Delete train_config.json
Browse files- train_config.json +0 -243
train_config.json
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{
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"dataset": {
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"repo_id": "ns69956/ur5e_scanner2",
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"root": null,
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"episodes": null,
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"image_transforms": {
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"enable": false,
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"max_num_transforms": 3,
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"random_order": false,
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"tfs": {
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"brightness": {
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"weight": 1.0,
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"type": "ColorJitter",
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"kwargs": {
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"brightness": [
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0.8,
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1.2
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]
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}
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},
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"contrast": {
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"weight": 1.0,
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"type": "ColorJitter",
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"kwargs": {
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"contrast": [
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0.8,
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1.2
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]
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}
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},
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"saturation": {
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"weight": 1.0,
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"type": "ColorJitter",
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"kwargs": {
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"saturation": [
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0.5,
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1.5
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]
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}
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},
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"hue": {
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"weight": 1.0,
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"type": "ColorJitter",
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"kwargs": {
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"hue": [
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-0.05,
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0.05
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]
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}
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},
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"sharpness": {
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"weight": 1.0,
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"type": "SharpnessJitter",
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"kwargs": {
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"sharpness": [
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0.5,
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1.5
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]
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}
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}
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}
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},
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"revision": null,
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"use_imagenet_stats": true,
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"video_backend": "pyav"
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},
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"env": null,
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"policy": {
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"type": "smolvla",
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"n_obs_steps": 1,
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"normalization_mapping": {
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"VISUAL": "IDENTITY",
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"STATE": "MEAN_STD",
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"ACTION": "MEAN_STD"
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},
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"input_features": {
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"observation.images.scene_image": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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]
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},
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"observation.images.wrist_image": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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]
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},
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"observation.state": {
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"type": "STATE",
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"shape": [
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8
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]
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}
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},
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"output_features": {
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"action": {
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"type": "ACTION",
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"shape": [
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8
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]
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}
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},
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"device": "cuda",
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"use_amp": false,
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"scanner_state_pos_weight_mode": "mean",
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"scanner_state_pos_weight": 1.0,
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"chunk_size": 50,
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"n_action_steps": 50,
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"mean_std_normalization_stats": {
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"observation.state": {
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"mean": [
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0.0,
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0.0
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],
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"std": [
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1.0,
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"action": {
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"mean": [
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"std": [
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}
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},
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"max_state_dim": 32,
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"max_action_dim": 32,
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"resize_imgs_with_padding": [
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512,
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512
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],
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"empty_cameras": 0,
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"adapt_to_pi_aloha": false,
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"use_delta_joint_actions_aloha": false,
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"tokenizer_max_length": 48,
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"num_steps": 10,
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"use_cache": true,
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"freeze_vision_encoder": false,
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"train_expert_only": true,
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"train_state_proj": true,
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"optimizer_lr": 0.0001,
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"optimizer_betas": [
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0.9,
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0.95
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],
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"optimizer_eps": 1e-08,
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"optimizer_weight_decay": 1e-10,
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"optimizer_grad_clip_norm": 10,
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"scheduler_warmup_steps": 1000,
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"scheduler_decay_steps": 30000,
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"scheduler_decay_lr": 2.5e-06,
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"vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
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"load_vlm_weights": false,
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"add_image_special_tokens": false,
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"attention_mode": "cross_attn",
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"prefix_length": -1,
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"pad_language_to": "longest",
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"num_expert_layers": -1,
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"num_vlm_layers": 16,
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"self_attn_every_n_layers": 2,
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"expert_width_multiplier": 0.75,
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"min_period": 0.004,
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"max_period": 4.0
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},
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"output_dir": "outputs\\train\\2025-07-21\\09-26-37_smolvla",
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"job_name": "smolvla",
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"resume": false,
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"seed": 1000,
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"num_workers": 4,
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"batch_size": 8,
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"steps": 2000,
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"eval_freq": 2000,
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"log_freq": 10,
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"save_checkpoint": true,
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"save_freq": 2000,
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"use_policy_training_preset": true,
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"optimizer": {
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"type": "adamw",
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"lr": 0.0001,
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"weight_decay": 1e-10,
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"grad_clip_norm": 10,
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"betas": [
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0.9,
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0.95
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],
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"eps": 1e-08
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},
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"scheduler": {
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"type": "cosine_decay_with_warmup",
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"num_warmup_steps": 1000,
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"num_decay_steps": 30000,
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"peak_lr": 0.0001,
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"decay_lr": 2.5e-06
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},
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"eval": {
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"n_episodes": 50,
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"batch_size": 50,
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"use_async_envs": false
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},
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"wandb": {
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"enable": true,
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"disable_artifact": false,
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"project": "smolVLA_robotic_scanner",
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"entity": null,
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"notes": null,
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"run_id": "8d02xvyu",
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"mode": null
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}
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}
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