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Browse files- candywrapper_plugins/control_mode/episode_modes.json +92 -0
- candywrapper_plugins/eval_operator_scores/scores.json +45 -0
- candywrapper_plugins/eval_rl_tokens/chunks.jsonl +0 -0
- candywrapper_plugins/eval_rl_tokens/manifest.json +7 -0
- data/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +159 -0
- meta/stats.json +822 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.front/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.wrist/chunk-000/file-000.mp4 +3 -0
candywrapper_plugins/control_mode/episode_modes.json
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"start_index": 0,
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"end_index": 859,
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"mode": "policy"
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"start_index": 0,
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"end_index": 1043,
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"mode": "policy"
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"2": {
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"start_index": 0,
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"end_index": 974,
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"mode": "policy"
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"3": {
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"segments": [
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"start_index": 0,
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"end_index": 976,
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"mode": "policy"
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"4": {
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"segments": [
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"start_index": 0,
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"end_index": 1040,
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"mode": "policy"
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"5": {
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"segments": [
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"start_index": 0,
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"end_index": 880,
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"mode": "policy"
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"6": {
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"start_index": 0,
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"end_index": 666,
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"mode": "policy"
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"7": {
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"segments": [
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{
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"start_index": 0,
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"end_index": 920,
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"mode": "policy"
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"8": {
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"start_index": 0,
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"mode": "policy"
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"9": {
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"segments": [
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{
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"start_index": 0,
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"end_index": 612,
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"mode": "policy"
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}
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]
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}
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}
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candywrapper_plugins/eval_operator_scores/scores.json
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{
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"operator_max_score": 3,
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"episodes": [
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{
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"episode_index": 0,
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"operator_score": 2
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},
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{
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"episode_index": 1,
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"operator_score": 2
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},
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{
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"episode_index": 2,
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"operator_score": 3
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},
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{
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"episode_index": 3,
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"operator_score": 2
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},
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{
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"episode_index": 4,
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"operator_score": 2
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},
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{
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"episode_index": 5,
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"operator_score": 3
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},
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{
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"episode_index": 6,
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"operator_score": 1
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},
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{
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"episode_index": 7,
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"operator_score": 3
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},
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{
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"episode_index": 8,
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"operator_score": 3
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},
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{
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"episode_index": 9,
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"operator_score": 1
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}
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]
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}
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candywrapper_plugins/eval_rl_tokens/chunks.jsonl
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candywrapper_plugins/eval_rl_tokens/manifest.json
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{
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"schema": "eval_rl_tokens_chunks_v1",
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"rl_token_dim": 2048,
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"openpi_config_name": "pi05_rlt_build_block_tower_6mix_joints_only",
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"openpi_checkpoint_dir": "./checkpoints/pi05-build-block-tower-delock-joints-only/checkpoints/49999",
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| 6 |
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"openpi_rl_token_checkpoint_dir": "./checkpoints/rlt_build_block_tower_6mix_joints_only/checkpoints/45000"
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}
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data/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:4edc0bbaf5aa6cc08b1fb3976a54bee8bf3415ce10baf899e334208d1dbbf3b1
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size 928711
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meta/episodes/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:fa9a9c4efd0cf0ea857235ddc9a7d23774c6467857878dc02e1045e8c14f15e0
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size 89219
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meta/info.json
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| 1 |
+
{
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| 2 |
+
"codebase_version": "v3.0",
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| 3 |
+
"robot_type": "arx5_follower",
|
| 4 |
+
"total_episodes": 10,
|
| 5 |
+
"total_frames": 9000,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 200,
|
| 10 |
+
"fps": 20,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:10"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.state.pos": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"names": [
|
| 20 |
+
"joint_0",
|
| 21 |
+
"joint_1",
|
| 22 |
+
"joint_2",
|
| 23 |
+
"joint_3",
|
| 24 |
+
"joint_4",
|
| 25 |
+
"joint_5",
|
| 26 |
+
"joint_6"
|
| 27 |
+
],
|
| 28 |
+
"shape": [
|
| 29 |
+
7
|
| 30 |
+
]
|
| 31 |
+
},
|
| 32 |
+
"observation.state.velocity": {
|
| 33 |
+
"dtype": "float32",
|
| 34 |
+
"names": [
|
| 35 |
+
"joint_0",
|
| 36 |
+
"joint_1",
|
| 37 |
+
"joint_2",
|
| 38 |
+
"joint_3",
|
| 39 |
+
"joint_4",
|
| 40 |
+
"joint_5",
|
| 41 |
+
"joint_6"
|
| 42 |
+
],
|
| 43 |
+
"shape": [
|
| 44 |
+
7
|
| 45 |
+
]
|
| 46 |
+
},
|
| 47 |
+
"observation.state.effort": {
|
| 48 |
+
"dtype": "float32",
|
| 49 |
+
"names": [
|
| 50 |
+
"joint_0",
|
| 51 |
+
"joint_1",
|
| 52 |
+
"joint_2",
|
| 53 |
+
"joint_3",
|
| 54 |
+
"joint_4",
|
| 55 |
+
"joint_5",
|
| 56 |
+
"joint_6"
|
| 57 |
+
],
|
| 58 |
+
"shape": [
|
| 59 |
+
7
|
| 60 |
+
]
|
| 61 |
+
},
|
| 62 |
+
"observation.state.eef_pose": {
|
| 63 |
+
"dtype": "float32",
|
| 64 |
+
"names": [
|
| 65 |
+
"joint_0",
|
| 66 |
+
"joint_1",
|
| 67 |
+
"joint_2",
|
| 68 |
+
"joint_3",
|
| 69 |
+
"joint_4",
|
| 70 |
+
"joint_5",
|
| 71 |
+
"joint_6"
|
| 72 |
+
],
|
| 73 |
+
"shape": [
|
| 74 |
+
7
|
| 75 |
+
]
|
| 76 |
+
},
|
| 77 |
+
"observation.images.front": {
|
| 78 |
+
"dtype": "video",
|
| 79 |
+
"shape": [
|
| 80 |
+
480,
|
| 81 |
+
640,
|
| 82 |
+
3
|
| 83 |
+
],
|
| 84 |
+
"names": [
|
| 85 |
+
"height",
|
| 86 |
+
"width",
|
| 87 |
+
"channels"
|
| 88 |
+
],
|
| 89 |
+
"info": {
|
| 90 |
+
"video.height": 480,
|
| 91 |
+
"video.width": 640,
|
| 92 |
+
"video.codec": "h264",
|
| 93 |
+
"video.pix_fmt": "yuv420p",
|
| 94 |
+
"video.is_depth_map": false,
|
| 95 |
+
"video.fps": 20,
|
| 96 |
+
"video.channels": 3,
|
| 97 |
+
"has_audio": false
|
| 98 |
+
}
|
| 99 |
+
},
|
| 100 |
+
"observation.images.wrist": {
|
| 101 |
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"dtype": "video",
|
| 102 |
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"shape": [
|
| 103 |
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480,
|
| 104 |
+
640,
|
| 105 |
+
3
|
| 106 |
+
],
|
| 107 |
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"names": [
|
| 108 |
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"height",
|
| 109 |
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"width",
|
| 110 |
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"channels"
|
| 111 |
+
],
|
| 112 |
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"info": {
|
| 113 |
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"video.height": 480,
|
| 114 |
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"video.width": 640,
|
| 115 |
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"video.codec": "h264",
|
| 116 |
+
"video.pix_fmt": "yuv420p",
|
| 117 |
+
"video.is_depth_map": false,
|
| 118 |
+
"video.fps": 20,
|
| 119 |
+
"video.channels": 3,
|
| 120 |
+
"has_audio": false
|
| 121 |
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}
|
| 122 |
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},
|
| 123 |
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"timestamp": {
|
| 124 |
+
"dtype": "float32",
|
| 125 |
+
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|
| 126 |
+
1
|
| 127 |
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],
|
| 128 |
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"names": null
|
| 129 |
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},
|
| 130 |
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"frame_index": {
|
| 131 |
+
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|
| 132 |
+
"shape": [
|
| 133 |
+
1
|
| 134 |
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],
|
| 135 |
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|
| 136 |
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},
|
| 137 |
+
"episode_index": {
|
| 138 |
+
"dtype": "int64",
|
| 139 |
+
"shape": [
|
| 140 |
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|
| 141 |
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|
| 142 |
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"names": null
|
| 143 |
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|
| 144 |
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|
| 145 |
+
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|
| 146 |
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"shape": [
|
| 147 |
+
1
|
| 148 |
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|
| 149 |
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"names": null
|
| 150 |
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|
| 151 |
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"task_index": {
|
| 152 |
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|
| 153 |
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"shape": [
|
| 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 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,822 @@
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