diff --git a/metadata/train/scene0000_02_metadata.json b/metadata/train/scene0000_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..72dc5ee6a168a495d39aa1b1c8f55102f08574d8
--- /dev/null
+++ b/metadata/train/scene0000_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0000_02",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0000_02.pt",
+  "indices_file": "scene0000_02_indices.pt",
+  "transform_to_world_file": "scene0000_02_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000199"
+    },
+    {
+      "index": 2,
+      "frame_id": "000398"
+    },
+    {
+      "index": 3,
+      "frame_id": "000597"
+    },
+    {
+      "index": 4,
+      "frame_id": "000796"
+    },
+    {
+      "index": 5,
+      "frame_id": "000995"
+    },
+    {
+      "index": 6,
+      "frame_id": "001194"
+    },
+    {
+      "index": 7,
+      "frame_id": "001393"
+    },
+    {
+      "index": 8,
+      "frame_id": "001592"
+    },
+    {
+      "index": 9,
+      "frame_id": "001791"
+    },
+    {
+      "index": 10,
+      "frame_id": "001990"
+    },
+    {
+      "index": 11,
+      "frame_id": "002189"
+    },
+    {
+      "index": 12,
+      "frame_id": "002388"
+    },
+    {
+      "index": 13,
+      "frame_id": "002587"
+    },
+    {
+      "index": 14,
+      "frame_id": "002786"
+    },
+    {
+      "index": 15,
+      "frame_id": "002985"
+    },
+    {
+      "index": 16,
+      "frame_id": "003184"
+    },
+    {
+      "index": 17,
+      "frame_id": "003383"
+    },
+    {
+      "index": 18,
+      "frame_id": "003582"
+    },
+    {
+      "index": 19,
+      "frame_id": "003781"
+    },
+    {
+      "index": 20,
+      "frame_id": "003980"
+    },
+    {
+      "index": 21,
+      "frame_id": "004179"
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+    {
+      "index": 22,
+      "frame_id": "004378"
+    },
+    {
+      "index": 23,
+      "frame_id": "004577"
+    },
+    {
+      "index": 24,
+      "frame_id": "004776"
+    },
+    {
+      "index": 25,
+      "frame_id": "004975"
+    },
+    {
+      "index": 26,
+      "frame_id": "005174"
+    },
+    {
+      "index": 27,
+      "frame_id": "005373"
+    },
+    {
+      "index": 28,
+      "frame_id": "005572"
+    },
+    {
+      "index": 29,
+      "frame_id": "005771"
+    },
+    {
+      "index": 30,
+      "frame_id": "005970"
+    },
+    {
+      "index": 31,
+      "frame_id": "006169"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000199",
+    "000398",
+    "000597",
+    "000796",
+    "000995",
+    "001194",
+    "001393",
+    "001592",
+    "001791",
+    "001990",
+    "002189",
+    "002388",
+    "002587",
+    "002786",
+    "002985",
+    "003184",
+    "003383",
+    "003582",
+    "003781",
+    "003980",
+    "004179",
+    "004378",
+    "004577",
+    "004776",
+    "004975",
+    "005174",
+    "005373",
+    "005572",
+    "005771",
+    "005970",
+    "006169"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0035_00_metadata.json b/metadata/train/scene0035_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f211aa4783ab63e7f8859d26425f8e9b0d489208
--- /dev/null
+++ b/metadata/train/scene0035_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0035_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 29,
+  "invalid_frames_count": 3,
+  "output_shape": [
+    29,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    29
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0035_00.pt",
+  "indices_file": "scene0035_00_indices.pt",
+  "transform_to_world_file": "scene0035_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000047"
+    },
+    {
+      "index": 2,
+      "frame_id": "000095"
+    },
+    {
+      "index": 3,
+      "frame_id": "000142"
+    },
+    {
+      "index": 4,
+      "frame_id": "000190"
+    },
+    {
+      "index": 5,
+      "frame_id": "000237"
+    },
+    {
+      "index": 6,
+      "frame_id": "000285"
+    },
+    {
+      "index": 7,
+      "frame_id": "000332"
+    },
+    {
+      "index": 8,
+      "frame_id": "000380"
+    },
+    {
+      "index": 9,
+      "frame_id": "000427"
+    },
+    {
+      "index": 10,
+      "frame_id": "000475"
+    },
+    {
+      "index": 11,
+      "frame_id": "000523"
+    },
+    {
+      "index": 12,
+      "frame_id": "000570"
+    },
+    {
+      "index": 14,
+      "frame_id": "000665"
+    },
+    {
+      "index": 15,
+      "frame_id": "000713"
+    },
+    {
+      "index": 16,
+      "frame_id": "000760"
+    },
+    {
+      "index": 18,
+      "frame_id": "000855"
+    },
+    {
+      "index": 19,
+      "frame_id": "000903"
+    },
+    {
+      "index": 20,
+      "frame_id": "000950"
+    },
+    {
+      "index": 21,
+      "frame_id": "000998"
+    },
+    {
+      "index": 22,
+      "frame_id": "001046"
+    },
+    {
+      "index": 23,
+      "frame_id": "001093"
+    },
+    {
+      "index": 24,
+      "frame_id": "001141"
+    },
+    {
+      "index": 25,
+      "frame_id": "001188"
+    },
+    {
+      "index": 26,
+      "frame_id": "001236"
+    },
+    {
+      "index": 27,
+      "frame_id": "001283"
+    },
+    {
+      "index": 28,
+      "frame_id": "001331"
+    },
+    {
+      "index": 30,
+      "frame_id": "001426"
+    },
+    {
+      "index": 31,
+      "frame_id": "001474"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 13,
+      "frame_id": "000618",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 17,
+      "frame_id": "000808",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 29,
+      "frame_id": "001378",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
+    "000000",
+    "000047",
+    "000095",
+    "000142",
+    "000190",
+    "000237",
+    "000285",
+    "000332",
+    "000380",
+    "000427",
+    "000475",
+    "000523",
+    "000570",
+    "000665",
+    "000713",
+    "000760",
+    "000855",
+    "000903",
+    "000950",
+    "000998",
+    "001046",
+    "001093",
+    "001141",
+    "001188",
+    "001236",
+    "001283",
+    "001331",
+    "001426",
+    "001474"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0051_01_metadata.json b/metadata/train/scene0051_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d64a3ee39a6ec39eb5b48ed820f9d48f34ff9754
--- /dev/null
+++ b/metadata/train/scene0051_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0051_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0051_01.pt",
+  "indices_file": "scene0051_01_indices.pt",
+  "transform_to_world_file": "scene0051_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000063"
+    },
+    {
+      "index": 2,
+      "frame_id": "000127"
+    },
+    {
+      "index": 3,
+      "frame_id": "000191"
+    },
+    {
+      "index": 4,
+      "frame_id": "000255"
+    },
+    {
+      "index": 5,
+      "frame_id": "000318"
+    },
+    {
+      "index": 6,
+      "frame_id": "000382"
+    },
+    {
+      "index": 7,
+      "frame_id": "000446"
+    },
+    {
+      "index": 8,
+      "frame_id": "000510"
+    },
+    {
+      "index": 9,
+      "frame_id": "000573"
+    },
+    {
+      "index": 10,
+      "frame_id": "000637"
+    },
+    {
+      "index": 11,
+      "frame_id": "000701"
+    },
+    {
+      "index": 12,
+      "frame_id": "000765"
+    },
+    {
+      "index": 13,
+      "frame_id": "000829"
+    },
+    {
+      "index": 14,
+      "frame_id": "000892"
+    },
+    {
+      "index": 15,
+      "frame_id": "000956"
+    },
+    {
+      "index": 16,
+      "frame_id": "001020"
+    },
+    {
+      "index": 17,
+      "frame_id": "001084"
+    },
+    {
+      "index": 18,
+      "frame_id": "001147"
+    },
+    {
+      "index": 19,
+      "frame_id": "001211"
+    },
+    {
+      "index": 20,
+      "frame_id": "001275"
+    },
+    {
+      "index": 21,
+      "frame_id": "001339"
+    },
+    {
+      "index": 22,
+      "frame_id": "001403"
+    },
+    {
+      "index": 23,
+      "frame_id": "001466"
+    },
+    {
+      "index": 24,
+      "frame_id": "001530"
+    },
+    {
+      "index": 25,
+      "frame_id": "001594"
+    },
+    {
+      "index": 26,
+      "frame_id": "001658"
+    },
+    {
+      "index": 27,
+      "frame_id": "001721"
+    },
+    {
+      "index": 28,
+      "frame_id": "001785"
+    },
+    {
+      "index": 29,
+      "frame_id": "001849"
+    },
+    {
+      "index": 30,
+      "frame_id": "001913"
+    },
+    {
+      "index": 31,
+      "frame_id": "001977"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000063",
+    "000127",
+    "000191",
+    "000255",
+    "000318",
+    "000382",
+    "000446",
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+    "000573",
+    "000637",
+    "000701",
+    "000765",
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+    "001084",
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+    "001403",
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+    "001530",
+    "001594",
+    "001658",
+    "001721",
+    "001785",
+    "001849",
+    "001913",
+    "001977"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0054_00_metadata.json b/metadata/train/scene0054_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..447059d9facccbb350dd16c09821856323e08b43
--- /dev/null
+++ b/metadata/train/scene0054_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0054_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 31,
+  "invalid_frames_count": 1,
+  "output_shape": [
+    31,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    31
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0054_00.pt",
+  "indices_file": "scene0054_00_indices.pt",
+  "transform_to_world_file": "scene0054_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000213"
+    },
+    {
+      "index": 2,
+      "frame_id": "000427"
+    },
+    {
+      "index": 3,
+      "frame_id": "000641"
+    },
+    {
+      "index": 4,
+      "frame_id": "000855"
+    },
+    {
+      "index": 5,
+      "frame_id": "001069"
+    },
+    {
+      "index": 6,
+      "frame_id": "001282"
+    },
+    {
+      "index": 7,
+      "frame_id": "001496"
+    },
+    {
+      "index": 8,
+      "frame_id": "001710"
+    },
+    {
+      "index": 9,
+      "frame_id": "001924"
+    },
+    {
+      "index": 10,
+      "frame_id": "002138"
+    },
+    {
+      "index": 11,
+      "frame_id": "002351"
+    },
+    {
+      "index": 12,
+      "frame_id": "002565"
+    },
+    {
+      "index": 13,
+      "frame_id": "002779"
+    },
+    {
+      "index": 14,
+      "frame_id": "002993"
+    },
+    {
+      "index": 15,
+      "frame_id": "003207"
+    },
+    {
+      "index": 16,
+      "frame_id": "003420"
+    },
+    {
+      "index": 17,
+      "frame_id": "003634"
+    },
+    {
+      "index": 18,
+      "frame_id": "003848"
+    },
+    {
+      "index": 19,
+      "frame_id": "004062"
+    },
+    {
+      "index": 20,
+      "frame_id": "004276"
+    },
+    {
+      "index": 21,
+      "frame_id": "004489"
+    },
+    {
+      "index": 22,
+      "frame_id": "004703"
+    },
+    {
+      "index": 23,
+      "frame_id": "004917"
+    },
+    {
+      "index": 24,
+      "frame_id": "005131"
+    },
+    {
+      "index": 25,
+      "frame_id": "005345"
+    },
+    {
+      "index": 26,
+      "frame_id": "005558"
+    },
+    {
+      "index": 27,
+      "frame_id": "005772"
+    },
+    {
+      "index": 28,
+      "frame_id": "005986"
+    },
+    {
+      "index": 29,
+      "frame_id": "006200"
+    },
+    {
+      "index": 30,
+      "frame_id": "006414"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 31,
+      "frame_id": "006628",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
+    "000000",
+    "000213",
+    "000427",
+    "000641",
+    "000855",
+    "001069",
+    "001282",
+    "001496",
+    "001710",
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+    "002138",
+    "002351",
+    "002565",
+    "002779",
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+    "005345",
+    "005558",
+    "005772",
+    "005986",
+    "006200",
+    "006414"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0056_00_metadata.json b/metadata/train/scene0056_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee86538809b914104494b0bf2b9c477b78a6e063
--- /dev/null
+++ b/metadata/train/scene0056_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0056_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0056_00.pt",
+  "indices_file": "scene0056_00_indices.pt",
+  "transform_to_world_file": "scene0056_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000064"
+    },
+    {
+      "index": 2,
+      "frame_id": "000128"
+    },
+    {
+      "index": 3,
+      "frame_id": "000192"
+    },
+    {
+      "index": 4,
+      "frame_id": "000257"
+    },
+    {
+      "index": 5,
+      "frame_id": "000321"
+    },
+    {
+      "index": 6,
+      "frame_id": "000385"
+    },
+    {
+      "index": 7,
+      "frame_id": "000450"
+    },
+    {
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+      "frame_id": "000514"
+    },
+    {
+      "index": 9,
+      "frame_id": "000578"
+    },
+    {
+      "index": 10,
+      "frame_id": "000642"
+    },
+    {
+      "index": 11,
+      "frame_id": "000707"
+    },
+    {
+      "index": 12,
+      "frame_id": "000771"
+    },
+    {
+      "index": 13,
+      "frame_id": "000835"
+    },
+    {
+      "index": 14,
+      "frame_id": "000900"
+    },
+    {
+      "index": 15,
+      "frame_id": "000964"
+    },
+    {
+      "index": 16,
+      "frame_id": "001028"
+    },
+    {
+      "index": 17,
+      "frame_id": "001092"
+    },
+    {
+      "index": 18,
+      "frame_id": "001157"
+    },
+    {
+      "index": 19,
+      "frame_id": "001221"
+    },
+    {
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+      "frame_id": "001671"
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+      "frame_id": "001735"
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+      "frame_id": "001800"
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+      "frame_id": "001864"
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+      "frame_id": "001928"
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+    {
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+      "frame_id": "001993"
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+  "frame_order": [
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+    "001671",
+    "001735",
+    "001800",
+    "001864",
+    "001928",
+    "001993"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0061_01_metadata.json b/metadata/train/scene0061_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d0f39b93d27d1c4e4de9d65a5713c4b9faf93be
--- /dev/null
+++ b/metadata/train/scene0061_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0061_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0061_01.pt",
+  "indices_file": "scene0061_01_indices.pt",
+  "transform_to_world_file": "scene0061_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000060"
+    },
+    {
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+      "frame_id": "000120"
+    },
+    {
+      "index": 3,
+      "frame_id": "000180"
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+    {
+      "index": 4,
+      "frame_id": "000241"
+    },
+    {
+      "index": 5,
+      "frame_id": "000301"
+    },
+    {
+      "index": 6,
+      "frame_id": "000361"
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+    {
+      "index": 7,
+      "frame_id": "000421"
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+      "frame_id": "000482"
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+      "frame_id": "000542"
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+    {
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+      "frame_id": "000602"
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+      "index": 11,
+      "frame_id": "000662"
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+    {
+      "index": 12,
+      "frame_id": "000723"
+    },
+    {
+      "index": 13,
+      "frame_id": "000783"
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+    {
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+      "frame_id": "000843"
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+    {
+      "index": 15,
+      "frame_id": "000903"
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+      "frame_id": "000964"
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+    {
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+      "frame_id": "001024"
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+      "frame_id": "001084"
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+      "frame_id": "001144"
+    },
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+      "frame_id": "001205"
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+      "frame_id": "001265"
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+      "frame_id": "001325"
+    },
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+      "index": 23,
+      "frame_id": "001385"
+    },
+    {
+      "index": 24,
+      "frame_id": "001446"
+    },
+    {
+      "index": 25,
+      "frame_id": "001506"
+    },
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+      "index": 26,
+      "frame_id": "001566"
+    },
+    {
+      "index": 27,
+      "frame_id": "001626"
+    },
+    {
+      "index": 28,
+      "frame_id": "001687"
+    },
+    {
+      "index": 29,
+      "frame_id": "001747"
+    },
+    {
+      "index": 30,
+      "frame_id": "001807"
+    },
+    {
+      "index": 31,
+      "frame_id": "001868"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000060",
+    "000120",
+    "000180",
+    "000241",
+    "000301",
+    "000361",
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+    "000482",
+    "000542",
+    "000602",
+    "000662",
+    "000723",
+    "000783",
+    "000843",
+    "000903",
+    "000964",
+    "001024",
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+    "001205",
+    "001265",
+    "001325",
+    "001385",
+    "001446",
+    "001506",
+    "001566",
+    "001626",
+    "001687",
+    "001747",
+    "001807",
+    "001868"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0073_02_metadata.json b/metadata/train/scene0073_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fcc125ec51c529f4cfadd2c3e3fc21e1eae73ab
--- /dev/null
+++ b/metadata/train/scene0073_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0073_02",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0073_02.pt",
+  "indices_file": "scene0073_02_indices.pt",
+  "transform_to_world_file": "scene0073_02_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000041"
+    },
+    {
+      "index": 2,
+      "frame_id": "000082"
+    },
+    {
+      "index": 3,
+      "frame_id": "000124"
+    },
+    {
+      "index": 4,
+      "frame_id": "000165"
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+    {
+      "index": 5,
+      "frame_id": "000206"
+    },
+    {
+      "index": 6,
+      "frame_id": "000248"
+    },
+    {
+      "index": 7,
+      "frame_id": "000289"
+    },
+    {
+      "index": 8,
+      "frame_id": "000331"
+    },
+    {
+      "index": 9,
+      "frame_id": "000372"
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+    {
+      "index": 10,
+      "frame_id": "000413"
+    },
+    {
+      "index": 11,
+      "frame_id": "000455"
+    },
+    {
+      "index": 12,
+      "frame_id": "000496"
+    },
+    {
+      "index": 13,
+      "frame_id": "000538"
+    },
+    {
+      "index": 14,
+      "frame_id": "000579"
+    },
+    {
+      "index": 15,
+      "frame_id": "000620"
+    },
+    {
+      "index": 16,
+      "frame_id": "000662"
+    },
+    {
+      "index": 17,
+      "frame_id": "000703"
+    },
+    {
+      "index": 18,
+      "frame_id": "000744"
+    },
+    {
+      "index": 19,
+      "frame_id": "000786"
+    },
+    {
+      "index": 20,
+      "frame_id": "000827"
+    },
+    {
+      "index": 21,
+      "frame_id": "000869"
+    },
+    {
+      "index": 22,
+      "frame_id": "000910"
+    },
+    {
+      "index": 23,
+      "frame_id": "000951"
+    },
+    {
+      "index": 24,
+      "frame_id": "000993"
+    },
+    {
+      "index": 25,
+      "frame_id": "001034"
+    },
+    {
+      "index": 26,
+      "frame_id": "001076"
+    },
+    {
+      "index": 27,
+      "frame_id": "001117"
+    },
+    {
+      "index": 28,
+      "frame_id": "001158"
+    },
+    {
+      "index": 29,
+      "frame_id": "001200"
+    },
+    {
+      "index": 30,
+      "frame_id": "001241"
+    },
+    {
+      "index": 31,
+      "frame_id": "001283"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000041",
+    "000082",
+    "000124",
+    "000165",
+    "000206",
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+    "000372",
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+    "000496",
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+    "001034",
+    "001076",
+    "001117",
+    "001158",
+    "001200",
+    "001241",
+    "001283"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0074_01_metadata.json b/metadata/train/scene0074_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd52c74fe644ac03e9ab83d6c74a3eaebf7b8b03
--- /dev/null
+++ b/metadata/train/scene0074_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0074_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 30,
+  "invalid_frames_count": 2,
+  "output_shape": [
+    30,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    30
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0074_01.pt",
+  "indices_file": "scene0074_01_indices.pt",
+  "transform_to_world_file": "scene0074_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000103"
+    },
+    {
+      "index": 2,
+      "frame_id": "000207"
+    },
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+      "frame_id": "000311"
+    },
+    {
+      "index": 4,
+      "frame_id": "000415"
+    },
+    {
+      "index": 5,
+      "frame_id": "000519"
+    },
+    {
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+      "frame_id": "000623"
+    },
+    {
+      "index": 7,
+      "frame_id": "000727"
+    },
+    {
+      "index": 8,
+      "frame_id": "000830"
+    },
+    {
+      "index": 9,
+      "frame_id": "000934"
+    },
+    {
+      "index": 10,
+      "frame_id": "001038"
+    },
+    {
+      "index": 11,
+      "frame_id": "001142"
+    },
+    {
+      "index": 12,
+      "frame_id": "001246"
+    },
+    {
+      "index": 13,
+      "frame_id": "001350"
+    },
+    {
+      "index": 14,
+      "frame_id": "001454"
+    },
+    {
+      "index": 15,
+      "frame_id": "001558"
+    },
+    {
+      "index": 17,
+      "frame_id": "001765"
+    },
+    {
+      "index": 18,
+      "frame_id": "001869"
+    },
+    {
+      "index": 19,
+      "frame_id": "001973"
+    },
+    {
+      "index": 20,
+      "frame_id": "002077"
+    },
+    {
+      "index": 21,
+      "frame_id": "002181"
+    },
+    {
+      "index": 22,
+      "frame_id": "002285"
+    },
+    {
+      "index": 23,
+      "frame_id": "002389"
+    },
+    {
+      "index": 24,
+      "frame_id": "002492"
+    },
+    {
+      "index": 25,
+      "frame_id": "002596"
+    },
+    {
+      "index": 26,
+      "frame_id": "002700"
+    },
+    {
+      "index": 27,
+      "frame_id": "002804"
+    },
+    {
+      "index": 28,
+      "frame_id": "002908"
+    },
+    {
+      "index": 29,
+      "frame_id": "003012"
+    },
+    {
+      "index": 30,
+      "frame_id": "003116"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 16,
+      "frame_id": "001661",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 31,
+      "frame_id": "003220",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "000103",
+    "000207",
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+    "000415",
+    "000519",
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+    "000934",
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+    "002492",
+    "002596",
+    "002700",
+    "002804",
+    "002908",
+    "003012",
+    "003116"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0075_00_metadata.json b/metadata/train/scene0075_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a911128878af57372f4488497c710a4756790c9
--- /dev/null
+++ b/metadata/train/scene0075_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0075_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 25,
+  "invalid_frames_count": 7,
+  "output_shape": [
+    25,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    25
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0075_00.pt",
+  "indices_file": "scene0075_00_indices.pt",
+  "transform_to_world_file": "scene0075_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000028"
+    },
+    {
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+      "frame_id": "000057"
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+      "frame_id": "000085"
+    },
+    {
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+      "frame_id": "000114"
+    },
+    {
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+      "frame_id": "000142"
+    },
+    {
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+      "frame_id": "000171"
+    },
+    {
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+      "frame_id": "000199"
+    },
+    {
+      "index": 8,
+      "frame_id": "000228"
+    },
+    {
+      "index": 9,
+      "frame_id": "000256"
+    },
+    {
+      "index": 10,
+      "frame_id": "000285"
+    },
+    {
+      "index": 11,
+      "frame_id": "000313"
+    },
+    {
+      "index": 12,
+      "frame_id": "000342"
+    },
+    {
+      "index": 13,
+      "frame_id": "000370"
+    },
+    {
+      "index": 14,
+      "frame_id": "000399"
+    },
+    {
+      "index": 15,
+      "frame_id": "000427"
+    },
+    {
+      "index": 16,
+      "frame_id": "000456"
+    },
+    {
+      "index": 17,
+      "frame_id": "000484"
+    },
+    {
+      "index": 18,
+      "frame_id": "000513"
+    },
+    {
+      "index": 19,
+      "frame_id": "000541"
+    },
+    {
+      "index": 20,
+      "frame_id": "000570"
+    },
+    {
+      "index": 21,
+      "frame_id": "000598"
+    },
+    {
+      "index": 22,
+      "frame_id": "000627"
+    },
+    {
+      "index": 23,
+      "frame_id": "000655"
+    },
+    {
+      "index": 24,
+      "frame_id": "000684"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 25,
+      "frame_id": "000712",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 26,
+      "frame_id": "000741",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 27,
+      "frame_id": "000769",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 28,
+      "frame_id": "000798",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 29,
+      "frame_id": "000826",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 30,
+      "frame_id": "000855",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 31,
+      "frame_id": "000884",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "000028",
+    "000057",
+    "000085",
+    "000114",
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+    "000370",
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+    "000484",
+    "000513",
+    "000541",
+    "000570",
+    "000598",
+    "000627",
+    "000655",
+    "000684"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0093_01_metadata.json b/metadata/train/scene0093_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8a83400ed66d3eebc1cb188942bae7cd4ba2f5c
--- /dev/null
+++ b/metadata/train/scene0093_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0093_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0093_01.pt",
+  "indices_file": "scene0093_01_indices.pt",
+  "transform_to_world_file": "scene0093_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
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+    "frame_id": "000000"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0105_01_metadata.json b/metadata/train/scene0105_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ead3eeefca053ffcd47ba5df2db5e46086308b2
--- /dev/null
+++ b/metadata/train/scene0105_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0105_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0105_01.pt",
+  "indices_file": "scene0105_01_indices.pt",
+  "transform_to_world_file": "scene0105_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
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+      "frame_id": "000000"
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+    {
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+      "frame_id": "001086"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0107_00_metadata.json b/metadata/train/scene0107_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..832fb73c5ca3288c941cedd1ae9a5561e5c9fbc7
--- /dev/null
+++ b/metadata/train/scene0107_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0107_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0107_00.pt",
+  "indices_file": "scene0107_00_indices.pt",
+  "transform_to_world_file": "scene0107_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
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+      "frame_id": "000000"
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+      "frame_id": "001067"
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+      "frame_id": "001143"
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+      "frame_id": "001220"
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+      "frame_id": "002211"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0110_01_metadata.json b/metadata/train/scene0110_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..29e2ddae36486889f95d6d523b2a31648f520333
--- /dev/null
+++ b/metadata/train/scene0110_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0110_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0110_01.pt",
+  "indices_file": "scene0110_01_indices.pt",
+  "transform_to_world_file": "scene0110_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
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+  "valid_view_mapping": [
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+      "frame_id": "000000"
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+      "frame_id": "000268"
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+      "frame_id": "000375"
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+    {
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+      "frame_id": "000402"
+    },
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+      "frame_id": "000429"
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+    {
+      "index": 17,
+      "frame_id": "000456"
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+      "frame_id": "000483"
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+      "frame_id": "000509"
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+      "frame_id": "000590"
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+      "frame_id": "000617"
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+      "frame_id": "000670"
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+      "frame_id": "000724"
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+      "frame_id": "000751"
+    },
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+      "frame_id": "000778"
+    },
+    {
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+      "frame_id": "000805"
+    },
+    {
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+      "frame_id": "000832"
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+  ],
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+  "frame_order": [
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0117_00_metadata.json b/metadata/train/scene0117_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b863dab9871e11df04223dd947314b53dec4d6cb
--- /dev/null
+++ b/metadata/train/scene0117_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0117_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0117_00.pt",
+  "indices_file": "scene0117_00_indices.pt",
+  "transform_to_world_file": "scene0117_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
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+    432
+  ],
+  "original_image_size": [
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+    480
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+  "valid_view_mapping": [
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+      "frame_id": "000000"
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+    {
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+      "frame_id": "000596"
+    },
+    {
+      "index": 31,
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+  "frame_order": [
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+    "000536",
+    "000556",
+    "000576",
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+    "000616"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0121_01_metadata.json b/metadata/train/scene0121_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6df2cb537d59e0b336a0ee7f9908d401ca3d0326
--- /dev/null
+++ b/metadata/train/scene0121_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0121_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0121_01.pt",
+  "indices_file": "scene0121_01_indices.pt",
+  "transform_to_world_file": "scene0121_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000048"
+    },
+    {
+      "index": 2,
+      "frame_id": "000096"
+    },
+    {
+      "index": 3,
+      "frame_id": "000145"
+    },
+    {
+      "index": 4,
+      "frame_id": "000193"
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+    {
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+      "frame_id": "000241"
+    },
+    {
+      "index": 6,
+      "frame_id": "000290"
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+    {
+      "index": 7,
+      "frame_id": "000338"
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+      "index": 8,
+      "frame_id": "000386"
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+      "frame_id": "000435"
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+    {
+      "index": 10,
+      "frame_id": "000483"
+    },
+    {
+      "index": 11,
+      "frame_id": "000531"
+    },
+    {
+      "index": 12,
+      "frame_id": "000580"
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+    {
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+      "frame_id": "000628"
+    },
+    {
+      "index": 14,
+      "frame_id": "000676"
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+    {
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+      "frame_id": "000725"
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+      "index": 16,
+      "frame_id": "000773"
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+      "index": 17,
+      "frame_id": "000822"
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+      "frame_id": "000870"
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+    {
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+      "frame_id": "000918"
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+    {
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+      "frame_id": "000967"
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+      "frame_id": "001015"
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+      "frame_id": "001063"
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+      "frame_id": "001112"
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+    {
+      "index": 24,
+      "frame_id": "001160"
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+    {
+      "index": 25,
+      "frame_id": "001208"
+    },
+    {
+      "index": 26,
+      "frame_id": "001257"
+    },
+    {
+      "index": 27,
+      "frame_id": "001305"
+    },
+    {
+      "index": 28,
+      "frame_id": "001353"
+    },
+    {
+      "index": 29,
+      "frame_id": "001402"
+    },
+    {
+      "index": 30,
+      "frame_id": "001450"
+    },
+    {
+      "index": 31,
+      "frame_id": "001499"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000048",
+    "000096",
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+    "000435",
+    "000483",
+    "000531",
+    "000580",
+    "000628",
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+    "000725",
+    "000773",
+    "000822",
+    "000870",
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+    "001063",
+    "001112",
+    "001160",
+    "001208",
+    "001257",
+    "001305",
+    "001353",
+    "001402",
+    "001450",
+    "001499"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0140_00_metadata.json b/metadata/train/scene0140_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..88262499568b684fdebff2e41bb151956945542e
--- /dev/null
+++ b/metadata/train/scene0140_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0140_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0140_00.pt",
+  "indices_file": "scene0140_00_indices.pt",
+  "transform_to_world_file": "scene0140_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000138"
+    },
+    {
+      "index": 2,
+      "frame_id": "000276"
+    },
+    {
+      "index": 3,
+      "frame_id": "000415"
+    },
+    {
+      "index": 4,
+      "frame_id": "000553"
+    },
+    {
+      "index": 5,
+      "frame_id": "000692"
+    },
+    {
+      "index": 6,
+      "frame_id": "000830"
+    },
+    {
+      "index": 7,
+      "frame_id": "000969"
+    },
+    {
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+      "frame_id": "001107"
+    },
+    {
+      "index": 9,
+      "frame_id": "001246"
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+    {
+      "index": 10,
+      "frame_id": "001384"
+    },
+    {
+      "index": 11,
+      "frame_id": "001523"
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+    {
+      "index": 12,
+      "frame_id": "001661"
+    },
+    {
+      "index": 13,
+      "frame_id": "001800"
+    },
+    {
+      "index": 14,
+      "frame_id": "001938"
+    },
+    {
+      "index": 15,
+      "frame_id": "002077"
+    },
+    {
+      "index": 16,
+      "frame_id": "002215"
+    },
+    {
+      "index": 17,
+      "frame_id": "002354"
+    },
+    {
+      "index": 18,
+      "frame_id": "002492"
+    },
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+      "index": 19,
+      "frame_id": "002631"
+    },
+    {
+      "index": 20,
+      "frame_id": "002769"
+    },
+    {
+      "index": 21,
+      "frame_id": "002908"
+    },
+    {
+      "index": 22,
+      "frame_id": "003046"
+    },
+    {
+      "index": 23,
+      "frame_id": "003185"
+    },
+    {
+      "index": 24,
+      "frame_id": "003323"
+    },
+    {
+      "index": 25,
+      "frame_id": "003462"
+    },
+    {
+      "index": 26,
+      "frame_id": "003600"
+    },
+    {
+      "index": 27,
+      "frame_id": "003739"
+    },
+    {
+      "index": 28,
+      "frame_id": "003877"
+    },
+    {
+      "index": 29,
+      "frame_id": "004016"
+    },
+    {
+      "index": 30,
+      "frame_id": "004154"
+    },
+    {
+      "index": 31,
+      "frame_id": "004293"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000138",
+    "000276",
+    "000415",
+    "000553",
+    "000692",
+    "000830",
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+    "001661",
+    "001800",
+    "001938",
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+    "003323",
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+    "003600",
+    "003739",
+    "003877",
+    "004016",
+    "004154",
+    "004293"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0141_02_metadata.json b/metadata/train/scene0141_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1b33c8ffab7be0c22cff0f15081a072eed1b1fe
--- /dev/null
+++ b/metadata/train/scene0141_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0141_02",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0141_02.pt",
+  "indices_file": "scene0141_02_indices.pt",
+  "transform_to_world_file": "scene0141_02_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000031"
+    },
+    {
+      "index": 2,
+      "frame_id": "000062"
+    },
+    {
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+      "frame_id": "000093"
+    },
+    {
+      "index": 4,
+      "frame_id": "000124"
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+    {
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+      "frame_id": "000155"
+    },
+    {
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+      "frame_id": "000186"
+    },
+    {
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+      "frame_id": "000218"
+    },
+    {
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+      "frame_id": "000249"
+    },
+    {
+      "index": 9,
+      "frame_id": "000280"
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+    {
+      "index": 10,
+      "frame_id": "000311"
+    },
+    {
+      "index": 11,
+      "frame_id": "000342"
+    },
+    {
+      "index": 12,
+      "frame_id": "000373"
+    },
+    {
+      "index": 13,
+      "frame_id": "000405"
+    },
+    {
+      "index": 14,
+      "frame_id": "000436"
+    },
+    {
+      "index": 15,
+      "frame_id": "000467"
+    },
+    {
+      "index": 16,
+      "frame_id": "000498"
+    },
+    {
+      "index": 17,
+      "frame_id": "000529"
+    },
+    {
+      "index": 18,
+      "frame_id": "000560"
+    },
+    {
+      "index": 19,
+      "frame_id": "000592"
+    },
+    {
+      "index": 20,
+      "frame_id": "000623"
+    },
+    {
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+      "frame_id": "000654"
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+      "index": 22,
+      "frame_id": "000685"
+    },
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+      "index": 23,
+      "frame_id": "000716"
+    },
+    {
+      "index": 24,
+      "frame_id": "000747"
+    },
+    {
+      "index": 25,
+      "frame_id": "000779"
+    },
+    {
+      "index": 26,
+      "frame_id": "000810"
+    },
+    {
+      "index": 27,
+      "frame_id": "000841"
+    },
+    {
+      "index": 28,
+      "frame_id": "000872"
+    },
+    {
+      "index": 29,
+      "frame_id": "000903"
+    },
+    {
+      "index": 30,
+      "frame_id": "000934"
+    },
+    {
+      "index": 31,
+      "frame_id": "000966"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000062",
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+    "000124",
+    "000155",
+    "000186",
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+    "000280",
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+    "000966"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0142_00_metadata.json b/metadata/train/scene0142_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3693d4c7677ad61839350af071c95049b5b3ded1
--- /dev/null
+++ b/metadata/train/scene0142_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0142_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0142_00.pt",
+  "indices_file": "scene0142_00_indices.pt",
+  "transform_to_world_file": "scene0142_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
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+      "frame_id": "000000"
+    },
+    {
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+      "frame_id": "000078"
+    },
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+      "frame_id": "000156"
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+      "frame_id": "000235"
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+      "frame_id": "000313"
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+      "frame_id": "000392"
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+      "frame_id": "000470"
+    },
+    {
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+      "frame_id": "000549"
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+      "frame_id": "000627"
+    },
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+      "index": 9,
+      "frame_id": "000706"
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+    {
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+      "frame_id": "000784"
+    },
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+      "index": 11,
+      "frame_id": "000863"
+    },
+    {
+      "index": 12,
+      "frame_id": "000941"
+    },
+    {
+      "index": 13,
+      "frame_id": "001020"
+    },
+    {
+      "index": 14,
+      "frame_id": "001098"
+    },
+    {
+      "index": 15,
+      "frame_id": "001177"
+    },
+    {
+      "index": 16,
+      "frame_id": "001255"
+    },
+    {
+      "index": 17,
+      "frame_id": "001334"
+    },
+    {
+      "index": 18,
+      "frame_id": "001412"
+    },
+    {
+      "index": 19,
+      "frame_id": "001491"
+    },
+    {
+      "index": 20,
+      "frame_id": "001569"
+    },
+    {
+      "index": 21,
+      "frame_id": "001648"
+    },
+    {
+      "index": 22,
+      "frame_id": "001726"
+    },
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+      "frame_id": "001805"
+    },
+    {
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+      "frame_id": "001883"
+    },
+    {
+      "index": 25,
+      "frame_id": "001962"
+    },
+    {
+      "index": 26,
+      "frame_id": "002040"
+    },
+    {
+      "index": 27,
+      "frame_id": "002119"
+    },
+    {
+      "index": 28,
+      "frame_id": "002197"
+    },
+    {
+      "index": 29,
+      "frame_id": "002276"
+    },
+    {
+      "index": 30,
+      "frame_id": "002354"
+    },
+    {
+      "index": 31,
+      "frame_id": "002433"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000078",
+    "000156",
+    "000235",
+    "000313",
+    "000392",
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+    "002276",
+    "002354",
+    "002433"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0143_00_metadata.json b/metadata/train/scene0143_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8f26baa5dc1dbbd113169349864d733df7b5ea3
--- /dev/null
+++ b/metadata/train/scene0143_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0143_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0143_00.pt",
+  "indices_file": "scene0143_00_indices.pt",
+  "transform_to_world_file": "scene0143_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000007"
+    },
+    {
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+      "frame_id": "000015"
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+      "frame_id": "000023"
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+      "frame_id": "000030"
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+    {
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+      "frame_id": "000038"
+    },
+    {
+      "index": 6,
+      "frame_id": "000046"
+    },
+    {
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+      "frame_id": "000053"
+    },
+    {
+      "index": 8,
+      "frame_id": "000061"
+    },
+    {
+      "index": 9,
+      "frame_id": "000069"
+    },
+    {
+      "index": 10,
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0152_00_metadata.json b/metadata/train/scene0152_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..30e6110a053a5c893dcd9d7738c3b583a4c749e3
--- /dev/null
+++ b/metadata/train/scene0152_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0152_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 18,
+  "invalid_frames_count": 14,
+  "output_shape": [
+    18,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    18
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0152_00.pt",
+  "indices_file": "scene0152_00_indices.pt",
+  "transform_to_world_file": "scene0152_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
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+      "frame_id": "000000"
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+      "frame_id": "001832"
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+      "frame_id": "001900"
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+      "frame_id": "002036"
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+      "frame_id": "001085",
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+      "reason": "invalid_pose"
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+      "frame_id": "001561",
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+    "001968",
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+    "002104"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0161_00_metadata.json b/metadata/train/scene0161_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a78cd0533b9dfab42876bdec6ddd4f4aed0ea03c
--- /dev/null
+++ b/metadata/train/scene0161_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0161_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0161_00.pt",
+  "indices_file": "scene0161_00_indices.pt",
+  "transform_to_world_file": "scene0161_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
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+    432
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+  "original_image_size": [
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+    480
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+      "frame_id": "000236"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0163_00_metadata.json b/metadata/train/scene0163_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e3c9649df25e371277dec8547b85a889fba6f87
--- /dev/null
+++ b/metadata/train/scene0163_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0163_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0163_00.pt",
+  "indices_file": "scene0163_00_indices.pt",
+  "transform_to_world_file": "scene0163_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
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+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
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+      "frame_id": "000000"
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+      "frame_id": "000569"
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+      "frame_id": "000711"
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+      "frame_id": "000924"
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+      "frame_id": "000995"
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+    {
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+      "frame_id": "001066"
+    },
+    {
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+      "frame_id": "001138"
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+      "frame_id": "001209"
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+      "frame_id": "001280"
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+      "frame_id": "001635"
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+      "frame_id": "002062"
+    },
+    {
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+      "frame_id": "002133"
+    },
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+      "frame_id": "002205"
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+  ],
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+  "frame_order": [
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0170_02_metadata.json b/metadata/train/scene0170_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a45e0313d16d7a1c0518e1def51115387294e37
--- /dev/null
+++ b/metadata/train/scene0170_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0170_02",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0170_02.pt",
+  "indices_file": "scene0170_02_indices.pt",
+  "transform_to_world_file": "scene0170_02_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
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+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
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+      "frame_id": "000000"
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+      "frame_id": "000287"
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+      "frame_id": "000316"
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+      "frame_id": "000402"
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+      "frame_id": "000431"
+    },
+    {
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+      "frame_id": "000459"
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+      "frame_id": "000488"
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+    {
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+      "frame_id": "000517"
+    },
+    {
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+      "frame_id": "000546"
+    },
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+      "frame_id": "000776"
+    },
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+      "frame_id": "000804"
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+      "frame_id": "000833"
+    },
+    {
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+      "frame_id": "000862"
+    },
+    {
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+      "frame_id": "000891"
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+  ],
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+  "frame_order": [
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0186_00_metadata.json b/metadata/train/scene0186_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8e70d0977895edafe9561a174b9bb67e03cdc7e
--- /dev/null
+++ b/metadata/train/scene0186_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0186_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0186_00.pt",
+  "indices_file": "scene0186_00_indices.pt",
+  "transform_to_world_file": "scene0186_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000083"
+    },
+    {
+      "index": 2,
+      "frame_id": "000166"
+    },
+    {
+      "index": 3,
+      "frame_id": "000249"
+    },
+    {
+      "index": 4,
+      "frame_id": "000333"
+    },
+    {
+      "index": 5,
+      "frame_id": "000416"
+    },
+    {
+      "index": 6,
+      "frame_id": "000499"
+    },
+    {
+      "index": 7,
+      "frame_id": "000583"
+    },
+    {
+      "index": 8,
+      "frame_id": "000666"
+    },
+    {
+      "index": 9,
+      "frame_id": "000749"
+    },
+    {
+      "index": 10,
+      "frame_id": "000832"
+    },
+    {
+      "index": 11,
+      "frame_id": "000916"
+    },
+    {
+      "index": 12,
+      "frame_id": "000999"
+    },
+    {
+      "index": 13,
+      "frame_id": "001082"
+    },
+    {
+      "index": 14,
+      "frame_id": "001166"
+    },
+    {
+      "index": 15,
+      "frame_id": "001249"
+    },
+    {
+      "index": 16,
+      "frame_id": "001332"
+    },
+    {
+      "index": 17,
+      "frame_id": "001415"
+    },
+    {
+      "index": 18,
+      "frame_id": "001499"
+    },
+    {
+      "index": 19,
+      "frame_id": "001582"
+    },
+    {
+      "index": 20,
+      "frame_id": "001665"
+    },
+    {
+      "index": 21,
+      "frame_id": "001749"
+    },
+    {
+      "index": 22,
+      "frame_id": "001832"
+    },
+    {
+      "index": 23,
+      "frame_id": "001915"
+    },
+    {
+      "index": 24,
+      "frame_id": "001998"
+    },
+    {
+      "index": 25,
+      "frame_id": "002082"
+    },
+    {
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+      "frame_id": "002165"
+    },
+    {
+      "index": 27,
+      "frame_id": "002248"
+    },
+    {
+      "index": 28,
+      "frame_id": "002332"
+    },
+    {
+      "index": 29,
+      "frame_id": "002415"
+    },
+    {
+      "index": 30,
+      "frame_id": "002498"
+    },
+    {
+      "index": 31,
+      "frame_id": "002582"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000083",
+    "000166",
+    "000249",
+    "000333",
+    "000416",
+    "000499",
+    "000583",
+    "000666",
+    "000749",
+    "000832",
+    "000916",
+    "000999",
+    "001082",
+    "001166",
+    "001249",
+    "001332",
+    "001415",
+    "001499",
+    "001582",
+    "001665",
+    "001749",
+    "001832",
+    "001915",
+    "001998",
+    "002082",
+    "002165",
+    "002248",
+    "002332",
+    "002415",
+    "002498",
+    "002582"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0197_00_metadata.json b/metadata/train/scene0197_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0eb48a9ca03aa4c38512d847f79f28d3e910d273
--- /dev/null
+++ b/metadata/train/scene0197_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0197_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0197_00.pt",
+  "indices_file": "scene0197_00_indices.pt",
+  "transform_to_world_file": "scene0197_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000067"
+    },
+    {
+      "index": 2,
+      "frame_id": "000135"
+    },
+    {
+      "index": 3,
+      "frame_id": "000203"
+    },
+    {
+      "index": 4,
+      "frame_id": "000271"
+    },
+    {
+      "index": 5,
+      "frame_id": "000338"
+    },
+    {
+      "index": 6,
+      "frame_id": "000406"
+    },
+    {
+      "index": 7,
+      "frame_id": "000474"
+    },
+    {
+      "index": 8,
+      "frame_id": "000542"
+    },
+    {
+      "index": 9,
+      "frame_id": "000609"
+    },
+    {
+      "index": 10,
+      "frame_id": "000677"
+    },
+    {
+      "index": 11,
+      "frame_id": "000745"
+    },
+    {
+      "index": 12,
+      "frame_id": "000813"
+    },
+    {
+      "index": 13,
+      "frame_id": "000881"
+    },
+    {
+      "index": 14,
+      "frame_id": "000948"
+    },
+    {
+      "index": 15,
+      "frame_id": "001016"
+    },
+    {
+      "index": 16,
+      "frame_id": "001084"
+    },
+    {
+      "index": 17,
+      "frame_id": "001152"
+    },
+    {
+      "index": 18,
+      "frame_id": "001219"
+    },
+    {
+      "index": 19,
+      "frame_id": "001287"
+    },
+    {
+      "index": 20,
+      "frame_id": "001355"
+    },
+    {
+      "index": 21,
+      "frame_id": "001423"
+    },
+    {
+      "index": 22,
+      "frame_id": "001491"
+    },
+    {
+      "index": 23,
+      "frame_id": "001558"
+    },
+    {
+      "index": 24,
+      "frame_id": "001626"
+    },
+    {
+      "index": 25,
+      "frame_id": "001694"
+    },
+    {
+      "index": 26,
+      "frame_id": "001762"
+    },
+    {
+      "index": 27,
+      "frame_id": "001829"
+    },
+    {
+      "index": 28,
+      "frame_id": "001897"
+    },
+    {
+      "index": 29,
+      "frame_id": "001965"
+    },
+    {
+      "index": 30,
+      "frame_id": "002033"
+    },
+    {
+      "index": 31,
+      "frame_id": "002101"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000067",
+    "000135",
+    "000203",
+    "000271",
+    "000338",
+    "000406",
+    "000474",
+    "000542",
+    "000609",
+    "000677",
+    "000745",
+    "000813",
+    "000881",
+    "000948",
+    "001016",
+    "001084",
+    "001152",
+    "001219",
+    "001287",
+    "001355",
+    "001423",
+    "001491",
+    "001558",
+    "001626",
+    "001694",
+    "001762",
+    "001829",
+    "001897",
+    "001965",
+    "002033",
+    "002101"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0204_01_metadata.json b/metadata/train/scene0204_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e66eb98dea390c20488dae2065fcbb6c273805c
--- /dev/null
+++ b/metadata/train/scene0204_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0204_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 29,
+  "invalid_frames_count": 3,
+  "output_shape": [
+    29,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    29
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0204_01.pt",
+  "indices_file": "scene0204_01_indices.pt",
+  "transform_to_world_file": "scene0204_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000026"
+    },
+    {
+      "index": 2,
+      "frame_id": "000053"
+    },
+    {
+      "index": 3,
+      "frame_id": "000079"
+    },
+    {
+      "index": 4,
+      "frame_id": "000106"
+    },
+    {
+      "index": 5,
+      "frame_id": "000132"
+    },
+    {
+      "index": 6,
+      "frame_id": "000159"
+    },
+    {
+      "index": 7,
+      "frame_id": "000185"
+    },
+    {
+      "index": 8,
+      "frame_id": "000212"
+    },
+    {
+      "index": 9,
+      "frame_id": "000238"
+    },
+    {
+      "index": 10,
+      "frame_id": "000265"
+    },
+    {
+      "index": 11,
+      "frame_id": "000291"
+    },
+    {
+      "index": 12,
+      "frame_id": "000318"
+    },
+    {
+      "index": 13,
+      "frame_id": "000344"
+    },
+    {
+      "index": 14,
+      "frame_id": "000371"
+    },
+    {
+      "index": 15,
+      "frame_id": "000397"
+    },
+    {
+      "index": 16,
+      "frame_id": "000424"
+    },
+    {
+      "index": 17,
+      "frame_id": "000450"
+    },
+    {
+      "index": 18,
+      "frame_id": "000477"
+    },
+    {
+      "index": 19,
+      "frame_id": "000503"
+    },
+    {
+      "index": 23,
+      "frame_id": "000609"
+    },
+    {
+      "index": 24,
+      "frame_id": "000636"
+    },
+    {
+      "index": 25,
+      "frame_id": "000662"
+    },
+    {
+      "index": 26,
+      "frame_id": "000689"
+    },
+    {
+      "index": 27,
+      "frame_id": "000715"
+    },
+    {
+      "index": 28,
+      "frame_id": "000742"
+    },
+    {
+      "index": 29,
+      "frame_id": "000768"
+    },
+    {
+      "index": 30,
+      "frame_id": "000795"
+    },
+    {
+      "index": 31,
+      "frame_id": "000822"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 20,
+      "frame_id": "000530",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 21,
+      "frame_id": "000556",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 22,
+      "frame_id": "000583",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
+    "000000",
+    "000026",
+    "000053",
+    "000079",
+    "000106",
+    "000132",
+    "000159",
+    "000185",
+    "000212",
+    "000238",
+    "000265",
+    "000291",
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+    "000477",
+    "000503",
+    "000609",
+    "000636",
+    "000662",
+    "000689",
+    "000715",
+    "000742",
+    "000768",
+    "000795",
+    "000822"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0205_02_metadata.json b/metadata/train/scene0205_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e55300a4447b3cbe9c6e2e2169505d6e07a93e9
--- /dev/null
+++ b/metadata/train/scene0205_02_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0205_02",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 30,
+  "invalid_frames_count": 2,
+  "output_shape": [
+    30,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    30
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0205_02.pt",
+  "indices_file": "scene0205_02_indices.pt",
+  "transform_to_world_file": "scene0205_02_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000036"
+    },
+    {
+      "index": 2,
+      "frame_id": "000072"
+    },
+    {
+      "index": 3,
+      "frame_id": "000108"
+    },
+    {
+      "index": 5,
+      "frame_id": "000180"
+    },
+    {
+      "index": 6,
+      "frame_id": "000216"
+    },
+    {
+      "index": 7,
+      "frame_id": "000252"
+    },
+    {
+      "index": 8,
+      "frame_id": "000288"
+    },
+    {
+      "index": 9,
+      "frame_id": "000324"
+    },
+    {
+      "index": 10,
+      "frame_id": "000360"
+    },
+    {
+      "index": 11,
+      "frame_id": "000396"
+    },
+    {
+      "index": 12,
+      "frame_id": "000432"
+    },
+    {
+      "index": 13,
+      "frame_id": "000468"
+    },
+    {
+      "index": 14,
+      "frame_id": "000504"
+    },
+    {
+      "index": 15,
+      "frame_id": "000540"
+    },
+    {
+      "index": 16,
+      "frame_id": "000577"
+    },
+    {
+      "index": 17,
+      "frame_id": "000613"
+    },
+    {
+      "index": 18,
+      "frame_id": "000649"
+    },
+    {
+      "index": 19,
+      "frame_id": "000685"
+    },
+    {
+      "index": 20,
+      "frame_id": "000721"
+    },
+    {
+      "index": 21,
+      "frame_id": "000757"
+    },
+    {
+      "index": 22,
+      "frame_id": "000793"
+    },
+    {
+      "index": 23,
+      "frame_id": "000829"
+    },
+    {
+      "index": 25,
+      "frame_id": "000901"
+    },
+    {
+      "index": 26,
+      "frame_id": "000937"
+    },
+    {
+      "index": 27,
+      "frame_id": "000973"
+    },
+    {
+      "index": 28,
+      "frame_id": "001009"
+    },
+    {
+      "index": 29,
+      "frame_id": "001045"
+    },
+    {
+      "index": 30,
+      "frame_id": "001081"
+    },
+    {
+      "index": 31,
+      "frame_id": "001118"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 4,
+      "frame_id": "000144",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 24,
+      "frame_id": "000865",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
+    "000000",
+    "000036",
+    "000072",
+    "000108",
+    "000180",
+    "000216",
+    "000252",
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+    "000829",
+    "000901",
+    "000937",
+    "000973",
+    "001009",
+    "001045",
+    "001081",
+    "001118"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0214_02_metadata.json b/metadata/train/scene0214_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..87f93f7bde6bc20d76a262d043dc784c7c1ee90e
--- /dev/null
+++ b/metadata/train/scene0214_02_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0214_02",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 30,
+  "invalid_frames_count": 2,
+  "output_shape": [
+    30,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    30
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0214_02.pt",
+  "indices_file": "scene0214_02_indices.pt",
+  "transform_to_world_file": "scene0214_02_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000033"
+    },
+    {
+      "index": 2,
+      "frame_id": "000067"
+    },
+    {
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+      "frame_id": "000101"
+    },
+    {
+      "index": 4,
+      "frame_id": "000135"
+    },
+    {
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+      "frame_id": "000169"
+    },
+    {
+      "index": 6,
+      "frame_id": "000203"
+    },
+    {
+      "index": 7,
+      "frame_id": "000236"
+    },
+    {
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+      "frame_id": "000270"
+    },
+    {
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+      "frame_id": "000304"
+    },
+    {
+      "index": 10,
+      "frame_id": "000338"
+    },
+    {
+      "index": 11,
+      "frame_id": "000372"
+    },
+    {
+      "index": 12,
+      "frame_id": "000406"
+    },
+    {
+      "index": 13,
+      "frame_id": "000439"
+    },
+    {
+      "index": 14,
+      "frame_id": "000473"
+    },
+    {
+      "index": 15,
+      "frame_id": "000507"
+    },
+    {
+      "index": 16,
+      "frame_id": "000541"
+    },
+    {
+      "index": 17,
+      "frame_id": "000575"
+    },
+    {
+      "index": 18,
+      "frame_id": "000609"
+    },
+    {
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+      "frame_id": "000981"
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+      "frame_id": "001015"
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+    {
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+      "frame_id": "000812",
+      "reason": "invalid_pose"
+    },
+    {
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+      "frame_id": "000845",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "000778",
+    "000879",
+    "000913",
+    "000947",
+    "000981",
+    "001015",
+    "001049"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0232_00_metadata.json b/metadata/train/scene0232_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..474d27c1acde1a38f193fc6b11d3308aa5586c68
--- /dev/null
+++ b/metadata/train/scene0232_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0232_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0232_00.pt",
+  "indices_file": "scene0232_00_indices.pt",
+  "transform_to_world_file": "scene0232_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000072"
+    },
+    {
+      "index": 2,
+      "frame_id": "000144"
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+    {
+      "index": 3,
+      "frame_id": "000216"
+    },
+    {
+      "index": 4,
+      "frame_id": "000289"
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+    {
+      "index": 5,
+      "frame_id": "000361"
+    },
+    {
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+      "frame_id": "000433"
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+    {
+      "index": 7,
+      "frame_id": "000506"
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+      "frame_id": "000578"
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+      "frame_id": "000650"
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+      "frame_id": "000722"
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+      "frame_id": "000795"
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+    {
+      "index": 12,
+      "frame_id": "000867"
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+    {
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+      "frame_id": "000939"
+    },
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+      "index": 14,
+      "frame_id": "001012"
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+    {
+      "index": 15,
+      "frame_id": "001084"
+    },
+    {
+      "index": 16,
+      "frame_id": "001156"
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+      "index": 17,
+      "frame_id": "001228"
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+    {
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+      "frame_id": "001301"
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+      "index": 19,
+      "frame_id": "001373"
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+    {
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+      "frame_id": "001445"
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+      "frame_id": "001518"
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+      "frame_id": "001590"
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+      "frame_id": "001662"
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+      "index": 24,
+      "frame_id": "001734"
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+    {
+      "index": 25,
+      "frame_id": "001807"
+    },
+    {
+      "index": 26,
+      "frame_id": "001879"
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+    {
+      "index": 27,
+      "frame_id": "001951"
+    },
+    {
+      "index": 28,
+      "frame_id": "002024"
+    },
+    {
+      "index": 29,
+      "frame_id": "002096"
+    },
+    {
+      "index": 30,
+      "frame_id": "002168"
+    },
+    {
+      "index": 31,
+      "frame_id": "002241"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000072",
+    "000144",
+    "000216",
+    "000289",
+    "000361",
+    "000433",
+    "000506",
+    "000578",
+    "000650",
+    "000722",
+    "000795",
+    "000867",
+    "000939",
+    "001012",
+    "001084",
+    "001156",
+    "001228",
+    "001301",
+    "001373",
+    "001445",
+    "001518",
+    "001590",
+    "001662",
+    "001734",
+    "001807",
+    "001879",
+    "001951",
+    "002024",
+    "002096",
+    "002168",
+    "002241"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0237_00_metadata.json b/metadata/train/scene0237_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0fe1e4a913acd9aea46a664a5318c1f96d39db2
--- /dev/null
+++ b/metadata/train/scene0237_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0237_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 20,
+  "invalid_frames_count": 12,
+  "output_shape": [
+    20,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    20
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0237_00.pt",
+  "indices_file": "scene0237_00_indices.pt",
+  "transform_to_world_file": "scene0237_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000017"
+    },
+    {
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+      "frame_id": "000034"
+    },
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+      "frame_id": "000051"
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+    {
+      "index": 4,
+      "frame_id": "000068"
+    },
+    {
+      "index": 5,
+      "frame_id": "000085"
+    },
+    {
+      "index": 6,
+      "frame_id": "000103"
+    },
+    {
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+      "frame_id": "000120"
+    },
+    {
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+      "frame_id": "000137"
+    },
+    {
+      "index": 9,
+      "frame_id": "000154"
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+      "frame_id": "000171"
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+    {
+      "index": 11,
+      "frame_id": "000189"
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+    {
+      "index": 12,
+      "frame_id": "000206"
+    },
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+      "index": 13,
+      "frame_id": "000223"
+    },
+    {
+      "index": 14,
+      "frame_id": "000240"
+    },
+    {
+      "index": 15,
+      "frame_id": "000257"
+    },
+    {
+      "index": 28,
+      "frame_id": "000481"
+    },
+    {
+      "index": 29,
+      "frame_id": "000498"
+    },
+    {
+      "index": 30,
+      "frame_id": "000515"
+    },
+    {
+      "index": 31,
+      "frame_id": "000533"
+    }
+  ],
+  "invalid_views": [
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+      "frame_id": "000275",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 17,
+      "frame_id": "000292",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 18,
+      "frame_id": "000309",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 19,
+      "frame_id": "000326",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 20,
+      "frame_id": "000343",
+      "reason": "invalid_pose"
+    },
+    {
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+      "frame_id": "000361",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 22,
+      "frame_id": "000378",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 23,
+      "frame_id": "000395",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 24,
+      "frame_id": "000412",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 25,
+      "frame_id": "000429",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 26,
+      "frame_id": "000447",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 27,
+      "frame_id": "000464",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
+    "000000",
+    "000017",
+    "000034",
+    "000051",
+    "000068",
+    "000085",
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+    "000189",
+    "000206",
+    "000223",
+    "000240",
+    "000257",
+    "000481",
+    "000498",
+    "000515",
+    "000533"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0254_01_metadata.json b/metadata/train/scene0254_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e559a59ad3c3213869e25883f4b8aa0c521f7977
--- /dev/null
+++ b/metadata/train/scene0254_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0254_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 31,
+  "invalid_frames_count": 1,
+  "output_shape": [
+    31,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    31
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0254_01.pt",
+  "indices_file": "scene0254_01_indices.pt",
+  "transform_to_world_file": "scene0254_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000040"
+    },
+    {
+      "index": 2,
+      "frame_id": "000080"
+    },
+    {
+      "index": 3,
+      "frame_id": "000120"
+    },
+    {
+      "index": 4,
+      "frame_id": "000160"
+    },
+    {
+      "index": 5,
+      "frame_id": "000200"
+    },
+    {
+      "index": 6,
+      "frame_id": "000240"
+    },
+    {
+      "index": 7,
+      "frame_id": "000280"
+    },
+    {
+      "index": 8,
+      "frame_id": "000320"
+    },
+    {
+      "index": 9,
+      "frame_id": "000360"
+    },
+    {
+      "index": 10,
+      "frame_id": "000400"
+    },
+    {
+      "index": 11,
+      "frame_id": "000440"
+    },
+    {
+      "index": 12,
+      "frame_id": "000480"
+    },
+    {
+      "index": 13,
+      "frame_id": "000520"
+    },
+    {
+      "index": 14,
+      "frame_id": "000560"
+    },
+    {
+      "index": 15,
+      "frame_id": "000600"
+    },
+    {
+      "index": 16,
+      "frame_id": "000640"
+    },
+    {
+      "index": 17,
+      "frame_id": "000680"
+    },
+    {
+      "index": 18,
+      "frame_id": "000720"
+    },
+    {
+      "index": 19,
+      "frame_id": "000760"
+    },
+    {
+      "index": 20,
+      "frame_id": "000800"
+    },
+    {
+      "index": 21,
+      "frame_id": "000840"
+    },
+    {
+      "index": 22,
+      "frame_id": "000880"
+    },
+    {
+      "index": 23,
+      "frame_id": "000920"
+    },
+    {
+      "index": 24,
+      "frame_id": "000960"
+    },
+    {
+      "index": 25,
+      "frame_id": "001000"
+    },
+    {
+      "index": 26,
+      "frame_id": "001040"
+    },
+    {
+      "index": 27,
+      "frame_id": "001080"
+    },
+    {
+      "index": 28,
+      "frame_id": "001120"
+    },
+    {
+      "index": 29,
+      "frame_id": "001160"
+    },
+    {
+      "index": 30,
+      "frame_id": "001200"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 31,
+      "frame_id": "001240",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "000040",
+    "000080",
+    "000120",
+    "000160",
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+    "000240",
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+    "000360",
+    "000400",
+    "000440",
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+    "000520",
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+    "000840",
+    "000880",
+    "000920",
+    "000960",
+    "001000",
+    "001040",
+    "001080",
+    "001120",
+    "001160",
+    "001200"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0255_01_metadata.json b/metadata/train/scene0255_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d7dea5437a3cf9c9908ad5985328c4b76b2544b
--- /dev/null
+++ b/metadata/train/scene0255_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0255_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0255_01.pt",
+  "indices_file": "scene0255_01_indices.pt",
+  "transform_to_world_file": "scene0255_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000034"
+    },
+    {
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+      "frame_id": "000068"
+    },
+    {
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+      "frame_id": "000102"
+    },
+    {
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+      "frame_id": "000136"
+    },
+    {
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+      "frame_id": "000170"
+    },
+    {
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+      "frame_id": "000204"
+    },
+    {
+      "index": 7,
+      "frame_id": "000238"
+    },
+    {
+      "index": 8,
+      "frame_id": "000272"
+    },
+    {
+      "index": 9,
+      "frame_id": "000306"
+    },
+    {
+      "index": 10,
+      "frame_id": "000340"
+    },
+    {
+      "index": 11,
+      "frame_id": "000374"
+    },
+    {
+      "index": 12,
+      "frame_id": "000408"
+    },
+    {
+      "index": 13,
+      "frame_id": "000442"
+    },
+    {
+      "index": 14,
+      "frame_id": "000476"
+    },
+    {
+      "index": 15,
+      "frame_id": "000510"
+    },
+    {
+      "index": 16,
+      "frame_id": "000545"
+    },
+    {
+      "index": 17,
+      "frame_id": "000579"
+    },
+    {
+      "index": 18,
+      "frame_id": "000613"
+    },
+    {
+      "index": 19,
+      "frame_id": "000647"
+    },
+    {
+      "index": 20,
+      "frame_id": "000681"
+    },
+    {
+      "index": 21,
+      "frame_id": "000715"
+    },
+    {
+      "index": 22,
+      "frame_id": "000749"
+    },
+    {
+      "index": 23,
+      "frame_id": "000783"
+    },
+    {
+      "index": 24,
+      "frame_id": "000817"
+    },
+    {
+      "index": 25,
+      "frame_id": "000851"
+    },
+    {
+      "index": 26,
+      "frame_id": "000885"
+    },
+    {
+      "index": 27,
+      "frame_id": "000919"
+    },
+    {
+      "index": 28,
+      "frame_id": "000953"
+    },
+    {
+      "index": 29,
+      "frame_id": "000987"
+    },
+    {
+      "index": 30,
+      "frame_id": "001021"
+    },
+    {
+      "index": 31,
+      "frame_id": "001056"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000034",
+    "000068",
+    "000102",
+    "000136",
+    "000170",
+    "000204",
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+    "000306",
+    "000340",
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+    "000817",
+    "000851",
+    "000885",
+    "000919",
+    "000953",
+    "000987",
+    "001021",
+    "001056"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0268_02_metadata.json b/metadata/train/scene0268_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..50e77a95ce01219e03884cdff93f38e19f172ed3
--- /dev/null
+++ b/metadata/train/scene0268_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0268_02",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0268_02.pt",
+  "indices_file": "scene0268_02_indices.pt",
+  "transform_to_world_file": "scene0268_02_to_world.npy",
+  "coordinate_system": "first_camera_frame",
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+    "frame_id": "000000"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0276_00_metadata.json b/metadata/train/scene0276_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a837db191e41987a412a261c90658f02bdc23f5
--- /dev/null
+++ b/metadata/train/scene0276_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0276_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 31,
+  "invalid_frames_count": 1,
+  "output_shape": [
+    31,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    31
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0276_00.pt",
+  "indices_file": "scene0276_00_indices.pt",
+  "transform_to_world_file": "scene0276_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
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+      "frame_id": "000068"
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+      "frame_id": "000136"
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+      "frame_id": "000204"
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+      "frame_id": "000273"
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+      "frame_id": "000341"
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+      "frame_id": "000409"
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+      "frame_id": "000819"
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+      "frame_id": "000888"
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+      "frame_id": "000956"
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+      "frame_id": "001024"
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+      "frame_id": "001776"
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+      "frame_id": "001844"
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+      "frame_id": "001981"
+    },
+    {
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+      "frame_id": "002118"
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+  ],
+  "invalid_views": [
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+      "frame_id": "002049",
+      "reason": "invalid_pose"
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+    "001708",
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+    "001844",
+    "001913",
+    "001981",
+    "002118"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0295_01_metadata.json b/metadata/train/scene0295_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..363ede5adb069f325d5d1c419854e7a53dd9f171
--- /dev/null
+++ b/metadata/train/scene0295_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0295_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 31,
+  "invalid_frames_count": 1,
+  "output_shape": [
+    31,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    31
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0295_01.pt",
+  "indices_file": "scene0295_01_indices.pt",
+  "transform_to_world_file": "scene0295_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
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+      "frame_id": "000000"
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+      "frame_id": "000158"
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+      "frame_id": "000180"
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+      "frame_id": "000203"
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+      "frame_id": "000248"
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+      "frame_id": "000270"
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+      "frame_id": "000293"
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+      "frame_id": "000316"
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+      "frame_id": "000338"
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+      "frame_id": "000361"
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+      "frame_id": "000383"
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+      "frame_id": "000677"
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+  "invalid_views": [
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+      "frame_id": "000700",
+      "reason": "invalid_pose"
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+  ],
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+    "000632",
+    "000654",
+    "000677"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0302_01_metadata.json b/metadata/train/scene0302_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6149cb44447509426d4a8f79096a0cab7f3ab5ab
--- /dev/null
+++ b/metadata/train/scene0302_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0302_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 28,
+  "invalid_frames_count": 4,
+  "output_shape": [
+    28,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    28
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0302_01.pt",
+  "indices_file": "scene0302_01_indices.pt",
+  "transform_to_world_file": "scene0302_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
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+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
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+      "frame_id": "000027"
+    },
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+      "frame_id": "000054"
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+      "frame_id": "000081"
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+      "frame_id": "000108"
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+      "frame_id": "000135"
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+      "frame_id": "000162"
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+      "frame_id": "000189"
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+      "frame_id": "000216"
+    },
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+      "frame_id": "000243"
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+      "frame_id": "000270"
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+      "frame_id": "000297"
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+    {
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+      "frame_id": "000324"
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+    {
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+      "frame_id": "000351"
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+      "frame_id": "000378"
+    },
+    {
+      "index": 17,
+      "frame_id": "000459"
+    },
+    {
+      "index": 18,
+      "frame_id": "000486"
+    },
+    {
+      "index": 20,
+      "frame_id": "000540"
+    },
+    {
+      "index": 21,
+      "frame_id": "000567"
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+    {
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+      "frame_id": "000594"
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+      "frame_id": "000621"
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+      "frame_id": "000648"
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+      "frame_id": "000675"
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+    {
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+      "frame_id": "000702"
+    },
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+      "frame_id": "000729"
+    },
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+      "frame_id": "000756"
+    },
+    {
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+      "frame_id": "000783"
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+      "frame_id": "000837"
+    }
+  ],
+  "invalid_views": [
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+      "frame_id": "000405",
+      "reason": "invalid_pose"
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+    {
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+      "frame_id": "000432",
+      "reason": "invalid_pose"
+    },
+    {
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+      "frame_id": "000513",
+      "reason": "invalid_pose"
+    },
+    {
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+      "frame_id": "000810",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "000783",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0310_01_metadata.json b/metadata/train/scene0310_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..862468d1bee3c3aece6f547d165d74cc92c0844d
--- /dev/null
+++ b/metadata/train/scene0310_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0310_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0310_01.pt",
+  "indices_file": "scene0310_01_indices.pt",
+  "transform_to_world_file": "scene0310_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
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+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
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+      "frame_id": "000028"
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+      "frame_id": "000168"
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+      "frame_id": "000280"
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+      "frame_id": "000365"
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+      "frame_id": "000421"
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+      "frame_id": "000449"
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+      "frame_id": "000618"
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+      "frame_id": "000646"
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+      "frame_id": "000702"
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+    {
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+      "frame_id": "000730"
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+      "frame_id": "000842"
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+  "frame_order": [
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+    "000842",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0335_02_metadata.json b/metadata/train/scene0335_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f04ed5574a928fd1dc30daef1b08eff72fb29904
--- /dev/null
+++ b/metadata/train/scene0335_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0335_02",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0335_02.pt",
+  "indices_file": "scene0335_02_indices.pt",
+  "transform_to_world_file": "scene0335_02_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000083"
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+      "frame_id": "000166"
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+      "frame_id": "000249"
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+    {
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+      "frame_id": "000332"
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+      "frame_id": "000415"
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+      "frame_id": "000498"
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+    {
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+      "frame_id": "000581"
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+      "frame_id": "000664"
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+      "frame_id": "000747"
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+      "frame_id": "000830"
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+      "frame_id": "000914"
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+      "frame_id": "000997"
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+      "frame_id": "001080"
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+      "frame_id": "001163"
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+      "frame_id": "001246"
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+      "frame_id": "001329"
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+      "frame_id": "001412"
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+      "frame_id": "001495"
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+      "frame_id": "001828"
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+      "frame_id": "001911"
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+      "frame_id": "001994"
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+      "frame_id": "002077"
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+      "frame_id": "002160"
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+      "frame_id": "002243"
+    },
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+      "frame_id": "002326"
+    },
+    {
+      "index": 29,
+      "frame_id": "002409"
+    },
+    {
+      "index": 30,
+      "frame_id": "002492"
+    },
+    {
+      "index": 31,
+      "frame_id": "002576"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000083",
+    "000166",
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+    "000332",
+    "000415",
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+    "000997",
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+    "001828",
+    "001911",
+    "001994",
+    "002077",
+    "002160",
+    "002243",
+    "002326",
+    "002409",
+    "002492",
+    "002576"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0341_00_metadata.json b/metadata/train/scene0341_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..46cef12610c64613e72fbb451e48f27730b3f048
--- /dev/null
+++ b/metadata/train/scene0341_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0341_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0341_00.pt",
+  "indices_file": "scene0341_00_indices.pt",
+  "transform_to_world_file": "scene0341_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000083"
+    },
+    {
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+      "frame_id": "000166"
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+      "frame_id": "000249"
+    },
+    {
+      "index": 4,
+      "frame_id": "000332"
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+    {
+      "index": 5,
+      "frame_id": "000415"
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+    {
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+      "frame_id": "000499"
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+    {
+      "index": 7,
+      "frame_id": "000582"
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+      "frame_id": "000665"
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+      "frame_id": "000748"
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+      "frame_id": "000831"
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+      "frame_id": "000915"
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+      "frame_id": "000998"
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+      "frame_id": "001081"
+    },
+    {
+      "index": 14,
+      "frame_id": "001164"
+    },
+    {
+      "index": 15,
+      "frame_id": "001247"
+    },
+    {
+      "index": 16,
+      "frame_id": "001331"
+    },
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+      "index": 17,
+      "frame_id": "001414"
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+      "frame_id": "001497"
+    },
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+      "index": 19,
+      "frame_id": "001580"
+    },
+    {
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+      "frame_id": "001663"
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+      "frame_id": "001747"
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+      "frame_id": "001830"
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+      "frame_id": "001913"
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+      "frame_id": "001996"
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+      "index": 25,
+      "frame_id": "002079"
+    },
+    {
+      "index": 26,
+      "frame_id": "002163"
+    },
+    {
+      "index": 27,
+      "frame_id": "002246"
+    },
+    {
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+      "frame_id": "002329"
+    },
+    {
+      "index": 29,
+      "frame_id": "002412"
+    },
+    {
+      "index": 30,
+      "frame_id": "002495"
+    },
+    {
+      "index": 31,
+      "frame_id": "002579"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000083",
+    "000166",
+    "000249",
+    "000332",
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+    "000998",
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+    "002163",
+    "002246",
+    "002329",
+    "002412",
+    "002495",
+    "002579"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0350_02_metadata.json b/metadata/train/scene0350_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4a56ccb44e0ad57d2622f9e24bac36b5da39a50
--- /dev/null
+++ b/metadata/train/scene0350_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0350_02",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0350_02.pt",
+  "indices_file": "scene0350_02_indices.pt",
+  "transform_to_world_file": "scene0350_02_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000044"
+    },
+    {
+      "index": 2,
+      "frame_id": "000088"
+    },
+    {
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+      "frame_id": "000132"
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+    {
+      "index": 4,
+      "frame_id": "000176"
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+      "frame_id": "000220"
+    },
+    {
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+      "frame_id": "000264"
+    },
+    {
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+      "frame_id": "000308"
+    },
+    {
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+      "frame_id": "000352"
+    },
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+      "frame_id": "000396"
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+    {
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+      "frame_id": "000440"
+    },
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+      "frame_id": "000484"
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+    {
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+      "frame_id": "000528"
+    },
+    {
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+      "frame_id": "000572"
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+    {
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+      "frame_id": "000616"
+    },
+    {
+      "index": 15,
+      "frame_id": "000660"
+    },
+    {
+      "index": 16,
+      "frame_id": "000704"
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+    {
+      "index": 17,
+      "frame_id": "000748"
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+      "frame_id": "000792"
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+      "index": 19,
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+    },
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+      "frame_id": "000924"
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+      "frame_id": "000968"
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+      "frame_id": "001012"
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+      "frame_id": "001056"
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+      "index": 25,
+      "frame_id": "001100"
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+      "index": 26,
+      "frame_id": "001144"
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+    {
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+      "frame_id": "001188"
+    },
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+      "index": 28,
+      "frame_id": "001232"
+    },
+    {
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+      "frame_id": "001276"
+    },
+    {
+      "index": 30,
+      "frame_id": "001320"
+    },
+    {
+      "index": 31,
+      "frame_id": "001364"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000044",
+    "000088",
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+    "000176",
+    "000220",
+    "000264",
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+    "001320",
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+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0361_02_metadata.json b/metadata/train/scene0361_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a225885496de3bf6c065bc370f036e4f22136857
--- /dev/null
+++ b/metadata/train/scene0361_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0361_02",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0361_02.pt",
+  "indices_file": "scene0361_02_indices.pt",
+  "transform_to_world_file": "scene0361_02_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
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+      "frame_id": "000000"
+    },
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+      "frame_id": "000027"
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+      "frame_id": "000054"
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+      "frame_id": "000082"
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+      "frame_id": "000109"
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+      "frame_id": "000137"
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+    {
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+      "frame_id": "000192"
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+      "frame_id": "000219"
+    },
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+      "frame_id": "000247"
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+      "frame_id": "000274"
+    },
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+      "frame_id": "000302"
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+    {
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+      "frame_id": "000329"
+    },
+    {
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+      "frame_id": "000357"
+    },
+    {
+      "index": 14,
+      "frame_id": "000384"
+    },
+    {
+      "index": 15,
+      "frame_id": "000412"
+    },
+    {
+      "index": 16,
+      "frame_id": "000439"
+    },
+    {
+      "index": 17,
+      "frame_id": "000467"
+    },
+    {
+      "index": 18,
+      "frame_id": "000494"
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+    {
+      "index": 19,
+      "frame_id": "000522"
+    },
+    {
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+      "frame_id": "000549"
+    },
+    {
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+      "frame_id": "000577"
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+    {
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+      "frame_id": "000604"
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+      "frame_id": "000632"
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+      "frame_id": "000659"
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+      "index": 25,
+      "frame_id": "000687"
+    },
+    {
+      "index": 26,
+      "frame_id": "000714"
+    },
+    {
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+      "frame_id": "000742"
+    },
+    {
+      "index": 28,
+      "frame_id": "000769"
+    },
+    {
+      "index": 29,
+      "frame_id": "000797"
+    },
+    {
+      "index": 30,
+      "frame_id": "000824"
+    },
+    {
+      "index": 31,
+      "frame_id": "000852"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000027",
+    "000054",
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+    "000109",
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+    "000852"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0368_01_metadata.json b/metadata/train/scene0368_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..04de35b164d51ea728c91c6e4369ff264ece7897
--- /dev/null
+++ b/metadata/train/scene0368_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0368_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0368_01.pt",
+  "indices_file": "scene0368_01_indices.pt",
+  "transform_to_world_file": "scene0368_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000017"
+    },
+    {
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+      "frame_id": "000035"
+    },
+    {
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+      "frame_id": "000053"
+    },
+    {
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+      "frame_id": "000070"
+    },
+    {
+      "index": 5,
+      "frame_id": "000088"
+    },
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0373_01_metadata.json b/metadata/train/scene0373_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3ede8b18ba4a0b5b84e348920adedcd39102191
--- /dev/null
+++ b/metadata/train/scene0373_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0373_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0373_01.pt",
+  "indices_file": "scene0373_01_indices.pt",
+  "transform_to_world_file": "scene0373_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
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+  "original_image_size": [
+    640,
+    480
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+      "frame_id": "000000"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0392_02_metadata.json b/metadata/train/scene0392_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0e894115375149943719c5495dd4d5a1d7524a8
--- /dev/null
+++ b/metadata/train/scene0392_02_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0392_02",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 29,
+  "invalid_frames_count": 3,
+  "output_shape": [
+    29,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    29
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0392_02.pt",
+  "indices_file": "scene0392_02_indices.pt",
+  "transform_to_world_file": "scene0392_02_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
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+    "frame_id": "000000"
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+  "image_size": [
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+    432
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+    480
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+      "frame_id": "000287",
+      "reason": "invalid_pose"
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+      "reason": "invalid_pose"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0402_00_metadata.json b/metadata/train/scene0402_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e4c8dc381b67d440fc4bc9dddfb3fb974828291
--- /dev/null
+++ b/metadata/train/scene0402_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0402_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0402_00.pt",
+  "indices_file": "scene0402_00_indices.pt",
+  "transform_to_world_file": "scene0402_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
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+    432
+  ],
+  "original_image_size": [
+    640,
+    480
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+  "valid_view_mapping": [
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+      "frame_id": "000000"
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+      "frame_id": "000330"
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+      "frame_id": "000353"
+    },
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+      "frame_id": "000377"
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+      "frame_id": "000400"
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+      "frame_id": "000424"
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+  "frame_order": [
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0415_00_metadata.json b/metadata/train/scene0415_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3deed0599366df36b304514b4dada8781791498b
--- /dev/null
+++ b/metadata/train/scene0415_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0415_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0415_00.pt",
+  "indices_file": "scene0415_00_indices.pt",
+  "transform_to_world_file": "scene0415_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
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+  ],
+  "original_image_size": [
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+    480
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+    "001118",
+    "001156"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0447_02_metadata.json b/metadata/train/scene0447_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..732adec917680aca49c1b28c07dd2dd281eb74b8
--- /dev/null
+++ b/metadata/train/scene0447_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0447_02",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0447_02.pt",
+  "indices_file": "scene0447_02_indices.pt",
+  "transform_to_world_file": "scene0447_02_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
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+      "frame_id": "000000"
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+    {
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+      "frame_id": "000353"
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+      "frame_id": "000449"
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+      "frame_id": "000738"
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+      "frame_id": "000803"
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+      "frame_id": "000867"
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+      "frame_id": "000931"
+    },
+    {
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+      "frame_id": "000963"
+    },
+    {
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+      "frame_id": "000996"
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+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000771",
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+    "000835",
+    "000867",
+    "000899",
+    "000931",
+    "000963",
+    "000996"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0454_00_metadata.json b/metadata/train/scene0454_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e55f9d3910e02559adf66f76fbef6d7925c4de3
--- /dev/null
+++ b/metadata/train/scene0454_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0454_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0454_00.pt",
+  "indices_file": "scene0454_00_indices.pt",
+  "transform_to_world_file": "scene0454_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
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+      "frame_id": "000030"
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+      "frame_id": "000060"
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+      "frame_id": "000090"
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+      "frame_id": "000121"
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+      "frame_id": "000151"
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+      "frame_id": "000181"
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+    {
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+      "frame_id": "000211"
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+      "frame_id": "000242"
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+      "frame_id": "000272"
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+      "frame_id": "000302"
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+      "frame_id": "000332"
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+      "frame_id": "000363"
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+      "frame_id": "000393"
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+      "frame_id": "000423"
+    },
+    {
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+      "frame_id": "000453"
+    },
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+      "frame_id": "000484"
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+      "frame_id": "000514"
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+      "frame_id": "000544"
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+      "frame_id": "000605"
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+      "frame_id": "000665"
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+      "frame_id": "000695"
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+      "frame_id": "000726"
+    },
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+      "frame_id": "000756"
+    },
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+      "frame_id": "000786"
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+      "frame_id": "000816"
+    },
+    {
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+      "frame_id": "000847"
+    },
+    {
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+      "frame_id": "000877"
+    },
+    {
+      "index": 30,
+      "frame_id": "000907"
+    },
+    {
+      "index": 31,
+      "frame_id": "000938"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000030",
+    "000060",
+    "000090",
+    "000121",
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+    "000363",
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+    "000786",
+    "000816",
+    "000847",
+    "000877",
+    "000907",
+    "000938"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0459_01_metadata.json b/metadata/train/scene0459_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb5d29bf622c1ec861b6036391b2acdc2df1c3e1
--- /dev/null
+++ b/metadata/train/scene0459_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0459_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 29,
+  "invalid_frames_count": 3,
+  "output_shape": [
+    29,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    29
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0459_01.pt",
+  "indices_file": "scene0459_01_indices.pt",
+  "transform_to_world_file": "scene0459_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
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+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
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+      "frame_id": "000028"
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+      "frame_id": "000057"
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+      "frame_id": "000086"
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+      "frame_id": "000114"
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+      "frame_id": "000143"
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+      "frame_id": "000172"
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+      "frame_id": "000200"
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+      "frame_id": "000229"
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+      "frame_id": "000258"
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+      "frame_id": "000287"
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+      "frame_id": "000315"
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+      "frame_id": "000344"
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+    {
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+      "frame_id": "000373"
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+      "frame_id": "000401"
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+    {
+      "index": 15,
+      "frame_id": "000430"
+    },
+    {
+      "index": 16,
+      "frame_id": "000459"
+    },
+    {
+      "index": 17,
+      "frame_id": "000488"
+    },
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+      "frame_id": "000516"
+    },
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+      "frame_id": "000545"
+    },
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+      "frame_id": "000574"
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+      "frame_id": "000602"
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+      "frame_id": "000631"
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+      "frame_id": "000660"
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+      "frame_id": "000689"
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+      "frame_id": "000803"
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+      "frame_id": "000832"
+    },
+    {
+      "index": 30,
+      "frame_id": "000861"
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+  ],
+  "invalid_views": [
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+      "frame_id": "000746",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 27,
+      "frame_id": "000775",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 31,
+      "frame_id": "000890",
+      "reason": "invalid_pose"
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+  ],
+  "frame_order": [
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+    "000832",
+    "000861"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0469_02_metadata.json b/metadata/train/scene0469_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..54096d9ef10e5c0dab1f1984589bed4ad4e39174
--- /dev/null
+++ b/metadata/train/scene0469_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0469_02",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0469_02.pt",
+  "indices_file": "scene0469_02_indices.pt",
+  "transform_to_world_file": "scene0469_02_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
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+      "frame_id": "000000"
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+      "frame_id": "000019"
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+      "frame_id": "000137"
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+      "frame_id": "000156"
+    },
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+      "frame_id": "000176"
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+    {
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+      "frame_id": "000196"
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+      "index": 11,
+      "frame_id": "000215"
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+      "frame_id": "000235"
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+      "frame_id": "000254"
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+      "frame_id": "000274"
+    },
+    {
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+      "frame_id": "000294"
+    },
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+      "frame_id": "000313"
+    },
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+      "frame_id": "000333"
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+      "frame_id": "000353"
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+      "frame_id": "000372"
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+      "frame_id": "000490"
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+      "frame_id": "000529"
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+      "frame_id": "000549"
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+    },
+    {
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+      "frame_id": "000588"
+    },
+    {
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+      "frame_id": "000608"
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+  ],
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+  "frame_order": [
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0481_01_metadata.json b/metadata/train/scene0481_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7a24b1a07e34049fb9c52299dbb4486e803ab5f
--- /dev/null
+++ b/metadata/train/scene0481_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0481_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0481_01.pt",
+  "indices_file": "scene0481_01_indices.pt",
+  "transform_to_world_file": "scene0481_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
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+      "frame_id": "000000"
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+      "frame_id": "000038"
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+      "frame_id": "000311"
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+      "frame_id": "000350"
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+      "frame_id": "000389"
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+      "frame_id": "000428"
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+    {
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+      "frame_id": "000467"
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+    {
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+      "frame_id": "000545"
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+      "frame_id": "000623"
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+    {
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+      "frame_id": "000662"
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+    "001208"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0493_00_metadata.json b/metadata/train/scene0493_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e6a8f8479613b8019c6bdf9c2d62b6c1e9720ba
--- /dev/null
+++ b/metadata/train/scene0493_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0493_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0493_00.pt",
+  "indices_file": "scene0493_00_indices.pt",
+  "transform_to_world_file": "scene0493_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
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+      "frame_id": "000043"
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+      "frame_id": "000086"
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+      "frame_id": "000129"
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+      "frame_id": "000172"
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+      "frame_id": "000215"
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+      "frame_id": "000258"
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+      "frame_id": "000302"
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+      "frame_id": "000388"
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+      "frame_id": "000431"
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+      "frame_id": "000474"
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+      "frame_id": "000517"
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+      "frame_id": "000561"
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+      "frame_id": "000604"
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+      "frame_id": "000647"
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+      "frame_id": "000690"
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+      "frame_id": "000733"
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+      "frame_id": "000820"
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+      "frame_id": "001035"
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+      "frame_id": "001079"
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+      "frame_id": "001122"
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+    {
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+      "frame_id": "001165"
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+      "frame_id": "001208"
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+      "index": 29,
+      "frame_id": "001251"
+    },
+    {
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+      "frame_id": "001294"
+    },
+    {
+      "index": 31,
+      "frame_id": "001338"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000086",
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+    "000388",
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+    "000474",
+    "000517",
+    "000561",
+    "000604",
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+    "000733",
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+    "000992",
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+    "001079",
+    "001122",
+    "001165",
+    "001208",
+    "001251",
+    "001294",
+    "001338"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0502_02_metadata.json b/metadata/train/scene0502_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..06ac6b243ca598128401ae5e2b90334440c05ed9
--- /dev/null
+++ b/metadata/train/scene0502_02_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0502_02",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 30,
+  "invalid_frames_count": 2,
+  "output_shape": [
+    30,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    30
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0502_02.pt",
+  "indices_file": "scene0502_02_indices.pt",
+  "transform_to_world_file": "scene0502_02_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
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+      "frame_id": "000050"
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+      "frame_id": "000100"
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+      "frame_id": "000150"
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+      "frame_id": "000201"
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+      "frame_id": "000251"
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+      "frame_id": "000301"
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+    {
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+      "frame_id": "000352"
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+      "frame_id": "000402"
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+      "frame_id": "000452"
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+      "frame_id": "000553"
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+      "frame_id": "000603"
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+      "frame_id": "000654"
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+      "frame_id": "000704"
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+      "frame_id": "000754"
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+      "frame_id": "000805"
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+      "index": 17,
+      "frame_id": "000855"
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+      "frame_id": "000905"
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+      "frame_id": "000956"
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+      "frame_id": "001006"
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+      "frame_id": "001056"
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+      "frame_id": "001107"
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+      "frame_id": "001157"
+    },
+    {
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+      "frame_id": "001207"
+    },
+    {
+      "index": 25,
+      "frame_id": "001258"
+    },
+    {
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+      "frame_id": "001308"
+    },
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+      "frame_id": "001358"
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+      "frame_id": "001409"
+    },
+    {
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+      "frame_id": "001459"
+    },
+    {
+      "index": 30,
+      "frame_id": "001509"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 10,
+      "frame_id": "000503",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 31,
+      "frame_id": "001560",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "000100",
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+    "001157",
+    "001207",
+    "001258",
+    "001308",
+    "001358",
+    "001409",
+    "001459",
+    "001509"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0510_02_metadata.json b/metadata/train/scene0510_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..13943637b3f8325f0c0544be601aa4e3f6bb7b0f
--- /dev/null
+++ b/metadata/train/scene0510_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0510_02",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0510_02.pt",
+  "indices_file": "scene0510_02_indices.pt",
+  "transform_to_world_file": "scene0510_02_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000040"
+    },
+    {
+      "index": 2,
+      "frame_id": "000080"
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+    {
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+      "frame_id": "000120"
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+    {
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+      "frame_id": "000160"
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+      "frame_id": "000200"
+    },
+    {
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+      "frame_id": "000240"
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+    {
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+      "frame_id": "000280"
+    },
+    {
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+      "frame_id": "000320"
+    },
+    {
+      "index": 9,
+      "frame_id": "000360"
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+    {
+      "index": 10,
+      "frame_id": "000400"
+    },
+    {
+      "index": 11,
+      "frame_id": "000441"
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+    {
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+      "frame_id": "000481"
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+    {
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+      "frame_id": "000521"
+    },
+    {
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+      "frame_id": "000561"
+    },
+    {
+      "index": 15,
+      "frame_id": "000601"
+    },
+    {
+      "index": 16,
+      "frame_id": "000641"
+    },
+    {
+      "index": 17,
+      "frame_id": "000681"
+    },
+    {
+      "index": 18,
+      "frame_id": "000721"
+    },
+    {
+      "index": 19,
+      "frame_id": "000761"
+    },
+    {
+      "index": 20,
+      "frame_id": "000801"
+    },
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+      "frame_id": "000842"
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+    {
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+      "frame_id": "000882"
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+      "frame_id": "000922"
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+      "index": 24,
+      "frame_id": "000962"
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+      "frame_id": "001002"
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+      "index": 26,
+      "frame_id": "001042"
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+      "frame_id": "001082"
+    },
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+      "frame_id": "001122"
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+    {
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+      "frame_id": "001162"
+    },
+    {
+      "index": 30,
+      "frame_id": "001202"
+    },
+    {
+      "index": 31,
+      "frame_id": "001243"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000040",
+    "000080",
+    "000120",
+    "000160",
+    "000200",
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+    "000320",
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+    "001202",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0517_01_metadata.json b/metadata/train/scene0517_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dcac3786644226bbaf7734cd63c67d05ae8af35
--- /dev/null
+++ b/metadata/train/scene0517_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0517_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0517_01.pt",
+  "indices_file": "scene0517_01_indices.pt",
+  "transform_to_world_file": "scene0517_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
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+      "frame_id": "000111"
+    },
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+      "frame_id": "000222"
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+      "frame_id": "000333"
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+    {
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+      "frame_id": "000444"
+    },
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+      "frame_id": "000556"
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+    {
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+      "frame_id": "000667"
+    },
+    {
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+      "frame_id": "000778"
+    },
+    {
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+      "frame_id": "000889"
+    },
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+      "frame_id": "001001"
+    },
+    {
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+      "frame_id": "001112"
+    },
+    {
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+      "frame_id": "001223"
+    },
+    {
+      "index": 12,
+      "frame_id": "001334"
+    },
+    {
+      "index": 13,
+      "frame_id": "001445"
+    },
+    {
+      "index": 14,
+      "frame_id": "001557"
+    },
+    {
+      "index": 15,
+      "frame_id": "001668"
+    },
+    {
+      "index": 16,
+      "frame_id": "001779"
+    },
+    {
+      "index": 17,
+      "frame_id": "001890"
+    },
+    {
+      "index": 18,
+      "frame_id": "002002"
+    },
+    {
+      "index": 19,
+      "frame_id": "002113"
+    },
+    {
+      "index": 20,
+      "frame_id": "002224"
+    },
+    {
+      "index": 21,
+      "frame_id": "002335"
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+    {
+      "index": 22,
+      "frame_id": "002446"
+    },
+    {
+      "index": 23,
+      "frame_id": "002558"
+    },
+    {
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+      "frame_id": "002669"
+    },
+    {
+      "index": 25,
+      "frame_id": "002780"
+    },
+    {
+      "index": 26,
+      "frame_id": "002891"
+    },
+    {
+      "index": 27,
+      "frame_id": "003003"
+    },
+    {
+      "index": 28,
+      "frame_id": "003114"
+    },
+    {
+      "index": 29,
+      "frame_id": "003225"
+    },
+    {
+      "index": 30,
+      "frame_id": "003336"
+    },
+    {
+      "index": 31,
+      "frame_id": "003448"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000111",
+    "000222",
+    "000333",
+    "000444",
+    "000556",
+    "000667",
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+    "001334",
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+    "002891",
+    "003003",
+    "003114",
+    "003225",
+    "003336",
+    "003448"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0523_01_metadata.json b/metadata/train/scene0523_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d3948cb642665acbf815513230c638fcb650f71
--- /dev/null
+++ b/metadata/train/scene0523_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0523_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 31,
+  "invalid_frames_count": 1,
+  "output_shape": [
+    31,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    31
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0523_01.pt",
+  "indices_file": "scene0523_01_indices.pt",
+  "transform_to_world_file": "scene0523_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
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+    "frame_id": "000000"
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+    480
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+      "frame_id": "001730",
+      "reason": "invalid_pose"
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+    "001395",
+    "001450",
+    "001506",
+    "001562",
+    "001618",
+    "001674"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0532_01_metadata.json b/metadata/train/scene0532_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a68018f016a6ab85fb379f90078dcab321d431b2
--- /dev/null
+++ b/metadata/train/scene0532_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0532_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0532_01.pt",
+  "indices_file": "scene0532_01_indices.pt",
+  "transform_to_world_file": "scene0532_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000012"
+    },
+    {
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+      "frame_id": "000025"
+    },
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+      "frame_id": "000037"
+    },
+    {
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+      "frame_id": "000050"
+    },
+    {
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+      "frame_id": "000063"
+    },
+    {
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+      "frame_id": "000075"
+    },
+    {
+      "index": 7,
+      "frame_id": "000088"
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+      "frame_id": "000100"
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+      "frame_id": "000113"
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+      "frame_id": "000126"
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+      "frame_id": "000138"
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+    {
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+      "frame_id": "000151"
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+      "frame_id": "000163"
+    },
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+      "frame_id": "000176"
+    },
+    {
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+      "frame_id": "000189"
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+      "frame_id": "000201"
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+      "frame_id": "000214"
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+      "frame_id": "000227"
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+      "frame_id": "000252"
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+      "frame_id": "000264"
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+      "frame_id": "000277"
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+      "frame_id": "000290"
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+      "frame_id": "000302"
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+      "frame_id": "000315"
+    },
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+      "frame_id": "000327"
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+      "frame_id": "000340"
+    },
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+      "frame_id": "000353"
+    },
+    {
+      "index": 29,
+      "frame_id": "000365"
+    },
+    {
+      "index": 30,
+      "frame_id": "000378"
+    },
+    {
+      "index": 31,
+      "frame_id": "000391"
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+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000327",
+    "000340",
+    "000353",
+    "000365",
+    "000378",
+    "000391"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0540_00_metadata.json b/metadata/train/scene0540_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c04efdd901d9cf1431851055b0790eebff4e4cc
--- /dev/null
+++ b/metadata/train/scene0540_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0540_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0540_00.pt",
+  "indices_file": "scene0540_00_indices.pt",
+  "transform_to_world_file": "scene0540_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
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+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
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+      "frame_id": "000032"
+    },
+    {
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+      "frame_id": "000065"
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+      "frame_id": "000098"
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+    {
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+      "frame_id": "000131"
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+      "frame_id": "000164"
+    },
+    {
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+      "frame_id": "000196"
+    },
+    {
+      "index": 7,
+      "frame_id": "000229"
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+    {
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+      "frame_id": "000262"
+    },
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+      "frame_id": "000295"
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+      "frame_id": "000328"
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+      "frame_id": "000360"
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+    {
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+      "frame_id": "000393"
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+    {
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+      "frame_id": "000426"
+    },
+    {
+      "index": 14,
+      "frame_id": "000459"
+    },
+    {
+      "index": 15,
+      "frame_id": "000492"
+    },
+    {
+      "index": 16,
+      "frame_id": "000524"
+    },
+    {
+      "index": 17,
+      "frame_id": "000557"
+    },
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+      "frame_id": "000590"
+    },
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+      "frame_id": "000623"
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+      "frame_id": "000688"
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+      "frame_id": "000721"
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+      "frame_id": "000754"
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+      "index": 24,
+      "frame_id": "000787"
+    },
+    {
+      "index": 25,
+      "frame_id": "000820"
+    },
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+      "index": 26,
+      "frame_id": "000852"
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+      "frame_id": "000885"
+    },
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+      "frame_id": "000918"
+    },
+    {
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+      "frame_id": "000951"
+    },
+    {
+      "index": 30,
+      "frame_id": "000984"
+    },
+    {
+      "index": 31,
+      "frame_id": "001017"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000065",
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+    "000852",
+    "000885",
+    "000918",
+    "000951",
+    "000984",
+    "001017"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0545_00_metadata.json b/metadata/train/scene0545_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9daef91afcca9af665c7af2a9c9b1101af413501
--- /dev/null
+++ b/metadata/train/scene0545_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0545_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0545_00.pt",
+  "indices_file": "scene0545_00_indices.pt",
+  "transform_to_world_file": "scene0545_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000027"
+    },
+    {
+      "index": 2,
+      "frame_id": "000054"
+    },
+    {
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+      "frame_id": "000081"
+    },
+    {
+      "index": 4,
+      "frame_id": "000108"
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+    {
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+      "frame_id": "000135"
+    },
+    {
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+      "frame_id": "000162"
+    },
+    {
+      "index": 7,
+      "frame_id": "000190"
+    },
+    {
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+      "frame_id": "000217"
+    },
+    {
+      "index": 9,
+      "frame_id": "000244"
+    },
+    {
+      "index": 10,
+      "frame_id": "000271"
+    },
+    {
+      "index": 11,
+      "frame_id": "000298"
+    },
+    {
+      "index": 12,
+      "frame_id": "000325"
+    },
+    {
+      "index": 13,
+      "frame_id": "000353"
+    },
+    {
+      "index": 14,
+      "frame_id": "000380"
+    },
+    {
+      "index": 15,
+      "frame_id": "000407"
+    },
+    {
+      "index": 16,
+      "frame_id": "000434"
+    },
+    {
+      "index": 17,
+      "frame_id": "000461"
+    },
+    {
+      "index": 18,
+      "frame_id": "000488"
+    },
+    {
+      "index": 19,
+      "frame_id": "000516"
+    },
+    {
+      "index": 20,
+      "frame_id": "000543"
+    },
+    {
+      "index": 21,
+      "frame_id": "000570"
+    },
+    {
+      "index": 22,
+      "frame_id": "000597"
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+    {
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+      "frame_id": "000624"
+    },
+    {
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+      "frame_id": "000651"
+    },
+    {
+      "index": 25,
+      "frame_id": "000679"
+    },
+    {
+      "index": 26,
+      "frame_id": "000706"
+    },
+    {
+      "index": 27,
+      "frame_id": "000733"
+    },
+    {
+      "index": 28,
+      "frame_id": "000760"
+    },
+    {
+      "index": 29,
+      "frame_id": "000787"
+    },
+    {
+      "index": 30,
+      "frame_id": "000814"
+    },
+    {
+      "index": 31,
+      "frame_id": "000842"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000027",
+    "000054",
+    "000081",
+    "000108",
+    "000135",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0555_00_metadata.json b/metadata/train/scene0555_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..67d62fe0080ab182acc5f7e3a86d5f195cb7aba6
--- /dev/null
+++ b/metadata/train/scene0555_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0555_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0555_00.pt",
+  "indices_file": "scene0555_00_indices.pt",
+  "transform_to_world_file": "scene0555_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
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+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
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+      "frame_id": "000058"
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+      "frame_id": "000175"
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+      "frame_id": "000292"
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+    {
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+      "frame_id": "000584"
+    },
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+      "frame_id": "000642"
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+    {
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+      "frame_id": "000701"
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+    {
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+      "frame_id": "000759"
+    },
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+      "frame_id": "000817"
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+    {
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+      "frame_id": "000876"
+    },
+    {
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+      "frame_id": "000934"
+    },
+    {
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+      "frame_id": "000993"
+    },
+    {
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+      "frame_id": "001051"
+    },
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+      "frame_id": "001109"
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+    {
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+      "frame_id": "001168"
+    },
+    {
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+    {
+      "index": 22,
+      "frame_id": "001285"
+    },
+    {
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+      "frame_id": "001343"
+    },
+    {
+      "index": 24,
+      "frame_id": "001402"
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+    {
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+      "frame_id": "001460"
+    },
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+    {
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+      "frame_id": "001577"
+    },
+    {
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+      "frame_id": "001635"
+    },
+    {
+      "index": 29,
+      "frame_id": "001694"
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+    {
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+      "frame_id": "001752"
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+  "frame_order": [
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+    "001752",
+    "001811"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0556_01_metadata.json b/metadata/train/scene0556_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b8d1f1766e2de01ec62e569e3e171f9f2f3c7db
--- /dev/null
+++ b/metadata/train/scene0556_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0556_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0556_01.pt",
+  "indices_file": "scene0556_01_indices.pt",
+  "transform_to_world_file": "scene0556_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
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+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
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+      "frame_id": "000049"
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+      "frame_id": "000098"
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+      "frame_id": "000147"
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+    {
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+      "frame_id": "000196"
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+      "frame_id": "000245"
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+      "frame_id": "000294"
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+      "frame_id": "000344"
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+      "frame_id": "000393"
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+      "frame_id": "000442"
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+      "frame_id": "000491"
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+      "index": 11,
+      "frame_id": "000540"
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+    {
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+      "frame_id": "000589"
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+      "frame_id": "000639"
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+      "frame_id": "000688"
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+      "frame_id": "000737"
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+      "frame_id": "000786"
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+      "frame_id": "000835"
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+      "frame_id": "000884"
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+      "frame_id": "000934"
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+      "frame_id": "000983"
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+      "frame_id": "001032"
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+      "frame_id": "001081"
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+      "index": 23,
+      "frame_id": "001130"
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+      "frame_id": "001179"
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+      "frame_id": "001229"
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+      "index": 26,
+      "frame_id": "001278"
+    },
+    {
+      "index": 27,
+      "frame_id": "001327"
+    },
+    {
+      "index": 28,
+      "frame_id": "001376"
+    },
+    {
+      "index": 29,
+      "frame_id": "001425"
+    },
+    {
+      "index": 30,
+      "frame_id": "001474"
+    },
+    {
+      "index": 31,
+      "frame_id": "001524"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000098",
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+    "000245",
+    "000294",
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+    "000393",
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+    "000491",
+    "000540",
+    "000589",
+    "000639",
+    "000688",
+    "000737",
+    "000786",
+    "000835",
+    "000884",
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+    "000983",
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+    "001081",
+    "001130",
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+    "001229",
+    "001278",
+    "001327",
+    "001376",
+    "001425",
+    "001474",
+    "001524"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0557_02_metadata.json b/metadata/train/scene0557_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..50f0c29d05cf844c457ef730e3f99e632a36dac5
--- /dev/null
+++ b/metadata/train/scene0557_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0557_02",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0557_02.pt",
+  "indices_file": "scene0557_02_indices.pt",
+  "transform_to_world_file": "scene0557_02_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
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+      "frame_id": "000034"
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+    {
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+      "frame_id": "000069"
+    },
+    {
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+      "frame_id": "000104"
+    },
+    {
+      "index": 4,
+      "frame_id": "000139"
+    },
+    {
+      "index": 5,
+      "frame_id": "000174"
+    },
+    {
+      "index": 6,
+      "frame_id": "000209"
+    },
+    {
+      "index": 7,
+      "frame_id": "000244"
+    },
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+      "index": 8,
+      "frame_id": "000279"
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+      "frame_id": "000314"
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+      "index": 10,
+      "frame_id": "000349"
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+      "index": 11,
+      "frame_id": "000384"
+    },
+    {
+      "index": 12,
+      "frame_id": "000419"
+    },
+    {
+      "index": 13,
+      "frame_id": "000454"
+    },
+    {
+      "index": 14,
+      "frame_id": "000489"
+    },
+    {
+      "index": 15,
+      "frame_id": "000524"
+    },
+    {
+      "index": 16,
+      "frame_id": "000558"
+    },
+    {
+      "index": 17,
+      "frame_id": "000593"
+    },
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+      "index": 18,
+      "frame_id": "000628"
+    },
+    {
+      "index": 19,
+      "frame_id": "000663"
+    },
+    {
+      "index": 20,
+      "frame_id": "000698"
+    },
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+      "index": 21,
+      "frame_id": "000733"
+    },
+    {
+      "index": 22,
+      "frame_id": "000768"
+    },
+    {
+      "index": 23,
+      "frame_id": "000803"
+    },
+    {
+      "index": 24,
+      "frame_id": "000838"
+    },
+    {
+      "index": 25,
+      "frame_id": "000873"
+    },
+    {
+      "index": 26,
+      "frame_id": "000908"
+    },
+    {
+      "index": 27,
+      "frame_id": "000943"
+    },
+    {
+      "index": 28,
+      "frame_id": "000978"
+    },
+    {
+      "index": 29,
+      "frame_id": "001013"
+    },
+    {
+      "index": 30,
+      "frame_id": "001048"
+    },
+    {
+      "index": 31,
+      "frame_id": "001083"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000034",
+    "000069",
+    "000104",
+    "000139",
+    "000174",
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+    "000873",
+    "000908",
+    "000943",
+    "000978",
+    "001013",
+    "001048",
+    "001083"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0569_01_metadata.json b/metadata/train/scene0569_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5efbdc89cb170e47928015ffe5c0961bbcb65dbb
--- /dev/null
+++ b/metadata/train/scene0569_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0569_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0569_01.pt",
+  "indices_file": "scene0569_01_indices.pt",
+  "transform_to_world_file": "scene0569_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
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+      "frame_id": "000034"
+    },
+    {
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+      "frame_id": "000069"
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+      "frame_id": "000104"
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+      "frame_id": "000139"
+    },
+    {
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+      "frame_id": "000173"
+    },
+    {
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+      "frame_id": "000208"
+    },
+    {
+      "index": 7,
+      "frame_id": "000243"
+    },
+    {
+      "index": 8,
+      "frame_id": "000278"
+    },
+    {
+      "index": 9,
+      "frame_id": "000312"
+    },
+    {
+      "index": 10,
+      "frame_id": "000347"
+    },
+    {
+      "index": 11,
+      "frame_id": "000382"
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+    {
+      "index": 12,
+      "frame_id": "000417"
+    },
+    {
+      "index": 13,
+      "frame_id": "000452"
+    },
+    {
+      "index": 14,
+      "frame_id": "000486"
+    },
+    {
+      "index": 15,
+      "frame_id": "000521"
+    },
+    {
+      "index": 16,
+      "frame_id": "000556"
+    },
+    {
+      "index": 17,
+      "frame_id": "000591"
+    },
+    {
+      "index": 18,
+      "frame_id": "000625"
+    },
+    {
+      "index": 19,
+      "frame_id": "000660"
+    },
+    {
+      "index": 20,
+      "frame_id": "000695"
+    },
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+      "index": 21,
+      "frame_id": "000730"
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+    {
+      "index": 22,
+      "frame_id": "000765"
+    },
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+      "index": 23,
+      "frame_id": "000799"
+    },
+    {
+      "index": 24,
+      "frame_id": "000834"
+    },
+    {
+      "index": 25,
+      "frame_id": "000869"
+    },
+    {
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+      "frame_id": "000904"
+    },
+    {
+      "index": 27,
+      "frame_id": "000938"
+    },
+    {
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+      "frame_id": "000973"
+    },
+    {
+      "index": 29,
+      "frame_id": "001008"
+    },
+    {
+      "index": 30,
+      "frame_id": "001043"
+    },
+    {
+      "index": 31,
+      "frame_id": "001078"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000069",
+    "000104",
+    "000139",
+    "000173",
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+    "001043",
+    "001078"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0572_01_metadata.json b/metadata/train/scene0572_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..95d731079985c1b04597aa25ba7fc6107e3d4db1
--- /dev/null
+++ b/metadata/train/scene0572_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0572_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0572_01.pt",
+  "indices_file": "scene0572_01_indices.pt",
+  "transform_to_world_file": "scene0572_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
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+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
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+      "frame_id": "000047"
+    },
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+      "frame_id": "000094"
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+      "frame_id": "000141"
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+      "frame_id": "000189"
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+      "frame_id": "000236"
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+      "frame_id": "000330"
+    },
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+      "frame_id": "000378"
+    },
+    {
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+      "frame_id": "000425"
+    },
+    {
+      "index": 10,
+      "frame_id": "000472"
+    },
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+      "frame_id": "000519"
+    },
+    {
+      "index": 12,
+      "frame_id": "000567"
+    },
+    {
+      "index": 13,
+      "frame_id": "000614"
+    },
+    {
+      "index": 14,
+      "frame_id": "000661"
+    },
+    {
+      "index": 15,
+      "frame_id": "000708"
+    },
+    {
+      "index": 16,
+      "frame_id": "000756"
+    },
+    {
+      "index": 17,
+      "frame_id": "000803"
+    },
+    {
+      "index": 18,
+      "frame_id": "000850"
+    },
+    {
+      "index": 19,
+      "frame_id": "000897"
+    },
+    {
+      "index": 20,
+      "frame_id": "000945"
+    },
+    {
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+      "frame_id": "000992"
+    },
+    {
+      "index": 22,
+      "frame_id": "001039"
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+      "frame_id": "001086"
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+      "frame_id": "001134"
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+    {
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+      "frame_id": "001181"
+    },
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+      "frame_id": "001228"
+    },
+    {
+      "index": 27,
+      "frame_id": "001275"
+    },
+    {
+      "index": 28,
+      "frame_id": "001323"
+    },
+    {
+      "index": 29,
+      "frame_id": "001370"
+    },
+    {
+      "index": 30,
+      "frame_id": "001417"
+    },
+    {
+      "index": 31,
+      "frame_id": "001465"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000047",
+    "000094",
+    "000141",
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+    "001228",
+    "001275",
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+    "001370",
+    "001417",
+    "001465"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0581_01_metadata.json b/metadata/train/scene0581_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b5902bd97a5a70a89d0eca6a88e1743cc8bf7f7
--- /dev/null
+++ b/metadata/train/scene0581_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0581_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0581_01.pt",
+  "indices_file": "scene0581_01_indices.pt",
+  "transform_to_world_file": "scene0581_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000050"
+    },
+    {
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+      "frame_id": "000100"
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+      "frame_id": "000150"
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+      "frame_id": "000200"
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+    {
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+      "frame_id": "000250"
+    },
+    {
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+      "frame_id": "000300"
+    },
+    {
+      "index": 7,
+      "frame_id": "000350"
+    },
+    {
+      "index": 8,
+      "frame_id": "000400"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0587_01_metadata.json b/metadata/train/scene0587_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f6f8dbb75dfb324d14763912c3e0e84947b5cea
--- /dev/null
+++ b/metadata/train/scene0587_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0587_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0587_01.pt",
+  "indices_file": "scene0587_01_indices.pt",
+  "transform_to_world_file": "scene0587_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
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+      "frame_id": "000000"
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+      "frame_id": "000472"
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+      "frame_id": "000488"
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+  "frame_order": [
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+    "000472",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0589_00_metadata.json b/metadata/train/scene0589_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c3ed8de9035c0c8d5179da449c66870e3af3d04
--- /dev/null
+++ b/metadata/train/scene0589_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0589_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0589_00.pt",
+  "indices_file": "scene0589_00_indices.pt",
+  "transform_to_world_file": "scene0589_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
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+      "frame_id": "000000"
+    },
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+      "frame_id": "000074"
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+      "frame_id": "000148"
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+      "frame_id": "000186"
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+      "frame_id": "000223"
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+      "frame_id": "000260"
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+      "frame_id": "000483"
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+      "frame_id": "000521"
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+      "frame_id": "000558"
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+      "frame_id": "000595"
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+      "frame_id": "000632"
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+      "frame_id": "000670"
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+      "frame_id": "001042"
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+      "frame_id": "001116"
+    },
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+  "frame_order": [
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0601_00_metadata.json b/metadata/train/scene0601_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0273a0f21f1573a1d395fa76207744eb512874b7
--- /dev/null
+++ b/metadata/train/scene0601_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0601_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0601_00.pt",
+  "indices_file": "scene0601_00_indices.pt",
+  "transform_to_world_file": "scene0601_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
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+      "frame_id": "000000"
+    },
+    {
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+      "frame_id": "000052"
+    },
+    {
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+      "frame_id": "000105"
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+      "frame_id": "000158"
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+    {
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+      "frame_id": "000211"
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+    },
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+      "frame_id": "000370"
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+      "frame_id": "000423"
+    },
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+      "frame_id": "000476"
+    },
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+      "frame_id": "000529"
+    },
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+      "frame_id": "000582"
+    },
+    {
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+      "frame_id": "000635"
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+    {
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+      "frame_id": "000688"
+    },
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+      "frame_id": "000741"
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+    {
+      "index": 15,
+      "frame_id": "000794"
+    },
+    {
+      "index": 16,
+      "frame_id": "000847"
+    },
+    {
+      "index": 17,
+      "frame_id": "000900"
+    },
+    {
+      "index": 18,
+      "frame_id": "000953"
+    },
+    {
+      "index": 19,
+      "frame_id": "001006"
+    },
+    {
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+      "frame_id": "001059"
+    },
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+      "frame_id": "001112"
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+      "frame_id": "001165"
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+      "frame_id": "001218"
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+      "frame_id": "001271"
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+      "index": 25,
+      "frame_id": "001324"
+    },
+    {
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+      "frame_id": "001377"
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+      "frame_id": "001430"
+    },
+    {
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+      "frame_id": "001483"
+    },
+    {
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+      "frame_id": "001536"
+    },
+    {
+      "index": 30,
+      "frame_id": "001589"
+    },
+    {
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+      "frame_id": "001642"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000105",
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+    "000211",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0611_00_metadata.json b/metadata/train/scene0611_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2083c9a9c76931102b6fe0ed35cbbc85bd5273d1
--- /dev/null
+++ b/metadata/train/scene0611_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0611_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0611_00.pt",
+  "indices_file": "scene0611_00_indices.pt",
+  "transform_to_world_file": "scene0611_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
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+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
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+      "frame_id": "000000"
+    },
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+      "frame_id": "000382"
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+      "frame_id": "000420"
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+      "frame_id": "000458"
+    },
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+      "frame_id": "000496"
+    },
+    {
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+      "frame_id": "000535"
+    },
+    {
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+      "frame_id": "000573"
+    },
+    {
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+      "frame_id": "000611"
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+    {
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+      "frame_id": "000649"
+    },
+    {
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+      "frame_id": "000688"
+    },
+    {
+      "index": 19,
+      "frame_id": "000726"
+    },
+    {
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+      "frame_id": "000764"
+    },
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+      "frame_id": "000802"
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+      "frame_id": "000840"
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+      "frame_id": "000879"
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+      "frame_id": "000917"
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+      "frame_id": "000955"
+    },
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+      "frame_id": "000993"
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+    {
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+      "frame_id": "001032"
+    },
+    {
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+      "frame_id": "001070"
+    },
+    {
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+      "frame_id": "001108"
+    },
+    {
+      "index": 30,
+      "frame_id": "001146"
+    },
+    {
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+      "frame_id": "001185"
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+  ],
+  "invalid_views": [],
+  "frame_order": [
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0622_00_metadata.json b/metadata/train/scene0622_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ae07a9eeb219181afd592859c12c486e0f3a03f
--- /dev/null
+++ b/metadata/train/scene0622_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0622_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0622_00.pt",
+  "indices_file": "scene0622_00_indices.pt",
+  "transform_to_world_file": "scene0622_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000039"
+    },
+    {
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+      "frame_id": "000079"
+    },
+    {
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+      "frame_id": "000119"
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+    {
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+      "frame_id": "000159"
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+      "frame_id": "000199"
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+      "frame_id": "000238"
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+      "frame_id": "000278"
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+      "frame_id": "000318"
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+      "frame_id": "000358"
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+      "frame_id": "000398"
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+      "frame_id": "000437"
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+    {
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+      "frame_id": "000477"
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+      "frame_id": "000517"
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+      "frame_id": "000557"
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+      "frame_id": "000597"
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+      "frame_id": "000636"
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+      "frame_id": "000676"
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+      "frame_id": "000716"
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+      "frame_id": "000756"
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+      "frame_id": "000915"
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+      "frame_id": "000995"
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+      "frame_id": "001034"
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+      "frame_id": "001074"
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+      "frame_id": "001114"
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+      "frame_id": "001154"
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+    {
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+      "frame_id": "001194"
+    },
+    {
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+      "frame_id": "001234"
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+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "001034",
+    "001074",
+    "001114",
+    "001154",
+    "001194",
+    "001234"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0626_02_metadata.json b/metadata/train/scene0626_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..656efd5fbd21713f86c3ba1e8b37822000883f49
--- /dev/null
+++ b/metadata/train/scene0626_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0626_02",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0626_02.pt",
+  "indices_file": "scene0626_02_indices.pt",
+  "transform_to_world_file": "scene0626_02_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000023"
+    },
+    {
+      "index": 2,
+      "frame_id": "000047"
+    },
+    {
+      "index": 3,
+      "frame_id": "000071"
+    },
+    {
+      "index": 4,
+      "frame_id": "000095"
+    },
+    {
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+      "frame_id": "000119"
+    },
+    {
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+      "frame_id": "000143"
+    },
+    {
+      "index": 7,
+      "frame_id": "000167"
+    },
+    {
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+      "frame_id": "000191"
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+      "frame_id": "000215"
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+      "frame_id": "000239"
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+      "frame_id": "000263"
+    },
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+      "frame_id": "000287"
+    },
+    {
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+      "frame_id": "000311"
+    },
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+      "frame_id": "000335"
+    },
+    {
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+      "frame_id": "000359"
+    },
+    {
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+      "frame_id": "000383"
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+      "frame_id": "000407"
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+    {
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+      "frame_id": "000431"
+    },
+    {
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+      "frame_id": "000455"
+    },
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+      "frame_id": "000479"
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+      "frame_id": "000503"
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+      "frame_id": "000527"
+    },
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+      "frame_id": "000551"
+    },
+    {
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+      "frame_id": "000575"
+    },
+    {
+      "index": 25,
+      "frame_id": "000599"
+    },
+    {
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+      "frame_id": "000623"
+    },
+    {
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+      "frame_id": "000647"
+    },
+    {
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+      "frame_id": "000671"
+    },
+    {
+      "index": 29,
+      "frame_id": "000695"
+    },
+    {
+      "index": 30,
+      "frame_id": "000719"
+    },
+    {
+      "index": 31,
+      "frame_id": "000743"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000023",
+    "000047",
+    "000071",
+    "000095",
+    "000119",
+    "000143",
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+    "000551",
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+    "000599",
+    "000623",
+    "000647",
+    "000671",
+    "000695",
+    "000719",
+    "000743"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0635_00_metadata.json b/metadata/train/scene0635_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..603f85333e510db08e135753a1d46a238f036745
--- /dev/null
+++ b/metadata/train/scene0635_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0635_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0635_00.pt",
+  "indices_file": "scene0635_00_indices.pt",
+  "transform_to_world_file": "scene0635_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000063"
+    },
+    {
+      "index": 2,
+      "frame_id": "000126"
+    },
+    {
+      "index": 3,
+      "frame_id": "000189"
+    },
+    {
+      "index": 4,
+      "frame_id": "000253"
+    },
+    {
+      "index": 5,
+      "frame_id": "000316"
+    },
+    {
+      "index": 6,
+      "frame_id": "000379"
+    },
+    {
+      "index": 7,
+      "frame_id": "000443"
+    },
+    {
+      "index": 8,
+      "frame_id": "000506"
+    },
+    {
+      "index": 9,
+      "frame_id": "000569"
+    },
+    {
+      "index": 10,
+      "frame_id": "000633"
+    },
+    {
+      "index": 11,
+      "frame_id": "000696"
+    },
+    {
+      "index": 12,
+      "frame_id": "000759"
+    },
+    {
+      "index": 13,
+      "frame_id": "000823"
+    },
+    {
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+      "frame_id": "000886"
+    },
+    {
+      "index": 15,
+      "frame_id": "000949"
+    },
+    {
+      "index": 16,
+      "frame_id": "001013"
+    },
+    {
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+      "frame_id": "001076"
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+      "frame_id": "001139"
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+      "frame_id": "001266"
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+      "frame_id": "001393"
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+      "frame_id": "001456"
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+      "frame_id": "001519"
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+      "frame_id": "001583"
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+      "frame_id": "001646"
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+      "frame_id": "001836"
+    },
+    {
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+      "frame_id": "001899"
+    },
+    {
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+      "frame_id": "001963"
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+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000126",
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+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0637_00_metadata.json b/metadata/train/scene0637_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee7cb525762ddfa4ffa1af00c067a65cd8dcac39
--- /dev/null
+++ b/metadata/train/scene0637_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0637_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0637_00.pt",
+  "indices_file": "scene0637_00_indices.pt",
+  "transform_to_world_file": "scene0637_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000019"
+    },
+    {
+      "index": 2,
+      "frame_id": "000039"
+    },
+    {
+      "index": 3,
+      "frame_id": "000059"
+    },
+    {
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+      "frame_id": "000079"
+    },
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+      "frame_id": "000099"
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+      "frame_id": "000118"
+    },
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+      "frame_id": "000138"
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+      "frame_id": "000158"
+    },
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+      "frame_id": "000178"
+    },
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+      "frame_id": "000198"
+    },
+    {
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+      "frame_id": "000217"
+    },
+    {
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+      "frame_id": "000237"
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+    {
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+      "frame_id": "000257"
+    },
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+      "frame_id": "000277"
+    },
+    {
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+      "frame_id": "000297"
+    },
+    {
+      "index": 16,
+      "frame_id": "000316"
+    },
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+      "index": 17,
+      "frame_id": "000336"
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+    {
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+      "frame_id": "000356"
+    },
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+      "frame_id": "000376"
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+      "frame_id": "000495"
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+    {
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+      "frame_id": "000514"
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+    {
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+      "frame_id": "000534"
+    },
+    {
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+      "frame_id": "000554"
+    },
+    {
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+      "frame_id": "000574"
+    },
+    {
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+      "frame_id": "000594"
+    },
+    {
+      "index": 31,
+      "frame_id": "000614"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000039",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0638_00_metadata.json b/metadata/train/scene0638_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3db177f60b9dcfdab35b7dd919e929db627a9074
--- /dev/null
+++ b/metadata/train/scene0638_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0638_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0638_00.pt",
+  "indices_file": "scene0638_00_indices.pt",
+  "transform_to_world_file": "scene0638_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000016"
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+    {
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+      "frame_id": "000032"
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+      "frame_id": "000064"
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+      "frame_id": "000096"
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+      "frame_id": "000161"
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+      "frame_id": "000177"
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+      "frame_id": "000193"
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+    {
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+      "frame_id": "000210"
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+      "frame_id": "000226"
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+      "frame_id": "000242"
+    },
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+      "frame_id": "000258"
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+      "frame_id": "000274"
+    },
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+      "frame_id": "000290"
+    },
+    {
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+      "frame_id": "000307"
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+    {
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new file mode 100644
index 0000000000000000000000000000000000000000..29903bedb00335cf9d0097beb1d375c361946daa
--- /dev/null
+++ b/metadata/train/scene0672_01_metadata.json
@@ -0,0 +1,198 @@
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