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  1. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000002/ep_meta.json +514 -0
  2. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000003/ep_meta.json +604 -0
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  6. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000007/ep_meta.json +481 -0
  7. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000009/ep_meta.json +489 -0
  8. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000010/ep_meta.json +519 -0
  9. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000012/ep_meta.json +508 -0
  10. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000013/ep_meta.json +509 -0
  11. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000014/ep_meta.json +508 -0
  12. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000015/ep_meta.json +474 -0
  13. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000016/ep_meta.json +687 -0
  14. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000017/ep_meta.json +463 -0
  15. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000019/ep_meta.json +581 -0
  16. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000020/ep_meta.json +576 -0
  17. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000021/ep_meta.json +535 -0
  18. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000022/ep_meta.json +501 -0
  19. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000023/ep_meta.json +480 -0
  20. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000026/ep_meta.json +489 -0
  21. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000029/ep_meta.json +449 -0
  22. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000030/ep_meta.json +581 -0
  23. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000031/ep_meta.json +522 -0
  24. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000032/ep_meta.json +689 -0
  25. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000034/ep_meta.json +443 -0
  26. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000035/ep_meta.json +496 -0
  27. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000036/ep_meta.json +482 -0
  28. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000038/ep_meta.json +483 -0
  29. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000039/ep_meta.json +440 -0
  30. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000040/ep_meta.json +528 -0
  31. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000041/ep_meta.json +440 -0
  32. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000042/ep_meta.json +521 -0
  33. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000043/ep_meta.json +553 -0
  34. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000044/ep_meta.json +568 -0
  35. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000045/ep_meta.json +518 -0
  36. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000046/ep_meta.json +491 -0
  37. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000047/ep_meta.json +487 -0
  38. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000050/ep_meta.json +468 -0
  39. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000051/ep_meta.json +512 -0
  40. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000052/ep_meta.json +520 -0
  41. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000054/ep_meta.json +482 -0
  42. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000055/ep_meta.json +580 -0
  43. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000057/ep_meta.json +472 -0
  44. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000058/ep_meta.json +480 -0
  45. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000059/ep_meta.json +495 -0
  46. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000061/ep_meta.json +440 -0
  47. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000062/ep_meta.json +491 -0
  48. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000063/ep_meta.json +514 -0
  49. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000065/ep_meta.json +559 -0
  50. pretrain/composite/ClearFoodWaste/20250728/lerobot/extras/episode_000066/ep_meta.json +476 -0
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