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README.md
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| 1 |
+
---
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| 2 |
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license: apache-2.0
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| 3 |
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task_categories:
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- robotics
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tags:
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- LeRobot
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- lerobot
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- piper
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- so101
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configs:
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- config_name: default
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data_files: data/*/*.parquet
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---
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| 14 |
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+
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=khb2439/piper-so101-pick-up-the-tissue-in-the-box-trim30">
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<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
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<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
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</a>
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## Dataset Description
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- **Homepage:** [More Information Needed]
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| 29 |
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- **Paper:** [More Information Needed]
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| 30 |
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- **License:** apache-2.0
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## Dataset Structure
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[meta/info.json](meta/info.json):
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```json
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{
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"codebase_version": "v3.0",
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"robot_type": "piper",
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| 39 |
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"total_episodes": 60,
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| 40 |
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"total_frames": 20918,
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| 41 |
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"total_tasks": 1,
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| 42 |
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"chunks_size": 1000,
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| 43 |
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"data_files_size_in_mb": 100,
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| 44 |
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"video_files_size_in_mb": 200,
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| 45 |
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"fps": 30,
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| 46 |
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"splits": {
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| 47 |
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"train": "0:60"
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},
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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| 50 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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| 51 |
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"features": {
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"action": {
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"dtype": "float32",
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| 54 |
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"names": [
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"shoulder_pan.pos",
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| 56 |
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"shoulder_lift.pos",
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| 57 |
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"elbow_flex.pos",
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| 58 |
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"wrist_flex.pos",
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"wrist_roll.pos",
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| 60 |
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"gripper.pos"
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| 61 |
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],
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"shape": [
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| 63 |
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6
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| 64 |
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]
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| 65 |
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},
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| 66 |
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"observation.state": {
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| 67 |
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"dtype": "float32",
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| 68 |
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"names": [
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"joint_1.pos",
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"joint_2.pos",
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| 71 |
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"joint_3.pos",
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| 72 |
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"joint_4.pos",
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| 73 |
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"joint_5.pos",
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| 74 |
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"joint_6.pos",
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| 75 |
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"gripper.pos"
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| 76 |
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],
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| 77 |
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"shape": [
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| 78 |
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7
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| 79 |
+
]
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| 80 |
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},
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| 81 |
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"observation.images.d405_rgb": {
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| 82 |
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"dtype": "video",
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| 83 |
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"shape": [
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| 84 |
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480,
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| 85 |
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640,
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| 86 |
+
3
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| 87 |
+
],
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| 88 |
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"names": [
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| 89 |
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"height",
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| 90 |
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"width",
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| 91 |
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"channels"
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| 92 |
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],
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| 93 |
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"info": {
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| 94 |
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"video.height": 480,
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| 95 |
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"video.width": 640,
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| 96 |
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"video.codec": "h264",
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| 97 |
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"video.pix_fmt": "yuv420p",
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| 98 |
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"video.is_depth_map": false,
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| 99 |
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"video.fps": 30,
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| 100 |
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"video.channels": 3,
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| 101 |
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"has_audio": false
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| 102 |
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}
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| 103 |
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},
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| 104 |
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"observation.images.usb_front": {
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| 105 |
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"dtype": "video",
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| 106 |
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"shape": [
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| 107 |
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480,
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| 108 |
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640,
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| 109 |
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3
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| 110 |
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],
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| 111 |
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"names": [
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| 112 |
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"height",
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| 113 |
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"width",
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| 114 |
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"channels"
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| 115 |
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],
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| 116 |
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"info": {
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| 117 |
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"video.height": 480,
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| 118 |
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"video.width": 640,
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| 119 |
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"video.codec": "h264",
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| 120 |
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"video.pix_fmt": "yuv420p",
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| 121 |
+
"video.is_depth_map": false,
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| 122 |
+
"video.fps": 30,
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| 123 |
+
"video.channels": 3,
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| 124 |
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"has_audio": false
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| 125 |
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}
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| 126 |
+
},
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| 127 |
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"timestamp": {
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| 128 |
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"dtype": "float32",
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| 129 |
+
"shape": [
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| 130 |
+
1
|
| 131 |
+
],
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| 132 |
+
"names": null
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| 133 |
+
},
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| 134 |
+
"frame_index": {
|
| 135 |
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"dtype": "int64",
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| 136 |
+
"shape": [
|
| 137 |
+
1
|
| 138 |
+
],
|
| 139 |
+
"names": null
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| 140 |
+
},
|
| 141 |
+
"episode_index": {
|
| 142 |
+
"dtype": "int64",
|
| 143 |
+
"shape": [
|
| 144 |
+
1
|
| 145 |
+
],
|
| 146 |
+
"names": null
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| 147 |
+
},
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| 148 |
+
"index": {
|
| 149 |
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"dtype": "int64",
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| 150 |
+
"shape": [
|
| 151 |
+
1
|
| 152 |
+
],
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| 153 |
+
"names": null
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| 154 |
+
},
|
| 155 |
+
"task_index": {
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| 156 |
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"dtype": "int64",
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| 157 |
+
"shape": [
|
| 158 |
+
1
|
| 159 |
+
],
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| 160 |
+
"names": null
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| 161 |
+
}
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| 162 |
+
}
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| 163 |
+
}
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| 164 |
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```
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| 167 |
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## Citation
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| 168 |
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| 169 |
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**BibTeX:**
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| 170 |
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| 171 |
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```bibtex
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| 172 |
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[More Information Needed]
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| 173 |
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```
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