Datasets:
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action
sequence | observation.state
sequence | timestamp
float32 0
14.9
| frame_index
int64 0
447
| episode_index
int64 0
29
| index
int64 0
13.4k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
-2.197265625,
97.20703125,
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[
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[
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[
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[
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[
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[
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16.875,
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| 0
| 60
| 0
|
[
-3.33984375,
92.373046875,
92.98828125,
85.95703125,
17.666015625,
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[
-2.28515625,
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85.869140625,
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[
-3.427734375,
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[
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| 62
| 0
| 62
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[
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[
-3.33984375,
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| 63
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| 63
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|
[
-3.33984375,
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[
-3.427734375,
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| 64
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|
[
-3.251953125,
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92.98828125,
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[
-3.427734375,
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|
[
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[
-2.98828125,
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| 66
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[
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[
-2.8125,
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|
[
-3.1640625,
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[
-2.8125,
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| 68
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[
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92.900390625,
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18.017578125,
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[
-3.076171875,
88.9453125,
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| 69
| 0
| 69
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|
[
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[
-3.427734375,
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[
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[
-3.515625,
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| 71
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| 71
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[
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[
-3.33984375,
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| 72
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| 72
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|
[
-2.900390625,
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[
-2.98828125,
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| 73
| 0
| 73
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|
[
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[
-2.8125,
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84.375,
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| 74
| 0
| 74
| 0
|
[
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[
-2.8125,
87.099609375,
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17.666015625,
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| 75
| 0
| 75
| 0
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[
-2.900390625,
86.044921875,
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18.10546875,
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[
-2.8125,
86.748046875,
94.39453125,
84.287109375,
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| 76
| 0
| 76
| 0
|
[
-2.900390625,
85.517578125,
90.52734375,
84.111328125,
18.10546875,
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[
-2.98828125,
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93.955078125,
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17.666015625,
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| 77
| 0
| 77
| 0
|
[
-2.98828125,
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90,
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[
-3.1640625,
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93.427734375,
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17.666015625,
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| 78
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| 78
| 0
|
[
-3.1640625,
84.462890625,
89.47265625,
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18.10546875,
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[
-3.251953125,
85.341796875,
92.900390625,
84.287109375,
17.666015625,
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| 79
| 0
| 79
| 0
|
[
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83.935546875,
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[
-3.251953125,
84.814453125,
92.28515625,
84.287109375,
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| 80
| 0
| 80
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[
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18.10546875,
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[
-3.251953125,
84.287109375,
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84.287109375,
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| 81
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| 81
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[
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[
-3.251953125,
83.671875,
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| 82
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| 82
| 0
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[
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88.681640625,
84.19921875,
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[
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91.0546875,
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| 83
| 0
| 83
| 0
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[
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88.681640625,
84.19921875,
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[
-3.251953125,
82.96875,
90.87890625,
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| 84
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| 84
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[
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88.681640625,
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18.10546875,
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[
-3.1640625,
82.6171875,
90.791015625,
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| 85
| 0
| 85
| 0
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[
-2.900390625,
82.353515625,
88.681640625,
84.111328125,
18.10546875,
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[
-3.1640625,
82.44140625,
90.791015625,
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17.841796875,
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| 86
| 0
| 86
| 0
|
[
-2.8125,
82.177734375,
88.681640625,
84.111328125,
18.10546875,
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[
-3.1640625,
82.177734375,
90.791015625,
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17.841796875,
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| 87
| 0
| 87
| 0
|
[
-2.724609375,
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88.681640625,
84.0234375,
18.10546875,
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[
-3.1640625,
82.08984375,
90.791015625,
84.287109375,
17.841796875,
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| 88
| 0
| 88
| 0
|
[
-2.63671875,
81.826171875,
88.681640625,
84.0234375,
18.10546875,
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[
-3.1640625,
81.9140625,
90.791015625,
84.287109375,
17.841796875,
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| 89
| 0
| 89
| 0
|
[
-2.548828125,
81.5625,
88.681640625,
84.0234375,
18.10546875,
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[
-3.1640625,
81.73828125,
90.791015625,
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17.841796875,
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| 90
| 0
| 90
| 0
|
[
-2.548828125,
81.474609375,
88.681640625,
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18.10546875,
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[
-3.1640625,
81.474609375,
90.791015625,
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| 91
| 0
| 91
| 0
|
[
-2.548828125,
81.298828125,
88.681640625,
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18.10546875,
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[
-3.1640625,
81.298828125,
90.791015625,
84.287109375,
17.841796875,
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| 92
| 0
| 92
| 0
|
[
-2.4609375,
81.2109375,
88.681640625,
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18.10546875,
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[
-2.98828125,
81.2109375,
90.791015625,
84.287109375,
17.841796875,
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| 93
| 0
| 93
| 0
|
[
-2.4609375,
81.123046875,
88.681640625,
83.759765625,
18.10546875,
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[
-2.724609375,
81.03515625,
90.791015625,
84.287109375,
17.841796875,
46.66666793823242
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| 94
| 0
| 94
| 0
|
[
-2.4609375,
81.03515625,
88.681640625,
83.671875,
18.10546875,
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[
-2.548828125,
80.947265625,
90.791015625,
84.287109375,
17.841796875,
46.66666793823242
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| 95
| 0
| 95
| 0
|
[
-2.373046875,
81.03515625,
88.681640625,
83.583984375,
18.10546875,
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[
-2.4609375,
80.859375,
90.791015625,
84.287109375,
17.841796875,
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| 96
| 0
| 96
| 0
|
[
-2.28515625,
80.947265625,
88.681640625,
83.583984375,
18.10546875,
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[
-2.373046875,
80.859375,
90.791015625,
84.111328125,
17.841796875,
46.66666793823242
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| 97
| 0
| 97
| 0
|
[
-2.109375,
80.859375,
88.681640625,
83.583984375,
18.10546875,
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[
-2.373046875,
80.859375,
90.791015625,
83.935546875,
17.841796875,
46.66666793823242
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| 98
| 0
| 98
| 0
|
[
-2.021484375,
80.859375,
88.681640625,
83.583984375,
18.10546875,
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[
-2.373046875,
80.68359375,
90.791015625,
83.935546875,
17.841796875,
46.66666793823242
] | 3.3
| 99
| 0
| 99
| 0
|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 30,
"total_frames": 13434,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:30"
},
"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": {
"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.laptop": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.phone": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"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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