annotations/episode_00000262.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
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{
|
| 2 |
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"task_name": "make microwave popcorn",
|
| 3 |
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|
| 4 |
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| 5 |
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| 6 |
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|
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|
| 18 |
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|
| 19 |
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| 20 |
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|
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| 22 |
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| 28 |
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| 31 |
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| 32 |
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|
| 33 |
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|
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|
| 35 |
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| 36 |
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| 37 |
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| 39 |
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|
| 40 |
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| 43 |
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| 46 |
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| 135 |
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|
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|
| 322 |
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|
| 323 |
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}
|
annotations/episode_00000277.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "make microwave popcorn",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
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|
| 12 |
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|
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|
| 15 |
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|
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|
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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| 44 |
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| 46 |
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| 56 |
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| 57 |
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| 60 |
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| 80 |
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| 81 |
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| 84 |
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| 85 |
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| 91 |
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| 94 |
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| 95 |
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| 96 |
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| 97 |
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| 98 |
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| 106 |
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| 107 |
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| 108 |
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| 111 |
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| 112 |
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| 123 |
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|
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|
| 322 |
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|
| 323 |
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}
|
annotations/episode_00000279.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
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{
|
| 2 |
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"task_name": "make microwave popcorn",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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| 12 |
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|
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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|
| 30 |
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| 31 |
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|
| 32 |
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|
| 33 |
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|
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|
| 35 |
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|
| 36 |
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|
| 37 |
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| 38 |
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| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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| 44 |
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| 46 |
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| 55 |
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| 56 |
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| 57 |
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| 60 |
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| 70 |
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| 81 |
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| 84 |
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| 85 |
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| 90 |
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| 91 |
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| 92 |
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| 93 |
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| 94 |
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| 95 |
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| 96 |
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| 97 |
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| 98 |
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| 102 |
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| 105 |
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| 106 |
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| 107 |
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| 108 |
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|
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| 111 |
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| 112 |
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| 117 |
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| 118 |
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|
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|
| 321 |
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|
| 322 |
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|
| 323 |
+
}
|
annotations/episode_00000286.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "make microwave popcorn",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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| 10 |
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| 11 |
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|
| 12 |
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|
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|
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|
| 15 |
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|
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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| 45 |
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| 46 |
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| 49 |
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| 50 |
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| 53 |
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| 55 |
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| 56 |
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| 57 |
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| 59 |
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| 60 |
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{
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| 61 |
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| 62 |
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| 70 |
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| 71 |
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| 80 |
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| 81 |
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| 83 |
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| 84 |
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| 85 |
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|
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|
| 322 |
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|
| 323 |
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}
|
annotations/episode_00000293.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "make microwave popcorn",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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| 10 |
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| 11 |
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| 12 |
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|
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|
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 30 |
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| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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| 38 |
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| 39 |
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|
| 40 |
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|
| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 46 |
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| 57 |
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| 60 |
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|
| 322 |
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|
| 323 |
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}
|
annotations/episode_00000294.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "make microwave popcorn",
|
| 3 |
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"data_folder": "",
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
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|
| 9 |
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| 10 |
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| 11 |
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|
| 12 |
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|
| 15 |
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|
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 30 |
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| 31 |
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| 32 |
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|
| 33 |
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| 34 |
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| 35 |
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|
| 36 |
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{
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| 37 |
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| 38 |
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| 39 |
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|
| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 55 |
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| 323 |
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}
|
annotations/episode_00000296.json
ADDED
|
@@ -0,0 +1,323 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "make microwave popcorn",
|
| 3 |
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"data_folder": "",
|
| 4 |
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"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 15 |
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|
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|
| 18 |
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|
| 19 |
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| 20 |
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| 22 |
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| 25 |
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| 26 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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|
| 36 |
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{
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| 37 |
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