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next.reward
int64 0
1
| action
sequence | observation.state
sequence | timestamp
float32 0
1.4
| frame_index
int64 0
42
| episode_index
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1 | [
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0.087890625,
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131.66015625,
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1 | [
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130.166015625,
43.154296875,
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10.986328125,
103.974609375,
131.66015625,
44.033203125,
-0.087890625,
33.486328125
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1 | [
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104.501953125,
130.166015625,
43.154296875,
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33.57421875
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103.974609375,
131.66015625,
44.033203125,
-0.087890625,
33.486328125
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1 | [
11.6015625,
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129.990234375,
43.06640625,
0.439453125,
33.486328125
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10.986328125,
103.974609375,
131.66015625,
44.033203125,
-0.087890625,
33.486328125
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1 | [
11.6015625,
104.23828125,
129.990234375,
42.978515625,
0.52734375,
33.486328125
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10.986328125,
103.974609375,
131.572265625,
44.033203125,
-0.087890625,
33.486328125
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1 | [
11.42578125,
103.88671875,
129.990234375,
42.451171875,
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10.986328125,
103.974609375,
131.484375,
43.154296875,
-0.087890625,
33.486328125
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1 | [
11.337890625,
103.798828125,
129.90234375,
42.451171875,
0.87890625,
33.486328125
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10.986328125,
103.359375,
131.572265625,
43.154296875,
-0.087890625,
33.486328125
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1 | [
11.337890625,
103.798828125,
129.90234375,
42.451171875,
0.87890625,
33.486328125
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10.986328125,
103.271484375,
131.484375,
43.154296875,
-0.087890625,
33.486328125
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0 | [
11.42578125,
103.798828125,
129.990234375,
42.451171875,
0.87890625,
33.486328125
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10.986328125,
103.359375,
131.572265625,
43.154296875,
-0.087890625,
33.486328125
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0 | [
11.42578125,
103.798828125,
129.90234375,
42.451171875,
0.966796875,
33.486328125
] | [
10.986328125,
103.359375,
131.572265625,
43.154296875,
-0.087890625,
33.486328125
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0 | [
11.42578125,
103.798828125,
129.990234375,
42.451171875,
0.87890625,
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10.986328125,
103.359375,
131.572265625,
43.154296875,
-0.087890625,
33.486328125
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11.42578125,
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33.486328125
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10.986328125,
103.359375,
131.484375,
43.154296875,
-0.087890625,
33.486328125
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11.42578125,
103.798828125,
129.990234375,
42.451171875,
0.87890625,
33.486328125
] | [
10.986328125,
103.271484375,
131.484375,
43.154296875,
-0.087890625,
33.486328125
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11.42578125,
103.798828125,
129.990234375,
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10.986328125,
103.359375,
131.572265625,
43.154296875,
-0.087890625,
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11.42578125,
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129.990234375,
42.451171875,
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33.3984375
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10.986328125,
103.271484375,
131.484375,
43.154296875,
-0.087890625,
33.486328125
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0 | [
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103.798828125,
129.990234375,
42.451171875,
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33.3984375
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10.986328125,
103.359375,
131.484375,
43.154296875,
-0.087890625,
33.486328125
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11.42578125,
103.798828125,
129.990234375,
42.451171875,
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10.986328125,
103.359375,
131.572265625,
43.154296875,
-0.087890625,
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1 | [
11.42578125,
103.798828125,
129.990234375,
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33.3984375
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10.986328125,
103.271484375,
131.572265625,
43.154296875,
-0.087890625,
33.486328125
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1 | [
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129.990234375,
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33.3984375
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10.986328125,
103.359375,
131.572265625,
43.154296875,
-0.087890625,
33.486328125
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1 | [
11.42578125,
103.798828125,
129.990234375,
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103.359375,
131.572265625,
43.154296875,
-0.087890625,
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129.990234375,
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103.18359375,
131.572265625,
43.154296875,
-0.087890625,
33.486328125
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11.513671875,
103.798828125,
129.990234375,
42.451171875,
0.966796875,
33.3984375
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10.986328125,
103.095703125,
131.572265625,
43.154296875,
-0.087890625,
33.486328125
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1 | [
11.513671875,
103.798828125,
129.990234375,
42.451171875,
0.966796875,
33.3984375
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10.986328125,
103.095703125,
131.484375,
43.154296875,
-0.087890625,
33.486328125
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1 | [
11.513671875,
103.798828125,
129.990234375,
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0.966796875,
33.3984375
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103.095703125,
131.572265625,
43.154296875,
-0.087890625,
33.486328125
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0 | [
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42.451171875,
1.142578125,
33.3984375
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10.986328125,
103.095703125,
131.572265625,
43.154296875,
-0.087890625,
33.486328125
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0 | [
11.689453125,
103.623046875,
129.814453125,
42.451171875,
1.142578125,
33.3984375
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10.986328125,
103.095703125,
131.572265625,
43.154296875,
0.087890625,
33.486328125
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0 | [
11.77734375,
103.623046875,
129.814453125,
42.451171875,
1.23046875,
33.3984375
] | [
10.986328125,
103.095703125,
131.484375,
43.154296875,
0.087890625,
33.486328125
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0 | [
11.953125,
103.623046875,
129.814453125,
42.451171875,
1.23046875,
33.3984375
] | [
10.986328125,
103.095703125,
131.572265625,
43.154296875,
0.52734375,
33.486328125
] | 0.9 | 27 | 0 | 27 | 0 |
0 | [
11.953125,
103.623046875,
129.814453125,
42.451171875,
1.23046875,
33.3984375
] | [
10.986328125,
103.095703125,
131.484375,
43.154296875,
0.615234375,
33.486328125
] | 0.933333 | 28 | 0 | 28 | 0 |
0 | [
11.953125,
103.623046875,
129.814453125,
42.451171875,
1.23046875,
33.3984375
] | [
10.986328125,
103.095703125,
131.572265625,
43.154296875,
0.703125,
33.486328125
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12.041015625,
103.623046875,
129.814453125,
42.451171875,
1.23046875,
33.486328125
] | [
10.986328125,
103.095703125,
131.484375,
43.154296875,
0.87890625,
33.486328125
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0 | [
12.041015625,
103.623046875,
129.814453125,
42.451171875,
1.23046875,
33.486328125
] | [
11.25,
103.095703125,
131.572265625,
43.154296875,
0.87890625,
33.486328125
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0 | [
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103.623046875,
129.814453125,
42.451171875,
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11.6015625,
103.095703125,
131.484375,
43.154296875,
0.87890625,
33.486328125
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103.623046875,
129.814453125,
42.451171875,
1.23046875,
33.486328125
] | [
11.689453125,
103.095703125,
131.572265625,
43.154296875,
0.87890625,
33.486328125
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0 | [
12.041015625,
103.623046875,
129.814453125,
42.451171875,
1.23046875,
33.486328125
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11.865234375,
103.095703125,
131.572265625,
43.154296875,
0.87890625,
33.486328125
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12.041015625,
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129.814453125,
42.451171875,
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33.3984375
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11.953125,
103.095703125,
131.572265625,
43.154296875,
0.87890625,
33.486328125
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103.623046875,
129.7265625,
42.451171875,
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33.3984375
] | [
11.953125,
103.095703125,
131.572265625,
43.154296875,
0.87890625,
33.486328125
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12.041015625,
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129.814453125,
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33.3984375
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11.953125,
103.095703125,
131.572265625,
43.154296875,
0.87890625,
33.486328125
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103.623046875,
129.814453125,
42.451171875,
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33.3984375
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103.095703125,
131.572265625,
43.154296875,
0.87890625,
33.486328125
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129.7265625,
42.451171875,
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33.3984375
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11.953125,
103.095703125,
131.572265625,
43.154296875,
0.87890625,
33.486328125
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111.005859375,
132.890625,
33.92578125,
1.669921875,
33.3984375
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11.953125,
103.095703125,
131.572265625,
43.154296875,
0.87890625,
33.486328125
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19.16015625,
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33.3984375
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109.248046875,
133.41796875,
34.453125,
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33.486328125
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118.564453125,
147.041015625,
20.654296875,
0.3515625,
33.134765625
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49.921875,
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34.8046875
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12.919921875,
115.927734375,
137.548828125,
35.5078125,
2.021484375,
32.783203125
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0 | [
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49.921875,
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94.482421875,
122.607421875,
49.04296875,
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33.046875
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115.3125,
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10.986328125,
94.482421875,
122.607421875,
49.04296875,
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33.046875
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102.65625,
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49.306640625,
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33.57421875
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113.818359375,
123.3984375,
50.009765625,
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33.046875
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97.91015625,
115.927734375,
48.515625,
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101.865234375,
117.59765625,
49.5703125,
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98.0859375,
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96.767578125,
117.333984375,
48.955078125,
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33.046875
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52.646484375,
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33.3984375
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96.943359375,
117.333984375,
48.8671875,
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-4.658203125,
33.046875
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112.5,
57.216796875,
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93.955078125,
115.48828125,
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-4.5703125,
33.046875
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113.203125,
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92.900390625,
114.9609375,
57.041015625,
-4.658203125,
33.046875
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92.900390625,
114.9609375,
57.041015625,
-4.658203125,
33.046875
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92.900390625,
114.9609375,
57.041015625,
-4.658203125,
33.046875
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93.515625,
113.115234375,
57.568359375,
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33.310546875
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92.900390625,
114.9609375,
57.041015625,
-4.658203125,
33.046875
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93.515625,
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92.900390625,
114.9609375,
57.12890625,
-4.658203125,
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116.19140625,
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92.900390625,
114.9609375,
57.041015625,
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33.046875
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143.876953125,
15.205078125,
-7.822265625,
34.892578125
] | [
9.31640625,
107.138671875,
144.31640625,
16.171875,
-6.6796875,
33.92578125
] | 0.666667 | 20 | 1 | 63 | 0 |
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "koch",
"total_episodes": 2,
"total_frames": 64,
"total_tasks": 1,
"total_videos": 2,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:2"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"next.reward": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.images.main": {
"dtype": "video",
"shape": [
600,
800,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 600,
"video.width": 800,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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