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README.md
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| 1 |
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---
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| 2 |
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license: apache-2.0
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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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- toto
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- rlds
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- openx
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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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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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## Dataset Description
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| 19 |
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| 20 |
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- **Homepage:** [More Information Needed]
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- **Paper:** [More Information Needed]
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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": "v2.0",
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"robot_type": "franka",
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"total_episodes": 902,
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"total_frames": 294139,
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"total_tasks": 1,
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"total_videos": 902,
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"total_chunks": 1,
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"chunks_size": 1000,
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"fps": 30,
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"splits": {
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"train": "0:902"
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},
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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| 44 |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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| 45 |
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"features": {
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| 46 |
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"observation.images.image": {
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| 47 |
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"dtype": "video",
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| 48 |
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"shape": [
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480,
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| 50 |
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640,
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| 51 |
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3
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| 52 |
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],
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| 53 |
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"names": [
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| 54 |
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"height",
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| 55 |
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"width",
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| 56 |
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"rgb"
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| 57 |
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],
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| 58 |
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"info": {
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| 59 |
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"video.fps": 30.0,
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| 60 |
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"video.height": 480,
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| 61 |
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"video.width": 640,
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| 62 |
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"video.channels": 3,
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| 63 |
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"video.codec": "av1",
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| 64 |
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"video.pix_fmt": "yuv420p",
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| 65 |
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"video.is_depth_map": false,
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| 66 |
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"has_audio": false
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}
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| 68 |
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},
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"observation.state": {
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| 70 |
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"dtype": "float32",
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| 71 |
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"shape": [
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| 72 |
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8
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| 73 |
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],
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| 74 |
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"names": {
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| 75 |
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"motors": [
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| 76 |
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"motor_0",
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| 77 |
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"motor_1",
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| 78 |
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"motor_2",
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| 79 |
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"motor_3",
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| 80 |
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"motor_4",
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| 81 |
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"motor_5",
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| 82 |
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"motor_6",
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| 83 |
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"motor_7"
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| 84 |
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]
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| 85 |
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}
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| 86 |
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},
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| 87 |
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"action": {
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| 88 |
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"dtype": "float32",
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| 89 |
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"shape": [
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| 90 |
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7
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| 91 |
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],
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| 92 |
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"names": {
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| 93 |
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"motors": [
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| 94 |
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"x",
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| 95 |
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"y",
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| 96 |
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"z",
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| 97 |
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"roll",
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| 98 |
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"pitch",
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| 99 |
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"yaw",
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| 100 |
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"gripper"
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| 101 |
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]
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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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"timestamp": {
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| 105 |
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"dtype": "float32",
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| 106 |
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"shape": [
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| 107 |
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1
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| 108 |
+
],
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| 109 |
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"names": null
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| 110 |
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},
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| 111 |
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"frame_index": {
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| 112 |
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"dtype": "int64",
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| 113 |
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"shape": [
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| 114 |
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1
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| 115 |
+
],
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| 116 |
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"names": null
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| 117 |
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},
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| 118 |
+
"episode_index": {
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| 119 |
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"dtype": "int64",
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| 120 |
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"shape": [
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| 121 |
+
1
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| 122 |
+
],
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| 123 |
+
"names": null
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| 124 |
+
},
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| 125 |
+
"index": {
|
| 126 |
+
"dtype": "int64",
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| 127 |
+
"shape": [
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| 128 |
+
1
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| 129 |
+
],
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| 130 |
+
"names": null
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| 131 |
+
},
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| 132 |
+
"task_index": {
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| 133 |
+
"dtype": "int64",
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| 134 |
+
"shape": [
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| 135 |
+
1
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| 136 |
+
],
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| 137 |
+
"names": null
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| 138 |
+
}
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| 139 |
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}
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| 140 |
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}
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| 141 |
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```
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## Citation
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| 145 |
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| 146 |
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**BibTeX:**
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| 147 |
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| 148 |
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```bibtex
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| 149 |
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[More Information Needed]
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| 150 |
+
```
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