Datasets:
Upload folder using huggingface_hub
Browse files- data/chunk-000/file-000.parquet +3 -0
- meta/camera_settings.json +157 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-001.parquet +3 -0
- meta/info.json +175 -0
- meta/stats.json +966 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.r_wrist/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.realsense/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.top/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.video6/chunk-000/file-000.mp4 +3 -0
data/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:c47704a15c114148786bd1b8b86c7f9cacf9deaa7e9808a85a56f79e99ddd786
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size 1760491
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meta/camera_settings.json
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{
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| 2 |
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"schema_version": 1,
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| 3 |
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"sessions": [
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{
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| 5 |
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"captured_at": "2026-08-08T13:28:33.202886+00:00",
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| 6 |
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"robot_type": "piper_follower",
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| 7 |
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"dataset_fps": 30,
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| 8 |
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"cameras": {
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| 9 |
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"r_wrist": {
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| 10 |
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"type": "opencv",
|
| 11 |
+
"configuration": {
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| 12 |
+
"fps": 120,
|
| 13 |
+
"width": 640,
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| 14 |
+
"height": 480,
|
| 15 |
+
"index_or_path": "/dev/r_wrist",
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| 16 |
+
"color_mode": "rgb",
|
| 17 |
+
"rotation": 0,
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| 18 |
+
"warmup_s": 1,
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| 19 |
+
"fourcc": "MJPG"
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},
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+
"runtime": {
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| 22 |
+
"width": 640,
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| 23 |
+
"height": 480,
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| 24 |
+
"capture_width": 640,
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| 25 |
+
"capture_height": 480,
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| 26 |
+
"fps": 120.10136452241716,
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| 27 |
+
"backend": "V4L2",
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| 28 |
+
"fourcc": "MJPG"
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| 29 |
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},
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| 30 |
+
"v4l2": {
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| 31 |
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"available": true,
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| 32 |
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"device": "/dev/r_wrist",
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| 33 |
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"resolved_device": "/dev/video10",
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| 34 |
+
"controls": {
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| 35 |
+
"brightness": 5,
|
| 36 |
+
"contrast": 30,
|
| 37 |
+
"saturation": 60,
|
| 38 |
+
"hue": 0,
|
| 39 |
+
"white_balance_automatic": 1,
|
| 40 |
+
"gamma": 130,
|
| 41 |
+
"gain": 0,
|
| 42 |
+
"power_line_frequency": 2,
|
| 43 |
+
"white_balance_temperature": 4487,
|
| 44 |
+
"sharpness": 0,
|
| 45 |
+
"backlight_compensation": 1,
|
| 46 |
+
"auto_exposure": 1,
|
| 47 |
+
"exposure_time_absolute": 200,
|
| 48 |
+
"exposure_dynamic_framerate": 0
|
| 49 |
+
},
|
| 50 |
+
"report": "Driver Info:\n\tDriver name : uvcvideo\n\tCard type : USB 2.0 Camera: HD USB Camera\n\tBus info : usb-0000:80:14.0-9.1.4.2\n\tDriver version : 6.8.12\n\tCapabilities : 0x84a00001\n\t\tVideo Capture\n\t\tMetadata Capture\n\t\tStreaming\n\t\tExtended Pix Format\n\t\tDevice Capabilities\n\tDevice Caps : 0x04200001\n\t\tVideo Capture\n\t\tStreaming\n\t\tExtended Pix Format\nMedia Driver Info:\n\tDriver name : uvcvideo\n\tModel : USB 2.0 Camera: HD USB Camera\n\tSerial : \n\tBus info : usb-0000:80:14.0-9.1.4.2\n\tMedia version : 6.8.12\n\tHardware revision: 0x00000100 (256)\n\tDriver version : 6.8.12\nInterface Info:\n\tID : 0x03000002\n\tType : V4L Video\nEntity Info:\n\tID : 0x00000001 (1)\n\tName : USB 2.0 Camera: HD USB Camera\n\tFunction : V4L2 I/O\n\tFlags : default\n\tPad 0x01000007 : 0: Sink\n\t Link 0x02000010: from remote pad 0x100000a of entity 'Extension 3' (Video Pixel Formatter): Data, Enabled, Immutable\nPriority: 2\nVideo input : 0 (Camera 1: ok)\nFormat Video Capture:\n\tWidth/Height : 640/480\n\tPixel Format : 'MJPG' (Motion-JPEG)\n\tField : None\n\tBytes per Line : 0\n\tSize Image : 614989\n\tColorspace : sRGB\n\tTransfer Function : Rec. 709\n\tYCbCr/HSV Encoding: ITU-R 601\n\tQuantization : Default (maps to Full Range)\n\tFlags : \nCrop Capability Video Capture:\n\tBounds : Left 0, Top 0, Width 640, Height 480\n\tDefault : Left 0, Top 0, Width 640, Height 480\n\tPixel Aspect: 1/1\nSelection Video Capture: crop_default, Left 0, Top 0, Width 640, Height 480, Flags: \nSelection Video Capture: crop_bounds, Left 0, Top 0, Width 640, Height 480, Flags: \nStreaming Parameters Video Capture:\n\tCapabilities : timeperframe\n\tFrames per second: 120.101 (61612/513)\n\tRead buffers : 0\n\nUser Controls\n\n brightness 0x00980900 (int) : min=-64 max=64 step=1 default=0 value=5\n contrast 0x00980901 (int) : min=0 max=64 step=1 default=32 value=30\n saturation 0x00980902 (int) : min=0 max=128 step=1 default=60 value=60\n hue 0x00980903 (int) : min=-40 max=40 step=1 default=0 value=0\n white_balance_automatic 0x0098090c (bool) : default=1 value=1\n gamma 0x00980910 (int) : min=72 max=500 step=1 default=100 value=130\n gain 0x00980913 (int) : min=0 max=100 step=1 default=0 value=0\n power_line_frequency 0x00980918 (menu) : min=0 max=2 default=1 value=2 (60 Hz)\n\t\t\t\t0: Disabled\n\t\t\t\t1: 50 Hz\n\t\t\t\t2: 60 Hz\n white_balance_temperature 0x0098091a (int) : min=2800 max=6500 step=1 default=4600 value=4487 flags=inactive\n sharpness 0x0098091b (int) : min=0 max=6 step=1 default=2 value=0\n backlight_compensation 0x0098091c (int) : min=0 max=2 step=1 default=1 value=1\n\nCamera Controls\n\n auto_exposure 0x009a0901 (menu) : min=0 max=3 default=3 value=1 (Manual Mode)\n\t\t\t\t1: Manual Mode\n\t\t\t\t3: Aperture Priority Mode\n exposure_time_absolute 0x009a0902 (int) : min=1 max=5000 step=1 default=157 value=200\n exposure_dynamic_framerate 0x009a0903 (bool) : default=0 value=0"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"top": {
|
| 54 |
+
"type": "opencv",
|
| 55 |
+
"configuration": {
|
| 56 |
+
"fps": 120,
|
| 57 |
+
"width": 640,
|
| 58 |
+
"height": 480,
|
| 59 |
+
"index_or_path": "/dev/top",
|
| 60 |
+
"color_mode": "rgb",
|
| 61 |
+
"rotation": 0,
|
| 62 |
+
"warmup_s": 1,
|
| 63 |
+
"fourcc": "MJPG"
|
| 64 |
+
},
|
| 65 |
+
"runtime": {
|
| 66 |
+
"width": 640,
|
| 67 |
+
"height": 480,
|
| 68 |
+
"capture_width": 640,
|
| 69 |
+
"capture_height": 480,
|
| 70 |
+
"fps": 120.10136452241716,
|
| 71 |
+
"backend": "V4L2",
|
| 72 |
+
"fourcc": "MJPG"
|
| 73 |
+
},
|
| 74 |
+
"v4l2": {
|
| 75 |
+
"available": true,
|
| 76 |
+
"device": "/dev/top",
|
| 77 |
+
"resolved_device": "/dev/video8",
|
| 78 |
+
"controls": {
|
| 79 |
+
"brightness": 5,
|
| 80 |
+
"contrast": 30,
|
| 81 |
+
"saturation": 60,
|
| 82 |
+
"hue": 0,
|
| 83 |
+
"white_balance_automatic": 1,
|
| 84 |
+
"gamma": 130,
|
| 85 |
+
"gain": 0,
|
| 86 |
+
"power_line_frequency": 2,
|
| 87 |
+
"white_balance_temperature": 4487,
|
| 88 |
+
"sharpness": 0,
|
| 89 |
+
"backlight_compensation": 1,
|
| 90 |
+
"auto_exposure": 1,
|
| 91 |
+
"exposure_time_absolute": 200,
|
| 92 |
+
"exposure_dynamic_framerate": 0
|
| 93 |
+
},
|
| 94 |
+
"report": "Driver Info:\n\tDriver name : uvcvideo\n\tCard type : USB 2.0 Camera: HD USB Camera\n\tBus info : usb-0000:80:14.0-9.1.4.1\n\tDriver version : 6.8.12\n\tCapabilities : 0x84a00001\n\t\tVideo Capture\n\t\tMetadata Capture\n\t\tStreaming\n\t\tExtended Pix Format\n\t\tDevice Capabilities\n\tDevice Caps : 0x04200001\n\t\tVideo Capture\n\t\tStreaming\n\t\tExtended Pix Format\nMedia Driver Info:\n\tDriver name : uvcvideo\n\tModel : USB 2.0 Camera: HD USB Camera\n\tSerial : \n\tBus info : usb-0000:80:14.0-9.1.4.1\n\tMedia version : 6.8.12\n\tHardware revision: 0x00000100 (256)\n\tDriver version : 6.8.12\nInterface Info:\n\tID : 0x03000002\n\tType : V4L Video\nEntity Info:\n\tID : 0x00000001 (1)\n\tName : USB 2.0 Camera: HD USB Camera\n\tFunction : V4L2 I/O\n\tFlags : default\n\tPad 0x01000007 : 0: Sink\n\t Link 0x02000010: from remote pad 0x100000a of entity 'Extension 3' (Video Pixel Formatter): Data, Enabled, Immutable\nPriority: 2\nVideo input : 0 (Camera 1: ok)\nFormat Video Capture:\n\tWidth/Height : 640/480\n\tPixel Format : 'MJPG' (Motion-JPEG)\n\tField : None\n\tBytes per Line : 0\n\tSize Image : 614989\n\tColorspace : sRGB\n\tTransfer Function : Rec. 709\n\tYCbCr/HSV Encoding: ITU-R 601\n\tQuantization : Default (maps to Full Range)\n\tFlags : \nCrop Capability Video Capture:\n\tBounds : Left 0, Top 0, Width 640, Height 480\n\tDefault : Left 0, Top 0, Width 640, Height 480\n\tPixel Aspect: 1/1\nSelection Video Capture: crop_default, Left 0, Top 0, Width 640, Height 480, Flags: \nSelection Video Capture: crop_bounds, Left 0, Top 0, Width 640, Height 480, Flags: \nStreaming Parameters Video Capture:\n\tCapabilities : timeperframe\n\tFrames per second: 120.101 (61612/513)\n\tRead buffers : 0\n\nUser Controls\n\n brightness 0x00980900 (int) : min=-64 max=64 step=1 default=0 value=5\n contrast 0x00980901 (int) : min=0 max=64 step=1 default=32 value=30\n saturation 0x00980902 (int) : min=0 max=128 step=1 default=60 value=60\n hue 0x00980903 (int) : min=-40 max=40 step=1 default=0 value=0\n white_balance_automatic 0x0098090c (bool) : default=1 value=1\n gamma 0x00980910 (int) : min=72 max=500 step=1 default=100 value=130\n gain 0x00980913 (int) : min=0 max=100 step=1 default=0 value=0\n power_line_frequency 0x00980918 (menu) : min=0 max=2 default=1 value=2 (60 Hz)\n\t\t\t\t0: Disabled\n\t\t\t\t1: 50 Hz\n\t\t\t\t2: 60 Hz\n white_balance_temperature 0x0098091a (int) : min=2800 max=6500 step=1 default=4600 value=4487 flags=inactive\n sharpness 0x0098091b (int) : min=0 max=6 step=1 default=2 value=0\n backlight_compensation 0x0098091c (int) : min=0 max=2 step=1 default=1 value=1\n\nCamera Controls\n\n auto_exposure 0x009a0901 (menu) : min=0 max=3 default=3 value=1 (Manual Mode)\n\t\t\t\t1: Manual Mode\n\t\t\t\t3: Aperture Priority Mode\n exposure_time_absolute 0x009a0902 (int) : min=1 max=5000 step=1 default=157 value=200\n exposure_dynamic_framerate 0x009a0903 (bool) : default=0 value=0"
|
| 95 |
+
}
|
| 96 |
+
},
|
| 97 |
+
"video6": {
|
| 98 |
+
"type": "opencv",
|
| 99 |
+
"configuration": {
|
| 100 |
+
"fps": 120,
|
| 101 |
+
"width": 640,
|
| 102 |
+
"height": 480,
|
| 103 |
+
"index_or_path": "/dev/video6",
|
| 104 |
+
"color_mode": "rgb",
|
| 105 |
+
"rotation": 0,
|
| 106 |
+
"warmup_s": 1,
|
| 107 |
+
"fourcc": "MJPG"
|
| 108 |
+
},
|
| 109 |
+
"runtime": {
|
| 110 |
+
"width": 640,
|
| 111 |
+
"height": 480,
|
| 112 |
+
"capture_width": 640,
|
| 113 |
+
"capture_height": 480,
|
| 114 |
+
"fps": 120.10136452241716,
|
| 115 |
+
"backend": "V4L2",
|
| 116 |
+
"fourcc": "MJPG"
|
| 117 |
+
},
|
| 118 |
+
"v4l2": {
|
| 119 |
+
"available": true,
|
| 120 |
+
"device": "/dev/video6",
|
| 121 |
+
"resolved_device": "/dev/video6",
|
| 122 |
+
"controls": {
|
| 123 |
+
"brightness": 5,
|
| 124 |
+
"contrast": 30,
|
| 125 |
+
"saturation": 60,
|
| 126 |
+
"hue": 0,
|
| 127 |
+
"white_balance_automatic": 1,
|
| 128 |
+
"gamma": 130,
|
| 129 |
+
"gain": 0,
|
| 130 |
+
"power_line_frequency": 2,
|
| 131 |
+
"white_balance_temperature": 4600,
|
| 132 |
+
"sharpness": 0,
|
| 133 |
+
"backlight_compensation": 1,
|
| 134 |
+
"auto_exposure": 1,
|
| 135 |
+
"exposure_time_absolute": 200,
|
| 136 |
+
"exposure_dynamic_framerate": 0
|
| 137 |
+
},
|
| 138 |
+
"report": "Driver Info:\n\tDriver name : uvcvideo\n\tCard type : USB 2.0 Camera: HD USB Camera\n\tBus info : usb-0000:80:14.0-7.4.2\n\tDriver version : 6.8.12\n\tCapabilities : 0x84a00001\n\t\tVideo Capture\n\t\tMetadata Capture\n\t\tStreaming\n\t\tExtended Pix Format\n\t\tDevice Capabilities\n\tDevice Caps : 0x04200001\n\t\tVideo Capture\n\t\tStreaming\n\t\tExtended Pix Format\nMedia Driver Info:\n\tDriver name : uvcvideo\n\tModel : USB 2.0 Camera: HD USB Camera\n\tSerial : \n\tBus info : usb-0000:80:14.0-7.4.2\n\tMedia version : 6.8.12\n\tHardware revision: 0x00000100 (256)\n\tDriver version : 6.8.12\nInterface Info:\n\tID : 0x03000002\n\tType : V4L Video\nEntity Info:\n\tID : 0x00000001 (1)\n\tName : USB 2.0 Camera: HD USB Camera\n\tFunction : V4L2 I/O\n\tFlags : default\n\tPad 0x01000007 : 0: Sink\n\t Link 0x02000010: from remote pad 0x100000a of entity 'Extension 3' (Video Pixel Formatter): Data, Enabled, Immutable\nPriority: 2\nVideo input : 0 (Camera 1: ok)\nFormat Video Capture:\n\tWidth/Height : 640/480\n\tPixel Format : 'MJPG' (Motion-JPEG)\n\tField : None\n\tBytes per Line : 0\n\tSize Image : 614989\n\tColorspace : sRGB\n\tTransfer Function : Rec. 709\n\tYCbCr/HSV Encoding: ITU-R 601\n\tQuantization : Default (maps to Full Range)\n\tFlags : \nCrop Capability Video Capture:\n\tBounds : Left 0, Top 0, Width 640, Height 480\n\tDefault : Left 0, Top 0, Width 640, Height 480\n\tPixel Aspect: 1/1\nSelection Video Capture: crop_default, Left 0, Top 0, Width 640, Height 480, Flags: \nSelection Video Capture: crop_bounds, Left 0, Top 0, Width 640, Height 480, Flags: \nStreaming Parameters Video Capture:\n\tCapabilities : timeperframe\n\tFrames per second: 120.101 (61612/513)\n\tRead buffers : 0\n\nUser Controls\n\n brightness 0x00980900 (int) : min=-64 max=64 step=1 default=0 value=5\n contrast 0x00980901 (int) : min=0 max=64 step=1 default=32 value=30\n saturation 0x00980902 (int) : min=0 max=128 step=1 default=60 value=60\n hue 0x00980903 (int) : min=-40 max=40 step=1 default=0 value=0\n white_balance_automatic 0x0098090c (bool) : default=1 value=1\n gamma 0x00980910 (int) : min=72 max=500 step=1 default=100 value=130\n gain 0x00980913 (int) : min=0 max=100 step=1 default=0 value=0\n power_line_frequency 0x00980918 (menu) : min=0 max=2 default=1 value=2 (60 Hz)\n\t\t\t\t0: Disabled\n\t\t\t\t1: 50 Hz\n\t\t\t\t2: 60 Hz\n white_balance_temperature 0x0098091a (int) : min=2800 max=6500 step=1 default=4600 value=4600 flags=inactive\n sharpness 0x0098091b (int) : min=0 max=6 step=1 default=2 value=0\n backlight_compensation 0x0098091c (int) : min=0 max=2 step=1 default=1 value=1\n\nCamera Controls\n\n auto_exposure 0x009a0901 (menu) : min=0 max=3 default=3 value=1 (Manual Mode)\n\t\t\t\t1: Manual Mode\n\t\t\t\t3: Aperture Priority Mode\n exposure_time_absolute 0x009a0902 (int) : min=1 max=5000 step=1 default=157 value=200\n exposure_dynamic_framerate 0x009a0903 (bool) : default=0 value=0"
|
| 139 |
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}
|
| 140 |
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},
|
| 141 |
+
"realsense": {
|
| 142 |
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"type": "intelrealsense",
|
| 143 |
+
"configuration": {
|
| 144 |
+
"fps": 30,
|
| 145 |
+
"width": 640,
|
| 146 |
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| 147 |
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| 148 |
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| 150 |
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| 152 |
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| 154 |
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| 155 |
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meta/stats.json
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