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  1. annotated_data/lift_lid_and_put_green_duck/lift_lid_and_put_green_duck_annotations.json +1763 -0
  2. annotated_data/pick_coke_bottle_place_plate_ep1/videos/episode_0_cam_high.mp4 +3 -0
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  6. annotated_data/pick_coke_bottle_place_plate_ep1/videos/episode_105_cam_high.mp4 +3 -0
  7. annotated_data/pick_coke_bottle_place_plate_ep1/videos/episode_106_cam_high.mp4 +3 -0
  8. annotated_data/pick_coke_bottle_place_plate_ep1/videos/episode_107_cam_high.mp4 +3 -0
  9. annotated_data/pick_coke_bottle_place_plate_ep1/videos/episode_108_cam_high.mp4 +3 -0
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  11. annotated_data/pick_coke_bottle_place_plate_ep1/videos/episode_113_cam_high.mp4 +3 -0
  12. annotated_data/pick_coke_bottle_place_plate_ep1/videos/episode_117_cam_high.mp4 +3 -0
  13. annotated_data/pick_coke_bottle_place_plate_ep1/videos/episode_118_cam_high.mp4 +3 -0
  14. annotated_data/pick_coke_bottle_place_plate_ep1/videos/episode_11_cam_high.mp4 +3 -0
  15. annotated_data/pick_coke_bottle_place_plate_ep1/videos/episode_120_cam_high.mp4 +3 -0
  16. annotated_data/pick_coke_bottle_place_plate_ep1/videos/episode_121_cam_high.mp4 +3 -0
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  42. annotated_data/pick_coke_bottle_place_plate_ep1/videos/episode_43_cam_high.mp4 +3 -0
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