diff --git a/metadata/train/scene0004_00_metadata.json b/metadata/train/scene0004_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8b1e559c6573a48e7e66341857a5eba325cfde9
--- /dev/null
+++ b/metadata/train/scene0004_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0004_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": "scene0004_00.pt",
+  "indices_file": "scene0004_00_indices.pt",
+  "transform_to_world_file": "scene0004_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": "000029"
+    },
+    {
+      "index": 2,
+      "frame_id": "000059"
+    },
+    {
+      "index": 3,
+      "frame_id": "000089"
+    },
+    {
+      "index": 4,
+      "frame_id": "000119"
+    },
+    {
+      "index": 5,
+      "frame_id": "000149"
+    },
+    {
+      "index": 6,
+      "frame_id": "000179"
+    },
+    {
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+      "frame_id": "000209"
+    },
+    {
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+      "frame_id": "000239"
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+    {
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+      "frame_id": "000269"
+    },
+    {
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+      "frame_id": "000299"
+    },
+    {
+      "index": 11,
+      "frame_id": "000329"
+    },
+    {
+      "index": 12,
+      "frame_id": "000359"
+    },
+    {
+      "index": 13,
+      "frame_id": "000389"
+    },
+    {
+      "index": 14,
+      "frame_id": "000419"
+    },
+    {
+      "index": 15,
+      "frame_id": "000449"
+    },
+    {
+      "index": 16,
+      "frame_id": "000478"
+    },
+    {
+      "index": 17,
+      "frame_id": "000508"
+    },
+    {
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+      "frame_id": "000538"
+    },
+    {
+      "index": 19,
+      "frame_id": "000568"
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+    {
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+      "frame_id": "000598"
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+      "frame_id": "000628"
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+    {
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+      "frame_id": "000658"
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+    {
+      "index": 23,
+      "frame_id": "000688"
+    },
+    {
+      "index": 24,
+      "frame_id": "000718"
+    },
+    {
+      "index": 25,
+      "frame_id": "000748"
+    },
+    {
+      "index": 26,
+      "frame_id": "000778"
+    },
+    {
+      "index": 27,
+      "frame_id": "000808"
+    },
+    {
+      "index": 28,
+      "frame_id": "000838"
+    },
+    {
+      "index": 29,
+      "frame_id": "000868"
+    },
+    {
+      "index": 30,
+      "frame_id": "000898"
+    },
+    {
+      "index": 31,
+      "frame_id": "000928"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000029",
+    "000059",
+    "000089",
+    "000119",
+    "000149",
+    "000179",
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+    "000658",
+    "000688",
+    "000718",
+    "000748",
+    "000778",
+    "000808",
+    "000838",
+    "000868",
+    "000898",
+    "000928"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0005_01_metadata.json b/metadata/train/scene0005_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1129acfc7880e42ac130d8df81adf0435e4b99f4
--- /dev/null
+++ b/metadata/train/scene0005_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0005_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": "scene0005_01.pt",
+  "indices_file": "scene0005_01_indices.pt",
+  "transform_to_world_file": "scene0005_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": "000046"
+    },
+    {
+      "index": 2,
+      "frame_id": "000093"
+    },
+    {
+      "index": 3,
+      "frame_id": "000140"
+    },
+    {
+      "index": 4,
+      "frame_id": "000186"
+    },
+    {
+      "index": 5,
+      "frame_id": "000233"
+    },
+    {
+      "index": 6,
+      "frame_id": "000280"
+    },
+    {
+      "index": 7,
+      "frame_id": "000327"
+    },
+    {
+      "index": 8,
+      "frame_id": "000373"
+    },
+    {
+      "index": 9,
+      "frame_id": "000420"
+    },
+    {
+      "index": 10,
+      "frame_id": "000467"
+    },
+    {
+      "index": 11,
+      "frame_id": "000514"
+    },
+    {
+      "index": 12,
+      "frame_id": "000560"
+    },
+    {
+      "index": 13,
+      "frame_id": "000607"
+    },
+    {
+      "index": 14,
+      "frame_id": "000654"
+    },
+    {
+      "index": 15,
+      "frame_id": "000701"
+    },
+    {
+      "index": 16,
+      "frame_id": "000747"
+    },
+    {
+      "index": 17,
+      "frame_id": "000794"
+    },
+    {
+      "index": 18,
+      "frame_id": "000841"
+    },
+    {
+      "index": 19,
+      "frame_id": "000888"
+    },
+    {
+      "index": 20,
+      "frame_id": "000934"
+    },
+    {
+      "index": 21,
+      "frame_id": "000981"
+    },
+    {
+      "index": 22,
+      "frame_id": "001028"
+    },
+    {
+      "index": 23,
+      "frame_id": "001075"
+    },
+    {
+      "index": 24,
+      "frame_id": "001121"
+    },
+    {
+      "index": 25,
+      "frame_id": "001168"
+    },
+    {
+      "index": 26,
+      "frame_id": "001215"
+    },
+    {
+      "index": 27,
+      "frame_id": "001262"
+    },
+    {
+      "index": 28,
+      "frame_id": "001308"
+    },
+    {
+      "index": 29,
+      "frame_id": "001355"
+    },
+    {
+      "index": 30,
+      "frame_id": "001402"
+    },
+    {
+      "index": 31,
+      "frame_id": "001449"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000046",
+    "000093",
+    "000140",
+    "000186",
+    "000233",
+    "000280",
+    "000327",
+    "000373",
+    "000420",
+    "000467",
+    "000514",
+    "000560",
+    "000607",
+    "000654",
+    "000701",
+    "000747",
+    "000794",
+    "000841",
+    "000888",
+    "000934",
+    "000981",
+    "001028",
+    "001075",
+    "001121",
+    "001168",
+    "001215",
+    "001262",
+    "001308",
+    "001355",
+    "001402",
+    "001449"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0031_00_metadata.json b/metadata/train/scene0031_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d13e1e3e0c9aaf855faa08f7242daa32f264c5ab
--- /dev/null
+++ b/metadata/train/scene0031_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0031_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": "scene0031_00.pt",
+  "indices_file": "scene0031_00_indices.pt",
+  "transform_to_world_file": "scene0031_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": "000088"
+    },
+    {
+      "index": 2,
+      "frame_id": "000177"
+    },
+    {
+      "index": 3,
+      "frame_id": "000266"
+    },
+    {
+      "index": 4,
+      "frame_id": "000355"
+    },
+    {
+      "index": 5,
+      "frame_id": "000444"
+    },
+    {
+      "index": 6,
+      "frame_id": "000533"
+    },
+    {
+      "index": 7,
+      "frame_id": "000622"
+    },
+    {
+      "index": 8,
+      "frame_id": "000710"
+    },
+    {
+      "index": 9,
+      "frame_id": "000799"
+    },
+    {
+      "index": 10,
+      "frame_id": "000888"
+    },
+    {
+      "index": 11,
+      "frame_id": "000977"
+    },
+    {
+      "index": 12,
+      "frame_id": "001066"
+    },
+    {
+      "index": 13,
+      "frame_id": "001155"
+    },
+    {
+      "index": 14,
+      "frame_id": "001244"
+    },
+    {
+      "index": 15,
+      "frame_id": "001333"
+    },
+    {
+      "index": 16,
+      "frame_id": "001421"
+    },
+    {
+      "index": 17,
+      "frame_id": "001510"
+    },
+    {
+      "index": 18,
+      "frame_id": "001599"
+    },
+    {
+      "index": 19,
+      "frame_id": "001688"
+    },
+    {
+      "index": 20,
+      "frame_id": "001777"
+    },
+    {
+      "index": 21,
+      "frame_id": "001866"
+    },
+    {
+      "index": 22,
+      "frame_id": "001955"
+    },
+    {
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+      "frame_id": "002044"
+    },
+    {
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+      "frame_id": "002132"
+    },
+    {
+      "index": 25,
+      "frame_id": "002221"
+    },
+    {
+      "index": 26,
+      "frame_id": "002310"
+    },
+    {
+      "index": 27,
+      "frame_id": "002399"
+    },
+    {
+      "index": 28,
+      "frame_id": "002488"
+    },
+    {
+      "index": 29,
+      "frame_id": "002577"
+    },
+    {
+      "index": 30,
+      "frame_id": "002666"
+    },
+    {
+      "index": 31,
+      "frame_id": "002755"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000088",
+    "000177",
+    "000266",
+    "000355",
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+    "000533",
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+    "002221",
+    "002310",
+    "002399",
+    "002488",
+    "002577",
+    "002666",
+    "002755"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0032_00_metadata.json b/metadata/train/scene0032_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f20e52d669cdd88e261c447b32ee4898890047d9
--- /dev/null
+++ b/metadata/train/scene0032_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0032_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 21,
+  "invalid_frames_count": 11,
+  "output_shape": [
+    21,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    21
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0032_00.pt",
+  "indices_file": "scene0032_00_indices.pt",
+  "transform_to_world_file": "scene0032_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": "000026"
+    },
+    {
+      "index": 2,
+      "frame_id": "000053"
+    },
+    {
+      "index": 3,
+      "frame_id": "000080"
+    },
+    {
+      "index": 4,
+      "frame_id": "000107"
+    },
+    {
+      "index": 5,
+      "frame_id": "000134"
+    },
+    {
+      "index": 6,
+      "frame_id": "000161"
+    },
+    {
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+      "frame_id": "000188"
+    },
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+      "frame_id": "000483"
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+    {
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+      "frame_id": "000510"
+    },
+    {
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+      "frame_id": "000537"
+    },
+    {
+      "index": 21,
+      "frame_id": "000564"
+    },
+    {
+      "index": 22,
+      "frame_id": "000591"
+    },
+    {
+      "index": 23,
+      "frame_id": "000618"
+    },
+    {
+      "index": 24,
+      "frame_id": "000644"
+    },
+    {
+      "index": 25,
+      "frame_id": "000671"
+    },
+    {
+      "index": 26,
+      "frame_id": "000698"
+    },
+    {
+      "index": 28,
+      "frame_id": "000752"
+    },
+    {
+      "index": 29,
+      "frame_id": "000779"
+    },
+    {
+      "index": 30,
+      "frame_id": "000806"
+    },
+    {
+      "index": 31,
+      "frame_id": "000833"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 8,
+      "frame_id": "000214",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 9,
+      "frame_id": "000241",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 10,
+      "frame_id": "000268",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 11,
+      "frame_id": "000295",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 12,
+      "frame_id": "000322",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 13,
+      "frame_id": "000349",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 14,
+      "frame_id": "000376",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 15,
+      "frame_id": "000403",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 16,
+      "frame_id": "000429",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 17,
+      "frame_id": "000456",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 27,
+      "frame_id": "000725",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "000026",
+    "000053",
+    "000080",
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+    "000698",
+    "000752",
+    "000779",
+    "000806",
+    "000833"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0033_00_metadata.json b/metadata/train/scene0033_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..edd63fd05e92e2da1876bac6f349feb93abd4e02
--- /dev/null
+++ b/metadata/train/scene0033_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0033_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": "scene0033_00.pt",
+  "indices_file": "scene0033_00_indices.pt",
+  "transform_to_world_file": "scene0033_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": "000045"
+    },
+    {
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+      "frame_id": "000091"
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+    {
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+      "frame_id": "000137"
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+    {
+      "index": 4,
+      "frame_id": "000183"
+    },
+    {
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+      "frame_id": "000229"
+    },
+    {
+      "index": 6,
+      "frame_id": "000275"
+    },
+    {
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+      "frame_id": "000320"
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+      "frame_id": "000366"
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+    {
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+      "frame_id": "000412"
+    },
+    {
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+      "frame_id": "000458"
+    },
+    {
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+      "frame_id": "000504"
+    },
+    {
+      "index": 12,
+      "frame_id": "000550"
+    },
+    {
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+      "frame_id": "000595"
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+    {
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+      "frame_id": "000641"
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+      "frame_id": "000687"
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+    {
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+      "frame_id": "000733"
+    },
+    {
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+      "frame_id": "000779"
+    },
+    {
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+      "frame_id": "000825"
+    },
+    {
+      "index": 19,
+      "frame_id": "000870"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0035_01_metadata.json b/metadata/train/scene0035_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9b7a1fae5eb7c0cd6765451199a48d56d3e3c2e
--- /dev/null
+++ b/metadata/train/scene0035_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0035_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": "scene0035_01.pt",
+  "indices_file": "scene0035_01_indices.pt",
+  "transform_to_world_file": "scene0035_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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+  "invalid_views": [
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+      "frame_id": "000828",
+      "reason": "invalid_pose"
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+    "000993",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0036_01_metadata.json b/metadata/train/scene0036_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..23e84d05a487f61cf059b3f48b3c21523957c4b2
--- /dev/null
+++ b/metadata/train/scene0036_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0036_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": "scene0036_01.pt",
+  "indices_file": "scene0036_01_indices.pt",
+  "transform_to_world_file": "scene0036_01_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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+      "frame_id": "000000"
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+      "frame_id": "000344"
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+      "frame_id": "000389"
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+      "frame_id": "000665"
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+  "frame_order": [
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0043_01_metadata.json b/metadata/train/scene0043_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7c8ed727ea5e6443e0bdbcd3b0991f9796d6769
--- /dev/null
+++ b/metadata/train/scene0043_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0043_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": "scene0043_01.pt",
+  "indices_file": "scene0043_01_indices.pt",
+  "transform_to_world_file": "scene0043_01_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": "000332"
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+      "frame_id": "000365"
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+    {
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+      "frame_id": "000432"
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+      "frame_id": "000465"
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+      "frame_id": "000498"
+    },
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+      "frame_id": "000532"
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+      "frame_id": "000565"
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+      "frame_id": "000598"
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+      "frame_id": "000964"
+    },
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+      "frame_id": "001031"
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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/scene0085_01_metadata.json b/metadata/train/scene0085_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..85c2814c39ec6544336469eb6e9ca8470ec34d6c
--- /dev/null
+++ b/metadata/train/scene0085_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0085_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": "scene0085_01.pt",
+  "indices_file": "scene0085_01_indices.pt",
+  "transform_to_world_file": "scene0085_01_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": "000788"
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+      "frame_id": "000844"
+    },
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+      "frame_id": "000956"
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+      "frame_id": "001013"
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+      "frame_id": "001576"
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+      "frame_id": "001632"
+    },
+    {
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+      "frame_id": "001688"
+    },
+    {
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+      "frame_id": "001745"
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+  "frame_order": [
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0092_03_metadata.json b/metadata/train/scene0092_03_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..60237888a3a0d462f2ff6a1cdbc8d785cb7c21dc
--- /dev/null
+++ b/metadata/train/scene0092_03_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0092_03",
+  "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": "scene0092_03.pt",
+  "indices_file": "scene0092_03_indices.pt",
+  "transform_to_world_file": "scene0092_03_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
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+    "002730",
+    "002822"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0096_02_metadata.json b/metadata/train/scene0096_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2811aa2c5b2834c2095e47ed252903d33d430c0
--- /dev/null
+++ b/metadata/train/scene0096_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0096_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": "scene0096_02.pt",
+  "indices_file": "scene0096_02_indices.pt",
+  "transform_to_world_file": "scene0096_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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+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
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+      "frame_id": "000101"
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+      "frame_id": "000152"
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+      "frame_id": "000203"
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+      "frame_id": "000254"
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+      "frame_id": "000763"
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+      "frame_id": "000865"
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+      "frame_id": "001374"
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+      "frame_id": "001425"
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+      "frame_id": "001476"
+    },
+    {
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+      "frame_id": "001527"
+    },
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+      "frame_id": "001578"
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+    "001425",
+    "001476",
+    "001527",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0101_00_metadata.json b/metadata/train/scene0101_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa6cf760a1ce997bbad9fa38fa8ea5bb1cb0f680
--- /dev/null
+++ b/metadata/train/scene0101_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0101_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": "scene0101_00.pt",
+  "indices_file": "scene0101_00_indices.pt",
+  "transform_to_world_file": "scene0101_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": "000136"
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+      "frame_id": "000181"
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+      "frame_id": "000272"
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+      "frame_id": "000363"
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+      "frame_id": "000590"
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+      "frame_id": "000635"
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+      "frame_id": "000680"
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+      "frame_id": "000726"
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+    },
+    {
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+      "frame_id": "001361"
+    },
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+      "frame_id": "001407"
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+  "frame_order": [
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0115_01_metadata.json b/metadata/train/scene0115_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2373186731dab36daa0fc8e5eff0d38b1a41734d
--- /dev/null
+++ b/metadata/train/scene0115_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0115_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": "scene0115_01.pt",
+  "indices_file": "scene0115_01_indices.pt",
+  "transform_to_world_file": "scene0115_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": "000030"
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+    {
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+      "frame_id": "000061"
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+      "frame_id": "000092"
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+      "frame_id": "000122"
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+      "frame_id": "000153"
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+      "frame_id": "000184"
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+    {
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+      "frame_id": "000214"
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+      "frame_id": "000245"
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+      "frame_id": "000276"
+    },
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+      "frame_id": "000306"
+    },
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+      "frame_id": "000337"
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+      "frame_id": "000368"
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+      "frame_id": "000429"
+    },
+    {
+      "index": 15,
+      "frame_id": "000460"
+    },
+    {
+      "index": 16,
+      "frame_id": "000490"
+    },
+    {
+      "index": 17,
+      "frame_id": "000521"
+    },
+    {
+      "index": 18,
+      "frame_id": "000552"
+    },
+    {
+      "index": 19,
+      "frame_id": "000582"
+    },
+    {
+      "index": 20,
+      "frame_id": "000613"
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+    {
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+      "frame_id": "000644"
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+      "frame_id": "000705"
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+    {
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+      "frame_id": "000736"
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+      "frame_id": "000766"
+    },
+    {
+      "index": 26,
+      "frame_id": "000797"
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+    {
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+      "frame_id": "000828"
+    },
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+      "frame_id": "000858"
+    },
+    {
+      "index": 29,
+      "frame_id": "000889"
+    },
+    {
+      "index": 30,
+      "frame_id": "000920"
+    },
+    {
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+      "frame_id": "000951"
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+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000061",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0120_01_metadata.json b/metadata/train/scene0120_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ff259c2b8a3db4f740c4666bcfe157e5dace316
--- /dev/null
+++ b/metadata/train/scene0120_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0120_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": "scene0120_01.pt",
+  "indices_file": "scene0120_01_indices.pt",
+  "transform_to_world_file": "scene0120_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": "000182"
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+      "frame_id": "000196"
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+      "frame_id": "000225"
+    },
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+      "frame_id": "000379"
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+      "frame_id": "000407"
+    },
+    {
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+      "frame_id": "000421"
+    },
+    {
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+      "frame_id": "000436"
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+  "frame_order": [
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0122_00_metadata.json b/metadata/train/scene0122_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..99db901be56514628a62339b2bbcb97ef21ed4c4
--- /dev/null
+++ b/metadata/train/scene0122_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0122_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": "scene0122_00.pt",
+  "indices_file": "scene0122_00_indices.pt",
+  "transform_to_world_file": "scene0122_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": "000031"
+    },
+    {
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+      "frame_id": "000062"
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+    {
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+      "frame_id": "000094"
+    },
+    {
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+      "frame_id": "000125"
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+    {
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+      "frame_id": "000157"
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+    {
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+      "frame_id": "000188"
+    },
+    {
+      "index": 7,
+      "frame_id": "000220"
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+      "frame_id": "000283"
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+      "frame_id": "000314"
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+      "frame_id": "000345"
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+      "frame_id": "000377"
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+      "frame_id": "000408"
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+      "frame_id": "000440"
+    },
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+      "index": 15,
+      "frame_id": "000471"
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+      "frame_id": "000503"
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+      "frame_id": "000534"
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+      "frame_id": "000566"
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+      "frame_id": "000597"
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+      "frame_id": "000660"
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+      "frame_id": "000691"
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+      "frame_id": "000723"
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+      "frame_id": "000754"
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+      "frame_id": "000786"
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+      "frame_id": "000817"
+    },
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+      "index": 27,
+      "frame_id": "000849"
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+    {
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+      "frame_id": "000880"
+    },
+    {
+      "index": 29,
+      "frame_id": "000912"
+    },
+    {
+      "index": 30,
+      "frame_id": "000943"
+    },
+    {
+      "index": 31,
+      "frame_id": "000975"
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+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000031",
+    "000062",
+    "000094",
+    "000125",
+    "000157",
+    "000188",
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+    "000345",
+    "000377",
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+    "000691",
+    "000723",
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+    "000786",
+    "000817",
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+    "000880",
+    "000912",
+    "000943",
+    "000975"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0138_00_metadata.json b/metadata/train/scene0138_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ca9972fb8ba35204907d4d65fcbb66ad07312bb
--- /dev/null
+++ b/metadata/train/scene0138_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0138_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": "scene0138_00.pt",
+  "indices_file": "scene0138_00_indices.pt",
+  "transform_to_world_file": "scene0138_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"
+    },
+    {
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+      "frame_id": "000129"
+    },
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+      "index": 3,
+      "frame_id": "000194"
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+    {
+      "index": 4,
+      "frame_id": "000259"
+    },
+    {
+      "index": 5,
+      "frame_id": "000324"
+    },
+    {
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+      "frame_id": "000389"
+    },
+    {
+      "index": 7,
+      "frame_id": "000454"
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+    {
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+      "frame_id": "000519"
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+      "frame_id": "000584"
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+      "frame_id": "000714"
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+      "frame_id": "000779"
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+      "frame_id": "000844"
+    },
+    {
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+      "frame_id": "000909"
+    },
+    {
+      "index": 15,
+      "frame_id": "000974"
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+    {
+      "index": 16,
+      "frame_id": "001039"
+    },
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+      "index": 17,
+      "frame_id": "001104"
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+      "frame_id": "001169"
+    },
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+      "index": 19,
+      "frame_id": "001234"
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+      "frame_id": "001429"
+    },
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+      "index": 23,
+      "frame_id": "001494"
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+    {
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+      "frame_id": "001559"
+    },
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+      "index": 25,
+      "frame_id": "001624"
+    },
+    {
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+      "frame_id": "001689"
+    },
+    {
+      "index": 27,
+      "frame_id": "001754"
+    },
+    {
+      "index": 28,
+      "frame_id": "001819"
+    },
+    {
+      "index": 29,
+      "frame_id": "001884"
+    },
+    {
+      "index": 30,
+      "frame_id": "001949"
+    },
+    {
+      "index": 31,
+      "frame_id": "002014"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000129",
+    "000194",
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+    "000324",
+    "000389",
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+    "000779",
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+    "001819",
+    "001884",
+    "001949",
+    "002014"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0140_01_metadata.json b/metadata/train/scene0140_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1e1d7dd84ddc8bde57ab32b43c5555b81dd9908
--- /dev/null
+++ b/metadata/train/scene0140_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0140_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": "scene0140_01.pt",
+  "indices_file": "scene0140_01_indices.pt",
+  "transform_to_world_file": "scene0140_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": "000098"
+    },
+    {
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+      "frame_id": "000196"
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+      "frame_id": "000294"
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+      "frame_id": "000393"
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+      "frame_id": "000687"
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+    {
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+      "frame_id": "000786"
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+      "frame_id": "000884"
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+      "index": 10,
+      "frame_id": "000982"
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+    {
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+      "frame_id": "001080"
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+      "index": 12,
+      "frame_id": "001179"
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+    {
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+      "frame_id": "001277"
+    },
+    {
+      "index": 14,
+      "frame_id": "001375"
+    },
+    {
+      "index": 15,
+      "frame_id": "001473"
+    },
+    {
+      "index": 16,
+      "frame_id": "001572"
+    },
+    {
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+      "frame_id": "001670"
+    },
+    {
+      "index": 18,
+      "frame_id": "001768"
+    },
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+      "frame_id": "001866"
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+    {
+      "index": 20,
+      "frame_id": "001965"
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+    {
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+      "frame_id": "002063"
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+      "frame_id": "002161"
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+      "frame_id": "002259"
+    },
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+      "index": 24,
+      "frame_id": "002358"
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+    {
+      "index": 25,
+      "frame_id": "002456"
+    },
+    {
+      "index": 26,
+      "frame_id": "002554"
+    },
+    {
+      "index": 27,
+      "frame_id": "002652"
+    },
+    {
+      "index": 28,
+      "frame_id": "002751"
+    },
+    {
+      "index": 29,
+      "frame_id": "002849"
+    },
+    {
+      "index": 30,
+      "frame_id": "002947"
+    },
+    {
+      "index": 31,
+      "frame_id": "003046"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000196",
+    "000294",
+    "000393",
+    "000491",
+    "000589",
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+    "002947",
+    "003046"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0158_00_metadata.json b/metadata/train/scene0158_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..224be4fab42f253bfbba3f3741e2130256b85acf
--- /dev/null
+++ b/metadata/train/scene0158_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0158_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": "scene0158_00.pt",
+  "indices_file": "scene0158_00_indices.pt",
+  "transform_to_world_file": "scene0158_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": "000061"
+    },
+    {
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+      "frame_id": "000123"
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+    {
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+      "frame_id": "000185"
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+      "frame_id": "000247"
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+      "frame_id": "000309"
+    },
+    {
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+      "frame_id": "000371"
+    },
+    {
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+      "frame_id": "000433"
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+    {
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+      "frame_id": "000495"
+    },
+    {
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+      "frame_id": "000557"
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+    {
+      "index": 10,
+      "frame_id": "000619"
+    },
+    {
+      "index": 11,
+      "frame_id": "000681"
+    },
+    {
+      "index": 12,
+      "frame_id": "000743"
+    },
+    {
+      "index": 13,
+      "frame_id": "000805"
+    },
+    {
+      "index": 14,
+      "frame_id": "000867"
+    },
+    {
+      "index": 15,
+      "frame_id": "000929"
+    },
+    {
+      "index": 16,
+      "frame_id": "000991"
+    },
+    {
+      "index": 17,
+      "frame_id": "001053"
+    },
+    {
+      "index": 18,
+      "frame_id": "001115"
+    },
+    {
+      "index": 19,
+      "frame_id": "001177"
+    },
+    {
+      "index": 20,
+      "frame_id": "001239"
+    },
+    {
+      "index": 21,
+      "frame_id": "001301"
+    },
+    {
+      "index": 22,
+      "frame_id": "001363"
+    },
+    {
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+      "frame_id": "001425"
+    },
+    {
+      "index": 24,
+      "frame_id": "001487"
+    },
+    {
+      "index": 25,
+      "frame_id": "001549"
+    },
+    {
+      "index": 26,
+      "frame_id": "001611"
+    },
+    {
+      "index": 27,
+      "frame_id": "001673"
+    },
+    {
+      "index": 28,
+      "frame_id": "001735"
+    },
+    {
+      "index": 29,
+      "frame_id": "001797"
+    },
+    {
+      "index": 30,
+      "frame_id": "001859"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 31,
+      "frame_id": "001921",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "000061",
+    "000123",
+    "000185",
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+    "001673",
+    "001735",
+    "001797",
+    "001859"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0170_01_metadata.json b/metadata/train/scene0170_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b330af3109e0bd444a870bcba9381bbae7cc3677
--- /dev/null
+++ b/metadata/train/scene0170_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0170_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": "scene0170_01.pt",
+  "indices_file": "scene0170_01_indices.pt",
+  "transform_to_world_file": "scene0170_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": "000041"
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+      "frame_id": "000082"
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+      "frame_id": "000123"
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+    {
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+      "frame_id": "000246"
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+      "frame_id": "000287"
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+      "frame_id": "000329"
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+      "frame_id": "000370"
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+    {
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+      "frame_id": "000411"
+    },
+    {
+      "index": 11,
+      "frame_id": "000452"
+    },
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0182_00_metadata.json b/metadata/train/scene0182_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..972b7dc69c1864ff422bc53cf133b5b5857df391
--- /dev/null
+++ b/metadata/train/scene0182_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0182_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": "scene0182_00.pt",
+  "indices_file": "scene0182_00_indices.pt",
+  "transform_to_world_file": "scene0182_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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+    {
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0183_00_metadata.json b/metadata/train/scene0183_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..210374025545438c4a15bb7fde4e49b700db4978
--- /dev/null
+++ b/metadata/train/scene0183_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0183_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": "scene0183_00.pt",
+  "indices_file": "scene0183_00_indices.pt",
+  "transform_to_world_file": "scene0183_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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+  "valid_view_mapping": [
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+  "invalid_views": [
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+      "frame_id": "000270",
+      "reason": "invalid_pose"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0191_01_metadata.json b/metadata/train/scene0191_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..65484770ffd0378c502efbca86f35d458f552d71
--- /dev/null
+++ b/metadata/train/scene0191_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0191_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": "scene0191_01.pt",
+  "indices_file": "scene0191_01_indices.pt",
+  "transform_to_world_file": "scene0191_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": "000420"
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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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+      "frame_id": "000649"
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+      "frame_id": "000688"
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+    },
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+      "frame_id": "001108"
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+    {
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+      "frame_id": "001146"
+    },
+    {
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+      "frame_id": "001185"
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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/scene0192_00_metadata.json b/metadata/train/scene0192_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ed5546c34d0ac6901554525154bd8af1ec0c2f2
--- /dev/null
+++ b/metadata/train/scene0192_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0192_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": "scene0192_00.pt",
+  "indices_file": "scene0192_00_indices.pt",
+  "transform_to_world_file": "scene0192_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": "000332"
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+      "frame_id": "000423"
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+      "frame_id": "000453"
+    },
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+      "frame_id": "000483"
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+      "frame_id": "000513"
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+      "frame_id": "000544"
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+      "frame_id": "000816"
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+    },
+    {
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+      "frame_id": "000906"
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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/scene0201_00_metadata.json b/metadata/train/scene0201_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c01ec4ca8c4ae32936283a737e4d3e8f699e5b1e
--- /dev/null
+++ b/metadata/train/scene0201_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0201_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0220_00_metadata.json b/metadata/train/scene0220_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1d5d58e5c3c7481cbdaf5c01a34f95b7b5d28e9
--- /dev/null
+++ b/metadata/train/scene0220_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0220_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": "scene0220_00.pt",
+  "indices_file": "scene0220_00_indices.pt",
+  "transform_to_world_file": "scene0220_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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+    {
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+      "frame_id": "000516"
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+      "frame_id": "000688"
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+      "frame_id": "002495"
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+      "frame_id": "002581"
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+      "frame_id": "002668"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0228_00_metadata.json b/metadata/train/scene0228_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4929777acf01086ad533b500e3458745fb033d8
--- /dev/null
+++ b/metadata/train/scene0228_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0228_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": "scene0228_00.pt",
+  "indices_file": "scene0228_00_indices.pt",
+  "transform_to_world_file": "scene0228_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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+  "valid_view_mapping": [
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+      "frame_id": "000000"
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+      "frame_id": "000064"
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+      "frame_id": "000129"
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+      "frame_id": "000584"
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+      "frame_id": "000714"
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+      "frame_id": "000844"
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+      "frame_id": "000909"
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+      "frame_id": "000974"
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+      "frame_id": "001039"
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+      "frame_id": "001104"
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+      "frame_id": "001884"
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+  "frame_order": [
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0230_00_metadata.json b/metadata/train/scene0230_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cd4ad656721dd35aa065a1ba501a571584f2ab1
--- /dev/null
+++ b/metadata/train/scene0230_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0230_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": "scene0230_00.pt",
+  "indices_file": "scene0230_00_indices.pt",
+  "transform_to_world_file": "scene0230_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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+    {
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+      "frame_id": "000082"
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+      "frame_id": "000103"
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+      "frame_id": "000113"
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+      "frame_id": "000134"
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+      "frame_id": "000144"
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+    {
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+      "frame_id": "000154"
+    },
+    {
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+      "frame_id": "000165"
+    },
+    {
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+      "frame_id": "000175"
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+      "frame_id": "000185"
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+      "frame_id": "000237"
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+      "frame_id": "000268"
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+      "frame_id": "000278"
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+      "frame_id": "000289"
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+    {
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+      "frame_id": "000309"
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+  ],
+  "invalid_views": [
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+      "frame_id": "000320",
+      "reason": "invalid_pose"
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+  ],
+  "frame_order": [
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0233_01_metadata.json b/metadata/train/scene0233_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0e38299410d05288262495b7e68562897b0392b
--- /dev/null
+++ b/metadata/train/scene0233_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0233_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": "scene0233_01.pt",
+  "indices_file": "scene0233_01_indices.pt",
+  "transform_to_world_file": "scene0233_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": "001866"
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+      "frame_id": "004266"
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+      "frame_id": "004533"
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+      "frame_id": "005333"
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+      "frame_id": "005866"
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+    {
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+      "frame_id": "006133"
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+    "007466",
+    "007733",
+    "008000"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0241_02_metadata.json b/metadata/train/scene0241_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce0c8ec80fd701cbc37832d71b8a40503bdae643
--- /dev/null
+++ b/metadata/train/scene0241_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0241_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": "scene0241_02.pt",
+  "indices_file": "scene0241_02_indices.pt",
+  "transform_to_world_file": "scene0241_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": "000052"
+    },
+    {
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+      "frame_id": "000104"
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+      "frame_id": "000156"
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+      "frame_id": "000209"
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+      "frame_id": "000261"
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+      "frame_id": "000313"
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+      "index": 7,
+      "frame_id": "000366"
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+      "frame_id": "000418"
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+      "frame_id": "000470"
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+      "frame_id": "000522"
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+      "frame_id": "000575"
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+      "frame_id": "000679"
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+      "frame_id": "000732"
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+      "frame_id": "000784"
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+      "frame_id": "000836"
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+      "frame_id": "000888"
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+      "frame_id": "000941"
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+      "frame_id": "001150"
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+      "frame_id": "001202"
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+      "frame_id": "001307"
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+      "frame_id": "001359"
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+      "frame_id": "001411"
+    },
+    {
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+      "frame_id": "001464"
+    },
+    {
+      "index": 29,
+      "frame_id": "001516"
+    },
+    {
+      "index": 30,
+      "frame_id": "001568"
+    },
+    {
+      "index": 31,
+      "frame_id": "001621"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000052",
+    "000104",
+    "000156",
+    "000209",
+    "000261",
+    "000313",
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+    "000470",
+    "000522",
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+    "000627",
+    "000679",
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+    "000888",
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+    "001202",
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+    "001307",
+    "001359",
+    "001411",
+    "001464",
+    "001516",
+    "001568",
+    "001621"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0248_01_metadata.json b/metadata/train/scene0248_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bce47832f7674b4bd5f1442d80cbf8b168ccf40c
--- /dev/null
+++ b/metadata/train/scene0248_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0248_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": "scene0248_01.pt",
+  "indices_file": "scene0248_01_indices.pt",
+  "transform_to_world_file": "scene0248_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": "000044"
+    },
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+      "index": 2,
+      "frame_id": "000088"
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+    {
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+      "frame_id": "000133"
+    },
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+      "index": 4,
+      "frame_id": "000177"
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+      "frame_id": "000222"
+    },
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+      "frame_id": "000266"
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+    {
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+      "frame_id": "000310"
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+      "frame_id": "000355"
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+      "frame_id": "000399"
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+      "frame_id": "000444"
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+      "frame_id": "000488"
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+    {
+      "index": 12,
+      "frame_id": "000533"
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+    {
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+      "frame_id": "000577"
+    },
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+      "index": 14,
+      "frame_id": "000621"
+    },
+    {
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+      "frame_id": "000666"
+    },
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+      "index": 16,
+      "frame_id": "000710"
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+    {
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+      "frame_id": "000755"
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+      "frame_id": "000799"
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+      "index": 19,
+      "frame_id": "000843"
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+      "frame_id": "000888"
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+      "frame_id": "000932"
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+      "frame_id": "000977"
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+      "frame_id": "001021"
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+      "frame_id": "001066"
+    },
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+      "frame_id": "001110"
+    },
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+      "frame_id": "001154"
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+      "frame_id": "001199"
+    },
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+      "frame_id": "001243"
+    },
+    {
+      "index": 29,
+      "frame_id": "001288"
+    },
+    {
+      "index": 30,
+      "frame_id": "001332"
+    },
+    {
+      "index": 31,
+      "frame_id": "001377"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000044",
+    "000088",
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+    "000177",
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+    "000266",
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+    "000399",
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+    "000488",
+    "000533",
+    "000577",
+    "000621",
+    "000666",
+    "000710",
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+    "000843",
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+    "001021",
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+    "001110",
+    "001154",
+    "001199",
+    "001243",
+    "001288",
+    "001332",
+    "001377"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0260_02_metadata.json b/metadata/train/scene0260_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7aa52a692bb1183638200c3540fd5d103f039b9b
--- /dev/null
+++ b/metadata/train/scene0260_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0260_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": "scene0260_02.pt",
+  "indices_file": "scene0260_02_indices.pt",
+  "transform_to_world_file": "scene0260_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": "000050"
+    },
+    {
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+      "frame_id": "000101"
+    },
+    {
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+      "frame_id": "000152"
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+      "frame_id": "000202"
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+      "frame_id": "000253"
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+      "index": 7,
+      "frame_id": "000354"
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+    {
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+      "frame_id": "000405"
+    },
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+      "frame_id": "000456"
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+    {
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+      "frame_id": "000507"
+    },
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+      "frame_id": "000557"
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+    {
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+      "frame_id": "000608"
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+    {
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+      "frame_id": "000659"
+    },
+    {
+      "index": 14,
+      "frame_id": "000709"
+    },
+    {
+      "index": 15,
+      "frame_id": "000760"
+    },
+    {
+      "index": 16,
+      "frame_id": "000811"
+    },
+    {
+      "index": 17,
+      "frame_id": "000862"
+    },
+    {
+      "index": 18,
+      "frame_id": "000912"
+    },
+    {
+      "index": 19,
+      "frame_id": "000963"
+    },
+    {
+      "index": 20,
+      "frame_id": "001014"
+    },
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+      "frame_id": "001064"
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+      "frame_id": "001115"
+    },
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+      "frame_id": "001166"
+    },
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+      "frame_id": "001217"
+    },
+    {
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+      "frame_id": "001267"
+    },
+    {
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+      "frame_id": "001318"
+    },
+    {
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+      "frame_id": "001369"
+    },
+    {
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+      "frame_id": "001419"
+    },
+    {
+      "index": 29,
+      "frame_id": "001470"
+    },
+    {
+      "index": 30,
+      "frame_id": "001521"
+    },
+    {
+      "index": 31,
+      "frame_id": "001572"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000050",
+    "000101",
+    "000152",
+    "000202",
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+    "000304",
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+    "001572"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0269_02_metadata.json b/metadata/train/scene0269_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b709a32f64406318bcfa277d02f2dfd116807d97
--- /dev/null
+++ b/metadata/train/scene0269_02_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0269_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": "scene0269_02.pt",
+  "indices_file": "scene0269_02_indices.pt",
+  "transform_to_world_file": "scene0269_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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+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
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+      "frame_id": "000032"
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+      "frame_id": "000129"
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+      "frame_id": "000162"
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+      "frame_id": "000324"
+    },
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+      "frame_id": "000356"
+    },
+    {
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+      "frame_id": "000389"
+    },
+    {
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+      "frame_id": "000421"
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+      "frame_id": "000453"
+    },
+    {
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+      "frame_id": "000486"
+    },
+    {
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+      "frame_id": "000518"
+    },
+    {
+      "index": 17,
+      "frame_id": "000551"
+    },
+    {
+      "index": 18,
+      "frame_id": "000583"
+    },
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+      "index": 19,
+      "frame_id": "000615"
+    },
+    {
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+      "frame_id": "000648"
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+      "frame_id": "000680"
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+    {
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+      "frame_id": "000713"
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+      "frame_id": "000745"
+    },
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+      "frame_id": "000778"
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+      "frame_id": "000810"
+    },
+    {
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+      "frame_id": "000842"
+    },
+    {
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+      "frame_id": "000875"
+    },
+    {
+      "index": 28,
+      "frame_id": "000907"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 29,
+      "frame_id": "000940",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 30,
+      "frame_id": "000972",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 31,
+      "frame_id": "001005",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "000842",
+    "000875",
+    "000907"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0270_01_metadata.json b/metadata/train/scene0270_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9546df8e57c4d69c75f136641a3e5249bab5f171
--- /dev/null
+++ b/metadata/train/scene0270_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0270_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": "scene0270_01.pt",
+  "indices_file": "scene0270_01_indices.pt",
+  "transform_to_world_file": "scene0270_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": "000065"
+    },
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0273_01_metadata.json b/metadata/train/scene0273_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b7ec849515a59b91cba8c9ef7db6a2bd97955cf
--- /dev/null
+++ b/metadata/train/scene0273_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0273_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 26,
+  "invalid_frames_count": 6,
+  "output_shape": [
+    26,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    26
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0273_01.pt",
+  "indices_file": "scene0273_01_indices.pt",
+  "transform_to_world_file": "scene0273_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": "000096"
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+      "frame_id": "002803"
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+      "frame_id": "002900"
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+      "frame_id": "001740",
+      "reason": "invalid_pose"
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+      "reason": "invalid_pose"
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+      "frame_id": "001933",
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+      "frame_id": "002030",
+      "reason": "invalid_pose"
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+      "frame_id": "002126",
+      "reason": "invalid_pose"
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+      "frame_id": "002223",
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+    "002706",
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+    "002900",
+    "002997"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0301_00_metadata.json b/metadata/train/scene0301_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..63b08258fea060098c36dde7b1e8b9d5f2a66374
--- /dev/null
+++ b/metadata/train/scene0301_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0301_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": "scene0301_00.pt",
+  "indices_file": "scene0301_00_indices.pt",
+  "transform_to_world_file": "scene0301_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": "000190"
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+      "frame_id": "000823"
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+      "frame_id": "000886"
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+      "frame_id": "000950"
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+      "frame_id": "001837"
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+      "frame_id": "001900"
+    },
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+      "frame_id": "001964"
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+  "frame_order": [
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0311_00_metadata.json b/metadata/train/scene0311_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf8bd145c11e192132cf1332a6df80d8c3cf0c20
--- /dev/null
+++ b/metadata/train/scene0311_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0311_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": "scene0311_00.pt",
+  "indices_file": "scene0311_00_indices.pt",
+  "transform_to_world_file": "scene0311_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": "000040"
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+      "frame_id": "000080"
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+      "frame_id": "000120"
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+      "frame_id": "000161"
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+      "frame_id": "000282"
+    },
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+      "frame_id": "000322"
+    },
+    {
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+      "frame_id": "000362"
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+      "frame_id": "000402"
+    },
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+      "frame_id": "000443"
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+    {
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+      "frame_id": "000483"
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+    {
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+      "frame_id": "000523"
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+      "index": 14,
+      "frame_id": "000564"
+    },
+    {
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+      "frame_id": "000604"
+    },
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+      "index": 16,
+      "frame_id": "000644"
+    },
+    {
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+      "frame_id": "000684"
+    },
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+      "frame_id": "000725"
+    },
+    {
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+      "frame_id": "000765"
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+      "frame_id": "000805"
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+      "frame_id": "000886"
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+      "frame_id": "000926"
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+      "frame_id": "000966"
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+      "frame_id": "001007"
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+      "frame_id": "001047"
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+      "frame_id": "001087"
+    },
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+      "frame_id": "001128"
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+      "frame_id": "001168"
+    },
+    {
+      "index": 30,
+      "frame_id": "001208"
+    },
+    {
+      "index": 31,
+      "frame_id": "001249"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000040",
+    "000080",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0312_01_metadata.json b/metadata/train/scene0312_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..275ee465eee6e335eca3c75ecfc1299099df99ec
--- /dev/null
+++ b/metadata/train/scene0312_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0312_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": "scene0312_01.pt",
+  "indices_file": "scene0312_01_indices.pt",
+  "transform_to_world_file": "scene0312_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": "000070"
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+      "frame_id": "000779"
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+      "frame_id": "001063"
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+      "frame_id": "001133"
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+      "frame_id": "001204"
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+      "frame_id": "001275"
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+      "frame_id": "001630"
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+      "frame_id": "001842"
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+      "frame_id": "001984"
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+      "frame_id": "002055"
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+      "frame_id": "002126"
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+      "frame_id": "002197"
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+    "001842",
+    "001913",
+    "001984",
+    "002055",
+    "002126",
+    "002197"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0324_00_metadata.json b/metadata/train/scene0324_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..95bdd93bda4e5024475fea5eb13b771bb3b64731
--- /dev/null
+++ b/metadata/train/scene0324_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0324_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": "scene0324_00.pt",
+  "indices_file": "scene0324_00_indices.pt",
+  "transform_to_world_file": "scene0324_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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+    {
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+      "frame_id": "000118"
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+    {
+      "index": 4,
+      "frame_id": "000158"
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+    {
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+      "frame_id": "000198"
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+    {
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+      "frame_id": "000237"
+    },
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+      "index": 7,
+      "frame_id": "000277"
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+      "frame_id": "000316"
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+      "frame_id": "000356"
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+      "frame_id": "000396"
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+      "frame_id": "000435"
+    },
+    {
+      "index": 12,
+      "frame_id": "000475"
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+    {
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+      "frame_id": "000514"
+    },
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+      "index": 14,
+      "frame_id": "000554"
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+    {
+      "index": 15,
+      "frame_id": "000594"
+    },
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+      "frame_id": "000633"
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+      "frame_id": "000673"
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+      "frame_id": "000713"
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+      "frame_id": "000752"
+    },
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+      "index": 20,
+      "frame_id": "000792"
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+      "frame_id": "000831"
+    },
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+      "index": 22,
+      "frame_id": "000871"
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+      "index": 23,
+      "frame_id": "000911"
+    },
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+      "index": 24,
+      "frame_id": "000950"
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+    {
+      "index": 25,
+      "frame_id": "000990"
+    },
+    {
+      "index": 26,
+      "frame_id": "001029"
+    },
+    {
+      "index": 27,
+      "frame_id": "001069"
+    },
+    {
+      "index": 28,
+      "frame_id": "001109"
+    },
+    {
+      "index": 29,
+      "frame_id": "001148"
+    },
+    {
+      "index": 30,
+      "frame_id": "001188"
+    },
+    {
+      "index": 31,
+      "frame_id": "001228"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000039",
+    "000079",
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+    "000158",
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+    "000237",
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+    "000356",
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+    "000435",
+    "000475",
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+    "000673",
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+    "000871",
+    "000911",
+    "000950",
+    "000990",
+    "001029",
+    "001069",
+    "001109",
+    "001148",
+    "001188",
+    "001228"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0335_00_metadata.json b/metadata/train/scene0335_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..64d796939279d334af57d72ca3551cc4608f4db7
--- /dev/null
+++ b/metadata/train/scene0335_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0335_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": "scene0335_00.pt",
+  "indices_file": "scene0335_00_indices.pt",
+  "transform_to_world_file": "scene0335_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": "000077"
+    },
+    {
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+      "frame_id": "000155"
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+      "index": 3,
+      "frame_id": "000233"
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+    {
+      "index": 4,
+      "frame_id": "000311"
+    },
+    {
+      "index": 5,
+      "frame_id": "000389"
+    },
+    {
+      "index": 6,
+      "frame_id": "000466"
+    },
+    {
+      "index": 7,
+      "frame_id": "000544"
+    },
+    {
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+      "frame_id": "000622"
+    },
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+      "frame_id": "000700"
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+      "index": 10,
+      "frame_id": "000778"
+    },
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+      "index": 11,
+      "frame_id": "000855"
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+    {
+      "index": 12,
+      "frame_id": "000933"
+    },
+    {
+      "index": 13,
+      "frame_id": "001011"
+    },
+    {
+      "index": 14,
+      "frame_id": "001089"
+    },
+    {
+      "index": 15,
+      "frame_id": "001167"
+    },
+    {
+      "index": 16,
+      "frame_id": "001244"
+    },
+    {
+      "index": 17,
+      "frame_id": "001322"
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+    {
+      "index": 18,
+      "frame_id": "001400"
+    },
+    {
+      "index": 19,
+      "frame_id": "001478"
+    },
+    {
+      "index": 20,
+      "frame_id": "001556"
+    },
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+      "index": 21,
+      "frame_id": "001633"
+    },
+    {
+      "index": 22,
+      "frame_id": "001711"
+    },
+    {
+      "index": 23,
+      "frame_id": "001789"
+    },
+    {
+      "index": 24,
+      "frame_id": "001867"
+    },
+    {
+      "index": 25,
+      "frame_id": "001945"
+    },
+    {
+      "index": 26,
+      "frame_id": "002022"
+    },
+    {
+      "index": 27,
+      "frame_id": "002100"
+    },
+    {
+      "index": 28,
+      "frame_id": "002178"
+    },
+    {
+      "index": 29,
+      "frame_id": "002256"
+    },
+    {
+      "index": 30,
+      "frame_id": "002334"
+    },
+    {
+      "index": 31,
+      "frame_id": "002412"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000077",
+    "000155",
+    "000233",
+    "000311",
+    "000389",
+    "000466",
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+    "000622",
+    "000700",
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+    "000855",
+    "000933",
+    "001011",
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+    "001244",
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+    "001789",
+    "001867",
+    "001945",
+    "002022",
+    "002100",
+    "002178",
+    "002256",
+    "002334",
+    "002412"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0347_01_metadata.json b/metadata/train/scene0347_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e22d77e1a010422e56d1e40b95fe7ddcabc41bb
--- /dev/null
+++ b/metadata/train/scene0347_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0347_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": "scene0347_01.pt",
+  "indices_file": "scene0347_01_indices.pt",
+  "transform_to_world_file": "scene0347_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"
+    },
+    {
+      "index": 2,
+      "frame_id": "000069"
+    },
+    {
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+      "frame_id": "000104"
+    },
+    {
+      "index": 4,
+      "frame_id": "000139"
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+    {
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+      "frame_id": "000173"
+    },
+    {
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+      "frame_id": "000208"
+    },
+    {
+      "index": 7,
+      "frame_id": "000243"
+    },
+    {
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+      "frame_id": "000278"
+    },
+    {
+      "index": 9,
+      "frame_id": "000312"
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+    {
+      "index": 10,
+      "frame_id": "000347"
+    },
+    {
+      "index": 11,
+      "frame_id": "000382"
+    },
+    {
+      "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"
+    },
+    {
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+      "frame_id": "000695"
+    },
+    {
+      "index": 21,
+      "frame_id": "000730"
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+    {
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+      "frame_id": "000765"
+    },
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+      "frame_id": "000799"
+    },
+    {
+      "index": 24,
+      "frame_id": "000834"
+    },
+    {
+      "index": 25,
+      "frame_id": "000869"
+    },
+    {
+      "index": 26,
+      "frame_id": "000904"
+    },
+    {
+      "index": 27,
+      "frame_id": "000938"
+    },
+    {
+      "index": 28,
+      "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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+    "000034",
+    "000069",
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+    "000139",
+    "000173",
+    "000208",
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+    "001078"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0358_01_metadata.json b/metadata/train/scene0358_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e52c12b1e6df706752c0cbdaa79d91d9d8dd1e75
--- /dev/null
+++ b/metadata/train/scene0358_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0358_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": "scene0358_01.pt",
+  "indices_file": "scene0358_01_indices.pt",
+  "transform_to_world_file": "scene0358_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": "000065"
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+      "frame_id": "000130"
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+      "frame_id": "000260"
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+      "frame_id": "000520"
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+    {
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+      "frame_id": "000585"
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+      "index": 10,
+      "frame_id": "000650"
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+    {
+      "index": 11,
+      "frame_id": "000716"
+    },
+    {
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+      "frame_id": "000781"
+    },
+    {
+      "index": 13,
+      "frame_id": "000846"
+    },
+    {
+      "index": 14,
+      "frame_id": "000911"
+    },
+    {
+      "index": 15,
+      "frame_id": "000976"
+    },
+    {
+      "index": 16,
+      "frame_id": "001041"
+    },
+    {
+      "index": 17,
+      "frame_id": "001106"
+    },
+    {
+      "index": 18,
+      "frame_id": "001171"
+    },
+    {
+      "index": 19,
+      "frame_id": "001236"
+    },
+    {
+      "index": 20,
+      "frame_id": "001301"
+    },
+    {
+      "index": 21,
+      "frame_id": "001367"
+    },
+    {
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+      "frame_id": "001432"
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+    {
+      "index": 23,
+      "frame_id": "001497"
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+      "frame_id": "001562"
+    },
+    {
+      "index": 25,
+      "frame_id": "001627"
+    },
+    {
+      "index": 26,
+      "frame_id": "001692"
+    },
+    {
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+      "frame_id": "001757"
+    },
+    {
+      "index": 28,
+      "frame_id": "001822"
+    },
+    {
+      "index": 29,
+      "frame_id": "001887"
+    },
+    {
+      "index": 30,
+      "frame_id": "001952"
+    },
+    {
+      "index": 31,
+      "frame_id": "002018"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000065",
+    "000130",
+    "000195",
+    "000260",
+    "000325",
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+    "001887",
+    "001952",
+    "002018"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0362_00_metadata.json b/metadata/train/scene0362_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..42ec9784adc5801019541d29b7c96c2189af22ec
--- /dev/null
+++ b/metadata/train/scene0362_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0362_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": "scene0362_00.pt",
+  "indices_file": "scene0362_00_indices.pt",
+  "transform_to_world_file": "scene0362_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": "000055"
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+      "frame_id": "000111"
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+      "frame_id": "000167"
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+      "frame_id": "000278"
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+      "frame_id": "000334"
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+      "frame_id": "000389"
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+      "frame_id": "000445"
+    },
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+      "frame_id": "000501"
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+      "frame_id": "000556"
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+    {
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+      "frame_id": "000612"
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+    {
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+      "frame_id": "000668"
+    },
+    {
+      "index": 13,
+      "frame_id": "000723"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0369_01_metadata.json b/metadata/train/scene0369_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dc67dfbb98c2b1fc55ba595f0b5903be90efd99
--- /dev/null
+++ b/metadata/train/scene0369_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0369_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": "scene0369_01.pt",
+  "indices_file": "scene0369_01_indices.pt",
+  "transform_to_world_file": "scene0369_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": "000825"
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+      "frame_id": "000891"
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+  "frame_order": [
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+    "000858",
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+    "000957",
+    "000990",
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+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0375_01_metadata.json b/metadata/train/scene0375_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbf506d75f9f3ff35b97adab6d6e278ac4115c75
--- /dev/null
+++ b/metadata/train/scene0375_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0375_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": "scene0375_01.pt",
+  "indices_file": "scene0375_01_indices.pt",
+  "transform_to_world_file": "scene0375_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": "000141"
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+      "frame_id": "000425"
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+      "frame_id": "000495"
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+      "frame_id": "000531"
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+      "frame_id": "000566"
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+      "frame_id": "000602"
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+      "frame_id": "000885"
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+    },
+    {
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+      "frame_id": "001098"
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+  ],
+  "invalid_views": [
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+      "frame_id": "001027",
+      "reason": "invalid_pose"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0381_02_metadata.json b/metadata/train/scene0381_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..25dcef46df7bc707e10787a5797534afb8d3f7e2
--- /dev/null
+++ b/metadata/train/scene0381_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0381_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": "scene0381_02.pt",
+  "indices_file": "scene0381_02_indices.pt",
+  "transform_to_world_file": "scene0381_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": "000015"
+    },
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+      "frame_id": "000031"
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+      "frame_id": "000046"
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+      "frame_id": "000062"
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+      "frame_id": "000093"
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+      "frame_id": "000109"
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+      "frame_id": "000124"
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+      "frame_id": "000140"
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+    {
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+      "frame_id": "000155"
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+      "frame_id": "000171"
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+    {
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+      "frame_id": "000186"
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+      "frame_id": "000202"
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+    {
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+      "frame_id": "000218"
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+    {
+      "index": 15,
+      "frame_id": "000233"
+    },
+    {
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+      "frame_id": "000249"
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+    {
+      "index": 17,
+      "frame_id": "000264"
+    },
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+      "frame_id": "000280"
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+    {
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+      "frame_id": "000296"
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+      "frame_id": "000373"
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+      "frame_id": "000420"
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+      "frame_id": "000436"
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+      "frame_id": "000451"
+    },
+    {
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+      "frame_id": "000467"
+    },
+    {
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+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0385_02_metadata.json b/metadata/train/scene0385_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..16e5a01d74003c7e4423bd6b4f3a2ccd62a9e512
--- /dev/null
+++ b/metadata/train/scene0385_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0385_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": "scene0385_02.pt",
+  "indices_file": "scene0385_02_indices.pt",
+  "transform_to_world_file": "scene0385_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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+    {
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+      "frame_id": "000137"
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+    {
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+      "frame_id": "001785"
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+      "frame_id": "001922"
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+    {
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+      "frame_id": "002059"
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+      "frame_id": "002197"
+    },
+    {
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+      "frame_id": "002334"
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+    {
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+      "frame_id": "002471"
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+      "frame_id": "002609"
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+    {
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+      "frame_id": "002746"
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+      "frame_id": "002883"
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+      "frame_id": "003021"
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+      "frame_id": "003158"
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+      "frame_id": "003295"
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+      "frame_id": "003433"
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+      "frame_id": "003570"
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+      "frame_id": "003707"
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+      "frame_id": "003845"
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+      "frame_id": "003982"
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+    {
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+      "frame_id": "004119"
+    },
+    {
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+      "frame_id": "004257"
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+  "frame_order": [
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0398_01_metadata.json b/metadata/train/scene0398_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f41728e243bd76dbd3d52a601c95eda71a1082ad
--- /dev/null
+++ b/metadata/train/scene0398_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0398_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
+    32,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
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+  "transform_to_world_file": "scene0398_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0400_01_metadata.json b/metadata/train/scene0400_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e56236cb97d3eb0e8ba3bc4f9c461cd13518162f
--- /dev/null
+++ b/metadata/train/scene0400_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0400_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": "scene0400_01.pt",
+  "indices_file": "scene0400_01_indices.pt",
+  "transform_to_world_file": "scene0400_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": "000044"
+    },
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+      "frame_id": "000088"
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+      "frame_id": "000133"
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+      "frame_id": "000177"
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+      "frame_id": "000355"
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+      "frame_id": "000532"
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+      "frame_id": "000577"
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+      "frame_id": "000621"
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+      "frame_id": "000710"
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+      "frame_id": "001109"
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+      "frame_id": "001198"
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+      "frame_id": "001242"
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+      "frame_id": "001287"
+    },
+    {
+      "index": 30,
+      "frame_id": "001331"
+    },
+    {
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+      "frame_id": "001376"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000088",
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+    "001020",
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+    "001154",
+    "001198",
+    "001242",
+    "001287",
+    "001331",
+    "001376"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0411_00_metadata.json b/metadata/train/scene0411_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..43cfa609f45efc3f8907d9420a39b68e0fc448ed
--- /dev/null
+++ b/metadata/train/scene0411_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0411_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 22,
+  "invalid_frames_count": 10,
+  "output_shape": [
+    22,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    22
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0411_00.pt",
+  "indices_file": "scene0411_00_indices.pt",
+  "transform_to_world_file": "scene0411_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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+    {
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+      "frame_id": "000045"
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+      "frame_id": "000090"
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+      "frame_id": "000136"
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+      "frame_id": "000181"
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+      "frame_id": "000227"
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+      "frame_id": "000317"
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+    {
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+      "frame_id": "000363"
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+      "frame_id": "000545"
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+      "frame_id": "000590"
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+      "frame_id": "000635"
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+      "frame_id": "000681"
+    },
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+      "frame_id": "000726"
+    },
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+      "frame_id": "000772"
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+      "frame_id": "001271"
+    },
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+    },
+    {
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+      "frame_id": "001362"
+    },
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+      "frame_id": "001408"
+    }
+  ],
+  "invalid_views": [
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+      "frame_id": "000817",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 19,
+      "frame_id": "000862",
+      "reason": "invalid_pose"
+    },
+    {
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+      "frame_id": "000908",
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+    {
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+      "frame_id": "001044",
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+      "frame_id": "001090",
+      "reason": "invalid_pose"
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+    {
+      "index": 25,
+      "frame_id": "001135",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 26,
+      "frame_id": "001180",
+      "reason": "invalid_pose"
+    },
+    {
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+      "frame_id": "001226",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "000726",
+    "000772",
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+    "001317",
+    "001362",
+    "001408"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0416_03_metadata.json b/metadata/train/scene0416_03_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d39ed1b0847bc2ed460c819b3470b811c71378e
--- /dev/null
+++ b/metadata/train/scene0416_03_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0416_03",
+  "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": "scene0416_03.pt",
+  "indices_file": "scene0416_03_indices.pt",
+  "transform_to_world_file": "scene0416_03_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": "000062"
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+      "frame_id": "000125"
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+      "frame_id": "000188"
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+      "frame_id": "000251"
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+      "frame_id": "000314"
+    },
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+      "frame_id": "000376"
+    },
+    {
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+      "frame_id": "000439"
+    },
+    {
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+      "frame_id": "000502"
+    },
+    {
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+      "frame_id": "000565"
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+    {
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+      "frame_id": "000628"
+    },
+    {
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+      "frame_id": "000690"
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+      "frame_id": "000753"
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+    {
+      "index": 13,
+      "frame_id": "000816"
+    },
+    {
+      "index": 14,
+      "frame_id": "000879"
+    },
+    {
+      "index": 15,
+      "frame_id": "000942"
+    },
+    {
+      "index": 16,
+      "frame_id": "001004"
+    },
+    {
+      "index": 17,
+      "frame_id": "001067"
+    },
+    {
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+      "frame_id": "001130"
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+    {
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+      "frame_id": "001193"
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+    {
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+    {
+      "index": 22,
+      "frame_id": "001381"
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+    {
+      "index": 23,
+      "frame_id": "001444"
+    },
+    {
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+      "frame_id": "001507"
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+    {
+      "index": 25,
+      "frame_id": "001570"
+    },
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+      "frame_id": "001632"
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+    {
+      "index": 27,
+      "frame_id": "001695"
+    },
+    {
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+      "frame_id": "001758"
+    },
+    {
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+      "frame_id": "001821"
+    },
+    {
+      "index": 30,
+      "frame_id": "001884"
+    },
+    {
+      "index": 31,
+      "frame_id": "001947"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000125",
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+    "000251",
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+    "001632",
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+    "001884",
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+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0421_02_metadata.json b/metadata/train/scene0421_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b63073a54d54a1f0387b43398b21727cc1736fa
--- /dev/null
+++ b/metadata/train/scene0421_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0421_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": "scene0421_02.pt",
+  "indices_file": "scene0421_02_indices.pt",
+  "transform_to_world_file": "scene0421_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": "000064"
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+      "frame_id": "000194"
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+      "frame_id": "000905"
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+      "frame_id": "000970"
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+    {
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+      "frame_id": "001100"
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+      "frame_id": "001164"
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+    {
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+      "frame_id": "001423"
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+    {
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+      "frame_id": "001488"
+    },
+    {
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+      "frame_id": "001553"
+    },
+    {
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+      "frame_id": "001747"
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+      "frame_id": "001811"
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+      "frame_id": "001876"
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+    {
+      "index": 30,
+      "frame_id": "001941"
+    },
+    {
+      "index": 31,
+      "frame_id": "002006"
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+  "frame_order": [
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+    "001682",
+    "001747",
+    "001811",
+    "001876",
+    "001941",
+    "002006"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0425_00_metadata.json b/metadata/train/scene0425_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb04fe6b0a4206a8f77dfffa228b4922ddf07fda
--- /dev/null
+++ b/metadata/train/scene0425_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0425_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": "scene0425_00.pt",
+  "indices_file": "scene0425_00_indices.pt",
+  "transform_to_world_file": "scene0425_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": "000029"
+    },
+    {
+      "index": 2,
+      "frame_id": "000059"
+    },
+    {
+      "index": 3,
+      "frame_id": "000089"
+    },
+    {
+      "index": 4,
+      "frame_id": "000118"
+    },
+    {
+      "index": 5,
+      "frame_id": "000148"
+    },
+    {
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+      "frame_id": "000178"
+    },
+    {
+      "index": 7,
+      "frame_id": "000207"
+    },
+    {
+      "index": 8,
+      "frame_id": "000237"
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+      "index": 9,
+      "frame_id": "000267"
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+    {
+      "index": 10,
+      "frame_id": "000297"
+    },
+    {
+      "index": 11,
+      "frame_id": "000326"
+    },
+    {
+      "index": 12,
+      "frame_id": "000356"
+    },
+    {
+      "index": 13,
+      "frame_id": "000386"
+    },
+    {
+      "index": 14,
+      "frame_id": "000415"
+    },
+    {
+      "index": 15,
+      "frame_id": "000445"
+    },
+    {
+      "index": 16,
+      "frame_id": "000475"
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+      "index": 17,
+      "frame_id": "000505"
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+      "index": 18,
+      "frame_id": "000534"
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+    {
+      "index": 19,
+      "frame_id": "000564"
+    },
+    {
+      "index": 20,
+      "frame_id": "000594"
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+      "frame_id": "000623"
+    },
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+      "frame_id": "000653"
+    },
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+      "frame_id": "000683"
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+    {
+      "index": 24,
+      "frame_id": "000713"
+    },
+    {
+      "index": 25,
+      "frame_id": "000742"
+    },
+    {
+      "index": 26,
+      "frame_id": "000772"
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+    {
+      "index": 27,
+      "frame_id": "000802"
+    },
+    {
+      "index": 28,
+      "frame_id": "000831"
+    },
+    {
+      "index": 29,
+      "frame_id": "000861"
+    },
+    {
+      "index": 30,
+      "frame_id": "000891"
+    },
+    {
+      "index": 31,
+      "frame_id": "000921"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000029",
+    "000059",
+    "000089",
+    "000118",
+    "000148",
+    "000178",
+    "000207",
+    "000237",
+    "000267",
+    "000297",
+    "000326",
+    "000356",
+    "000386",
+    "000415",
+    "000445",
+    "000475",
+    "000505",
+    "000534",
+    "000564",
+    "000594",
+    "000623",
+    "000653",
+    "000683",
+    "000713",
+    "000742",
+    "000772",
+    "000802",
+    "000831",
+    "000861",
+    "000891",
+    "000921"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0425_01_metadata.json b/metadata/train/scene0425_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0e2371f7d4f95c401496a920495db5c2a72fea1
--- /dev/null
+++ b/metadata/train/scene0425_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0425_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": "scene0425_01.pt",
+  "indices_file": "scene0425_01_indices.pt",
+  "transform_to_world_file": "scene0425_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": "000053"
+    },
+    {
+      "index": 2,
+      "frame_id": "000107"
+    },
+    {
+      "index": 3,
+      "frame_id": "000161"
+    },
+    {
+      "index": 4,
+      "frame_id": "000215"
+    },
+    {
+      "index": 5,
+      "frame_id": "000269"
+    },
+    {
+      "index": 6,
+      "frame_id": "000323"
+    },
+    {
+      "index": 7,
+      "frame_id": "000377"
+    },
+    {
+      "index": 8,
+      "frame_id": "000431"
+    },
+    {
+      "index": 9,
+      "frame_id": "000485"
+    },
+    {
+      "index": 10,
+      "frame_id": "000539"
+    },
+    {
+      "index": 11,
+      "frame_id": "000593"
+    },
+    {
+      "index": 12,
+      "frame_id": "000647"
+    },
+    {
+      "index": 13,
+      "frame_id": "000701"
+    },
+    {
+      "index": 14,
+      "frame_id": "000755"
+    },
+    {
+      "index": 15,
+      "frame_id": "000809"
+    },
+    {
+      "index": 16,
+      "frame_id": "000862"
+    },
+    {
+      "index": 17,
+      "frame_id": "000916"
+    },
+    {
+      "index": 18,
+      "frame_id": "000970"
+    },
+    {
+      "index": 19,
+      "frame_id": "001024"
+    },
+    {
+      "index": 20,
+      "frame_id": "001078"
+    },
+    {
+      "index": 21,
+      "frame_id": "001132"
+    },
+    {
+      "index": 22,
+      "frame_id": "001186"
+    },
+    {
+      "index": 23,
+      "frame_id": "001240"
+    },
+    {
+      "index": 24,
+      "frame_id": "001294"
+    },
+    {
+      "index": 25,
+      "frame_id": "001348"
+    },
+    {
+      "index": 26,
+      "frame_id": "001402"
+    },
+    {
+      "index": 27,
+      "frame_id": "001456"
+    },
+    {
+      "index": 28,
+      "frame_id": "001510"
+    },
+    {
+      "index": 29,
+      "frame_id": "001564"
+    },
+    {
+      "index": 30,
+      "frame_id": "001618"
+    },
+    {
+      "index": 31,
+      "frame_id": "001672"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000053",
+    "000107",
+    "000161",
+    "000215",
+    "000269",
+    "000323",
+    "000377",
+    "000431",
+    "000485",
+    "000539",
+    "000593",
+    "000647",
+    "000701",
+    "000755",
+    "000809",
+    "000862",
+    "000916",
+    "000970",
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+    "001132",
+    "001186",
+    "001240",
+    "001294",
+    "001348",
+    "001402",
+    "001456",
+    "001510",
+    "001564",
+    "001618",
+    "001672"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0466_00_metadata.json b/metadata/train/scene0466_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9736f86de567c056673a31c7e1294222c9e5e499
--- /dev/null
+++ b/metadata/train/scene0466_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0466_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": "scene0466_00.pt",
+  "indices_file": "scene0466_00_indices.pt",
+  "transform_to_world_file": "scene0466_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": "000038"
+    },
+    {
+      "index": 2,
+      "frame_id": "000077"
+    },
+    {
+      "index": 3,
+      "frame_id": "000116"
+    },
+    {
+      "index": 4,
+      "frame_id": "000155"
+    },
+    {
+      "index": 5,
+      "frame_id": "000194"
+    },
+    {
+      "index": 6,
+      "frame_id": "000233"
+    },
+    {
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+      "frame_id": "000272"
+    },
+    {
+      "index": 8,
+      "frame_id": "000311"
+    },
+    {
+      "index": 9,
+      "frame_id": "000350"
+    },
+    {
+      "index": 10,
+      "frame_id": "000389"
+    },
+    {
+      "index": 11,
+      "frame_id": "000428"
+    },
+    {
+      "index": 12,
+      "frame_id": "000467"
+    },
+    {
+      "index": 13,
+      "frame_id": "000506"
+    },
+    {
+      "index": 14,
+      "frame_id": "000545"
+    },
+    {
+      "index": 15,
+      "frame_id": "000584"
+    },
+    {
+      "index": 16,
+      "frame_id": "000623"
+    },
+    {
+      "index": 17,
+      "frame_id": "000662"
+    },
+    {
+      "index": 18,
+      "frame_id": "000701"
+    },
+    {
+      "index": 19,
+      "frame_id": "000740"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 20,
+      "frame_id": "000779",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 21,
+      "frame_id": "000818",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 22,
+      "frame_id": "000857",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 23,
+      "frame_id": "000896",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 24,
+      "frame_id": "000935",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 25,
+      "frame_id": "000974",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 26,
+      "frame_id": "001013",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 27,
+      "frame_id": "001052",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 28,
+      "frame_id": "001091",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 29,
+      "frame_id": "001130",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 30,
+      "frame_id": "001169",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 31,
+      "frame_id": "001208",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
+    "000000",
+    "000038",
+    "000077",
+    "000116",
+    "000155",
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+    "000389",
+    "000428",
+    "000467",
+    "000506",
+    "000545",
+    "000584",
+    "000623",
+    "000662",
+    "000701",
+    "000740"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0468_02_metadata.json b/metadata/train/scene0468_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c99142fe40b37e03ca9268f3457689d0eaad0920
--- /dev/null
+++ b/metadata/train/scene0468_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0468_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": "scene0468_02.pt",
+  "indices_file": "scene0468_02_indices.pt",
+  "transform_to_world_file": "scene0468_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": "000055"
+    },
+    {
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+      "frame_id": "000111"
+    },
+    {
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+      "frame_id": "000166"
+    },
+    {
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+      "frame_id": "000222"
+    },
+    {
+      "index": 5,
+      "frame_id": "000278"
+    },
+    {
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+      "frame_id": "000333"
+    },
+    {
+      "index": 7,
+      "frame_id": "000389"
+    },
+    {
+      "index": 8,
+      "frame_id": "000445"
+    },
+    {
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+      "frame_id": "000500"
+    },
+    {
+      "index": 10,
+      "frame_id": "000556"
+    },
+    {
+      "index": 11,
+      "frame_id": "000612"
+    },
+    {
+      "index": 12,
+      "frame_id": "000667"
+    },
+    {
+      "index": 13,
+      "frame_id": "000723"
+    },
+    {
+      "index": 14,
+      "frame_id": "000779"
+    },
+    {
+      "index": 15,
+      "frame_id": "000834"
+    },
+    {
+      "index": 16,
+      "frame_id": "000890"
+    },
+    {
+      "index": 17,
+      "frame_id": "000945"
+    },
+    {
+      "index": 18,
+      "frame_id": "001001"
+    },
+    {
+      "index": 19,
+      "frame_id": "001057"
+    },
+    {
+      "index": 20,
+      "frame_id": "001112"
+    },
+    {
+      "index": 21,
+      "frame_id": "001168"
+    },
+    {
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+      "frame_id": "001224"
+    },
+    {
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+      "frame_id": "001279"
+    },
+    {
+      "index": 24,
+      "frame_id": "001335"
+    },
+    {
+      "index": 25,
+      "frame_id": "001391"
+    },
+    {
+      "index": 26,
+      "frame_id": "001446"
+    },
+    {
+      "index": 27,
+      "frame_id": "001502"
+    },
+    {
+      "index": 28,
+      "frame_id": "001558"
+    },
+    {
+      "index": 29,
+      "frame_id": "001613"
+    },
+    {
+      "index": 30,
+      "frame_id": "001669"
+    },
+    {
+      "index": 31,
+      "frame_id": "001725"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000055",
+    "000111",
+    "000166",
+    "000222",
+    "000278",
+    "000333",
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+    "000500",
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+    "000667",
+    "000723",
+    "000779",
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+    "001057",
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+    "001224",
+    "001279",
+    "001335",
+    "001391",
+    "001446",
+    "001502",
+    "001558",
+    "001613",
+    "001669",
+    "001725"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0473_00_metadata.json b/metadata/train/scene0473_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..20dace15d38959a2ee2506ba97fde3e7bb3e8a5d
--- /dev/null
+++ b/metadata/train/scene0473_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0473_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": "scene0473_00.pt",
+  "indices_file": "scene0473_00_indices.pt",
+  "transform_to_world_file": "scene0473_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": "000035"
+    },
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0477_00_metadata.json b/metadata/train/scene0477_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e326473f23c71dc9fa6501e323b232cd4c56e693
--- /dev/null
+++ b/metadata/train/scene0477_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0477_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 31,
+  "invalid_frames_count": 1,
+  "output_shape": [
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+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
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+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0477_00.pt",
+  "indices_file": "scene0477_00_indices.pt",
+  "transform_to_world_file": "scene0477_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": [
+    640,
+    480
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+  "valid_view_mapping": [
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+      "frame_id": "000000"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0481_00_metadata.json b/metadata/train/scene0481_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..94886492d9ab9aef8c6802c5b34e727112e83a95
--- /dev/null
+++ b/metadata/train/scene0481_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0481_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": "scene0481_00.pt",
+  "indices_file": "scene0481_00_indices.pt",
+  "transform_to_world_file": "scene0481_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
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+    "frame_id": "000000"
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+    432
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+    480
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0495_00_metadata.json b/metadata/train/scene0495_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d6e62832a31933ddf0feaffdbdc18225db7ebf5
--- /dev/null
+++ b/metadata/train/scene0495_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0495_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": "scene0495_00.pt",
+  "indices_file": "scene0495_00_indices.pt",
+  "transform_to_world_file": "scene0495_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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+  "valid_view_mapping": [
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+      "frame_id": "000000"
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+      "frame_id": "000481"
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+      "frame_id": "000515"
+    },
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+      "frame_id": "000550"
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+      "frame_id": "000584"
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+      "frame_id": "000618"
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+      "frame_id": "000653"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0509_01_metadata.json b/metadata/train/scene0509_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f18c32ac6d7e06759df6735a96bf9329db712ec9
--- /dev/null
+++ b/metadata/train/scene0509_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0509_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": "scene0509_01.pt",
+  "indices_file": "scene0509_01_indices.pt",
+  "transform_to_world_file": "scene0509_01_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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+    "000841",
+    "000876",
+    "000911",
+    "000946",
+    "000981",
+    "001016",
+    "001051",
+    "001087"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0520_01_metadata.json b/metadata/train/scene0520_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1ca763b23c54543428705c42d45049cc87a0641
--- /dev/null
+++ b/metadata/train/scene0520_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0520_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": "scene0520_01.pt",
+  "indices_file": "scene0520_01_indices.pt",
+  "transform_to_world_file": "scene0520_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": "000051"
+    },
+    {
+      "index": 2,
+      "frame_id": "000102"
+    },
+    {
+      "index": 3,
+      "frame_id": "000153"
+    },
+    {
+      "index": 4,
+      "frame_id": "000204"
+    },
+    {
+      "index": 5,
+      "frame_id": "000255"
+    },
+    {
+      "index": 6,
+      "frame_id": "000306"
+    },
+    {
+      "index": 7,
+      "frame_id": "000357"
+    },
+    {
+      "index": 8,
+      "frame_id": "000408"
+    },
+    {
+      "index": 9,
+      "frame_id": "000459"
+    },
+    {
+      "index": 10,
+      "frame_id": "000510"
+    },
+    {
+      "index": 11,
+      "frame_id": "000561"
+    },
+    {
+      "index": 12,
+      "frame_id": "000612"
+    },
+    {
+      "index": 13,
+      "frame_id": "000663"
+    },
+    {
+      "index": 14,
+      "frame_id": "000714"
+    },
+    {
+      "index": 15,
+      "frame_id": "000765"
+    },
+    {
+      "index": 16,
+      "frame_id": "000817"
+    },
+    {
+      "index": 17,
+      "frame_id": "000868"
+    },
+    {
+      "index": 18,
+      "frame_id": "000919"
+    },
+    {
+      "index": 19,
+      "frame_id": "000970"
+    },
+    {
+      "index": 20,
+      "frame_id": "001021"
+    },
+    {
+      "index": 21,
+      "frame_id": "001072"
+    },
+    {
+      "index": 22,
+      "frame_id": "001123"
+    },
+    {
+      "index": 23,
+      "frame_id": "001174"
+    },
+    {
+      "index": 24,
+      "frame_id": "001225"
+    },
+    {
+      "index": 25,
+      "frame_id": "001276"
+    },
+    {
+      "index": 26,
+      "frame_id": "001327"
+    },
+    {
+      "index": 27,
+      "frame_id": "001378"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 28,
+      "frame_id": "001429",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 29,
+      "frame_id": "001480",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 30,
+      "frame_id": "001531",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 31,
+      "frame_id": "001583",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
+    "000000",
+    "000051",
+    "000102",
+    "000153",
+    "000204",
+    "000255",
+    "000306",
+    "000357",
+    "000408",
+    "000459",
+    "000510",
+    "000561",
+    "000612",
+    "000663",
+    "000714",
+    "000765",
+    "000817",
+    "000868",
+    "000919",
+    "000970",
+    "001021",
+    "001072",
+    "001123",
+    "001174",
+    "001225",
+    "001276",
+    "001327",
+    "001378"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0533_01_metadata.json b/metadata/train/scene0533_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..13fc809aa1d135e830f3eb1f619598acde2fac4d
--- /dev/null
+++ b/metadata/train/scene0533_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0533_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": "scene0533_01.pt",
+  "indices_file": "scene0533_01_indices.pt",
+  "transform_to_world_file": "scene0533_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": "000084"
+    },
+    {
+      "index": 2,
+      "frame_id": "000169"
+    },
+    {
+      "index": 3,
+      "frame_id": "000254"
+    },
+    {
+      "index": 4,
+      "frame_id": "000338"
+    },
+    {
+      "index": 5,
+      "frame_id": "000423"
+    },
+    {
+      "index": 6,
+      "frame_id": "000508"
+    },
+    {
+      "index": 7,
+      "frame_id": "000593"
+    },
+    {
+      "index": 8,
+      "frame_id": "000677"
+    },
+    {
+      "index": 9,
+      "frame_id": "000762"
+    },
+    {
+      "index": 10,
+      "frame_id": "000847"
+    },
+    {
+      "index": 11,
+      "frame_id": "000932"
+    },
+    {
+      "index": 12,
+      "frame_id": "001016"
+    },
+    {
+      "index": 13,
+      "frame_id": "001101"
+    },
+    {
+      "index": 14,
+      "frame_id": "001186"
+    },
+    {
+      "index": 15,
+      "frame_id": "001271"
+    },
+    {
+      "index": 16,
+      "frame_id": "001355"
+    },
+    {
+      "index": 17,
+      "frame_id": "001440"
+    },
+    {
+      "index": 18,
+      "frame_id": "001525"
+    },
+    {
+      "index": 19,
+      "frame_id": "001610"
+    },
+    {
+      "index": 20,
+      "frame_id": "001694"
+    },
+    {
+      "index": 21,
+      "frame_id": "001779"
+    },
+    {
+      "index": 22,
+      "frame_id": "001864"
+    },
+    {
+      "index": 23,
+      "frame_id": "001949"
+    },
+    {
+      "index": 24,
+      "frame_id": "002033"
+    },
+    {
+      "index": 25,
+      "frame_id": "002118"
+    },
+    {
+      "index": 26,
+      "frame_id": "002203"
+    },
+    {
+      "index": 27,
+      "frame_id": "002288"
+    },
+    {
+      "index": 28,
+      "frame_id": "002372"
+    },
+    {
+      "index": 29,
+      "frame_id": "002457"
+    },
+    {
+      "index": 30,
+      "frame_id": "002542"
+    },
+    {
+      "index": 31,
+      "frame_id": "002627"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000084",
+    "000169",
+    "000254",
+    "000338",
+    "000423",
+    "000508",
+    "000593",
+    "000677",
+    "000762",
+    "000847",
+    "000932",
+    "001016",
+    "001101",
+    "001186",
+    "001271",
+    "001355",
+    "001440",
+    "001525",
+    "001610",
+    "001694",
+    "001779",
+    "001864",
+    "001949",
+    "002033",
+    "002118",
+    "002203",
+    "002288",
+    "002372",
+    "002457",
+    "002542",
+    "002627"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0556_00_metadata.json b/metadata/train/scene0556_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f321f0984e8b884e72b1e2758722bf38cb02d157
--- /dev/null
+++ b/metadata/train/scene0556_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0556_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": "scene0556_00.pt",
+  "indices_file": "scene0556_00_indices.pt",
+  "transform_to_world_file": "scene0556_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": "000074"
+    },
+    {
+      "index": 2,
+      "frame_id": "000149"
+    },
+    {
+      "index": 3,
+      "frame_id": "000224"
+    },
+    {
+      "index": 4,
+      "frame_id": "000299"
+    },
+    {
+      "index": 5,
+      "frame_id": "000374"
+    },
+    {
+      "index": 6,
+      "frame_id": "000449"
+    },
+    {
+      "index": 7,
+      "frame_id": "000524"
+    },
+    {
+      "index": 8,
+      "frame_id": "000599"
+    },
+    {
+      "index": 9,
+      "frame_id": "000674"
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+    {
+      "index": 10,
+      "frame_id": "000749"
+    },
+    {
+      "index": 11,
+      "frame_id": "000824"
+    },
+    {
+      "index": 12,
+      "frame_id": "000899"
+    },
+    {
+      "index": 13,
+      "frame_id": "000974"
+    },
+    {
+      "index": 14,
+      "frame_id": "001049"
+    },
+    {
+      "index": 15,
+      "frame_id": "001124"
+    },
+    {
+      "index": 16,
+      "frame_id": "001199"
+    },
+    {
+      "index": 17,
+      "frame_id": "001274"
+    },
+    {
+      "index": 18,
+      "frame_id": "001349"
+    },
+    {
+      "index": 19,
+      "frame_id": "001424"
+    },
+    {
+      "index": 20,
+      "frame_id": "001499"
+    },
+    {
+      "index": 21,
+      "frame_id": "001574"
+    },
+    {
+      "index": 22,
+      "frame_id": "001649"
+    },
+    {
+      "index": 23,
+      "frame_id": "001724"
+    },
+    {
+      "index": 24,
+      "frame_id": "001799"
+    },
+    {
+      "index": 25,
+      "frame_id": "001874"
+    },
+    {
+      "index": 26,
+      "frame_id": "001949"
+    },
+    {
+      "index": 27,
+      "frame_id": "002024"
+    },
+    {
+      "index": 28,
+      "frame_id": "002099"
+    },
+    {
+      "index": 29,
+      "frame_id": "002174"
+    },
+    {
+      "index": 30,
+      "frame_id": "002249"
+    },
+    {
+      "index": 31,
+      "frame_id": "002324"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000074",
+    "000149",
+    "000224",
+    "000299",
+    "000374",
+    "000449",
+    "000524",
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+    "000674",
+    "000749",
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+    "000899",
+    "000974",
+    "001049",
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+    "001724",
+    "001799",
+    "001874",
+    "001949",
+    "002024",
+    "002099",
+    "002174",
+    "002249",
+    "002324"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0560_00_metadata.json b/metadata/train/scene0560_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f786326a996d85ed1642bfa3fd796be828bb8e4f
--- /dev/null
+++ b/metadata/train/scene0560_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0560_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": "scene0560_00.pt",
+  "indices_file": "scene0560_00_indices.pt",
+  "transform_to_world_file": "scene0560_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"
+    },
+    {
+      "index": 2,
+      "frame_id": "000078"
+    },
+    {
+      "index": 3,
+      "frame_id": "000118"
+    },
+    {
+      "index": 4,
+      "frame_id": "000157"
+    },
+    {
+      "index": 5,
+      "frame_id": "000197"
+    },
+    {
+      "index": 6,
+      "frame_id": "000236"
+    },
+    {
+      "index": 7,
+      "frame_id": "000276"
+    },
+    {
+      "index": 8,
+      "frame_id": "000315"
+    },
+    {
+      "index": 9,
+      "frame_id": "000355"
+    },
+    {
+      "index": 10,
+      "frame_id": "000394"
+    },
+    {
+      "index": 11,
+      "frame_id": "000433"
+    },
+    {
+      "index": 12,
+      "frame_id": "000473"
+    },
+    {
+      "index": 13,
+      "frame_id": "000512"
+    },
+    {
+      "index": 14,
+      "frame_id": "000552"
+    },
+    {
+      "index": 15,
+      "frame_id": "000591"
+    },
+    {
+      "index": 16,
+      "frame_id": "000631"
+    },
+    {
+      "index": 17,
+      "frame_id": "000670"
+    },
+    {
+      "index": 18,
+      "frame_id": "000710"
+    },
+    {
+      "index": 19,
+      "frame_id": "000749"
+    },
+    {
+      "index": 20,
+      "frame_id": "000789"
+    },
+    {
+      "index": 21,
+      "frame_id": "000828"
+    },
+    {
+      "index": 22,
+      "frame_id": "000867"
+    },
+    {
+      "index": 23,
+      "frame_id": "000907"
+    },
+    {
+      "index": 24,
+      "frame_id": "000946"
+    },
+    {
+      "index": 25,
+      "frame_id": "000986"
+    },
+    {
+      "index": 26,
+      "frame_id": "001025"
+    },
+    {
+      "index": 27,
+      "frame_id": "001065"
+    },
+    {
+      "index": 28,
+      "frame_id": "001104"
+    },
+    {
+      "index": 29,
+      "frame_id": "001144"
+    },
+    {
+      "index": 30,
+      "frame_id": "001183"
+    },
+    {
+      "index": 31,
+      "frame_id": "001223"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000039",
+    "000078",
+    "000118",
+    "000157",
+    "000197",
+    "000236",
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+    "000315",
+    "000355",
+    "000394",
+    "000433",
+    "000473",
+    "000512",
+    "000552",
+    "000591",
+    "000631",
+    "000670",
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+    "000749",
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+    "000867",
+    "000907",
+    "000946",
+    "000986",
+    "001025",
+    "001065",
+    "001104",
+    "001144",
+    "001183",
+    "001223"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0569_00_metadata.json b/metadata/train/scene0569_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..520796512c5dd488651b8516bee7bb1879eefca4
--- /dev/null
+++ b/metadata/train/scene0569_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0569_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": "scene0569_00.pt",
+  "indices_file": "scene0569_00_indices.pt",
+  "transform_to_world_file": "scene0569_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": "000037"
+    },
+    {
+      "index": 2,
+      "frame_id": "000074"
+    },
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+      "frame_id": "000112"
+    },
+    {
+      "index": 4,
+      "frame_id": "000149"
+    },
+    {
+      "index": 5,
+      "frame_id": "000187"
+    },
+    {
+      "index": 6,
+      "frame_id": "000224"
+    },
+    {
+      "index": 7,
+      "frame_id": "000262"
+    },
+    {
+      "index": 8,
+      "frame_id": "000299"
+    },
+    {
+      "index": 9,
+      "frame_id": "000337"
+    },
+    {
+      "index": 10,
+      "frame_id": "000374"
+    },
+    {
+      "index": 11,
+      "frame_id": "000411"
+    },
+    {
+      "index": 12,
+      "frame_id": "000449"
+    },
+    {
+      "index": 13,
+      "frame_id": "000486"
+    },
+    {
+      "index": 14,
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+  "frame_order": [
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+    "001086",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0584_00_metadata.json b/metadata/train/scene0584_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f0de109d18e10accadfdd40ab599ee709b73252
--- /dev/null
+++ b/metadata/train/scene0584_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0584_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": "scene0584_00.pt",
+  "indices_file": "scene0584_00_indices.pt",
+  "transform_to_world_file": "scene0584_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"
+    },
+    {
+      "index": 1,
+      "frame_id": "000062"
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+      "frame_id": "000125"
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+      "frame_id": "000187"
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+      "frame_id": "000250"
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+      "frame_id": "000313"
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+      "frame_id": "000375"
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+      "frame_id": "000438"
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+      "frame_id": "000688"
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+      "frame_id": "000751"
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+      "frame_id": "000813"
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+      "frame_id": "001001"
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+      "frame_id": "001064"
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+      "frame_id": "001127"
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+      "frame_id": "001189"
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+      "frame_id": "001440"
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+      "frame_id": "001502"
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+      "frame_id": "001565"
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+      "frame_id": "001627"
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+      "frame_id": "001690"
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+    {
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+      "frame_id": "001753"
+    },
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+      "index": 29,
+      "frame_id": "001815"
+    },
+    {
+      "index": 31,
+      "frame_id": "001941"
+    }
+  ],
+  "invalid_views": [
+    {
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+      "frame_id": "000876",
+      "reason": "invalid_pose"
+    },
+    {
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+      "frame_id": "000939",
+      "reason": "invalid_pose"
+    },
+    {
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+      "frame_id": "001878",
+      "reason": "invalid_pose"
+    }
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+  "frame_order": [
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+    "000125",
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+    "000563",
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+    "001127",
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+    "001377",
+    "001440",
+    "001502",
+    "001565",
+    "001627",
+    "001690",
+    "001753",
+    "001815",
+    "001941"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0584_02_metadata.json b/metadata/train/scene0584_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1c6e89d9c16a41e5f82de6ac2ee77a8330b2969
--- /dev/null
+++ b/metadata/train/scene0584_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0584_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": "scene0584_02.pt",
+  "indices_file": "scene0584_02_indices.pt",
+  "transform_to_world_file": "scene0584_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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+      "index": 0,
+      "frame_id": "000000"
+    },
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+      "frame_id": "000041"
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+      "frame_id": "000082"
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+      "frame_id": "000123"
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+    {
+      "index": 4,
+      "frame_id": "000164"
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+    {
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+      "frame_id": "000205"
+    },
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+      "frame_id": "000246"
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+    {
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+      "frame_id": "000287"
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+      "frame_id": "000328"
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+      "frame_id": "000369"
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+      "frame_id": "000410"
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+      "frame_id": "000452"
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+      "frame_id": "000493"
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+      "frame_id": "000534"
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+      "frame_id": "000575"
+    },
+    {
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+      "frame_id": "000616"
+    },
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+      "index": 16,
+      "frame_id": "000657"
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+      "frame_id": "000698"
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+      "frame_id": "000739"
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+      "frame_id": "000780"
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+      "frame_id": "000945"
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+      "frame_id": "001109"
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+      "frame_id": "001150"
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+      "frame_id": "001191"
+    },
+    {
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+      "frame_id": "001232"
+    },
+    {
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+      "frame_id": "001274"
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+  ],
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+  "frame_order": [
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+    "001191",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0587_02_metadata.json b/metadata/train/scene0587_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c070d8b1988034ced66b8e13d0b891b10d0bad64
--- /dev/null
+++ b/metadata/train/scene0587_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0587_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": "scene0587_02.pt",
+  "indices_file": "scene0587_02_indices.pt",
+  "transform_to_world_file": "scene0587_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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+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
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+      "frame_id": "000036"
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+      "frame_id": "000073"
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+      "frame_id": "000109"
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+      "frame_id": "000146"
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+      "frame_id": "000183"
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+      "frame_id": "000219"
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+    {
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+      "frame_id": "000256"
+    },
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+      "frame_id": "000292"
+    },
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+      "frame_id": "000329"
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+    {
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+      "frame_id": "000366"
+    },
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+      "frame_id": "000402"
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+    {
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+      "frame_id": "000439"
+    },
+    {
+      "index": 13,
+      "frame_id": "000475"
+    },
+    {
+      "index": 14,
+      "frame_id": "000512"
+    },
+    {
+      "index": 15,
+      "frame_id": "000549"
+    },
+    {
+      "index": 16,
+      "frame_id": "000585"
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+    {
+      "index": 17,
+      "frame_id": "000622"
+    },
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+      "frame_id": "000659"
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+      "frame_id": "000695"
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+      "frame_id": "000732"
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+      "frame_id": "000768"
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+      "frame_id": "000805"
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+      "frame_id": "000842"
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+      "frame_id": "000878"
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+      "frame_id": "000915"
+    },
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+      "frame_id": "000951"
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+      "frame_id": "000988"
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+      "frame_id": "001025"
+    },
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+      "frame_id": "001061"
+    },
+    {
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+      "frame_id": "001098"
+    },
+    {
+      "index": 31,
+      "frame_id": "001135"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000036",
+    "000073",
+    "000109",
+    "000146",
+    "000183",
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+    "000329",
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+    "001098",
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+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0588_00_metadata.json b/metadata/train/scene0588_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9652dae4e2ad9161e7d483ad5899630ff3907f1
--- /dev/null
+++ b/metadata/train/scene0588_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0588_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": "scene0588_00.pt",
+  "indices_file": "scene0588_00_indices.pt",
+  "transform_to_world_file": "scene0588_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": "000108"
+    },
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+      "frame_id": "000216"
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+      "frame_id": "000324"
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+      "frame_id": "000433"
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+      "frame_id": "000541"
+    },
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+      "frame_id": "000649"
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+      "frame_id": "000757"
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+      "frame_id": "000866"
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+      "frame_id": "000974"
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+    {
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+      "frame_id": "001082"
+    },
+    {
+      "index": 11,
+      "frame_id": "001190"
+    },
+    {
+      "index": 12,
+      "frame_id": "001299"
+    },
+    {
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+      "frame_id": "001407"
+    },
+    {
+      "index": 14,
+      "frame_id": "001515"
+    },
+    {
+      "index": 15,
+      "frame_id": "001623"
+    },
+    {
+      "index": 16,
+      "frame_id": "001732"
+    },
+    {
+      "index": 17,
+      "frame_id": "001840"
+    },
+    {
+      "index": 18,
+      "frame_id": "001948"
+    },
+    {
+      "index": 19,
+      "frame_id": "002056"
+    },
+    {
+      "index": 20,
+      "frame_id": "002165"
+    },
+    {
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+      "frame_id": "002273"
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+      "index": 22,
+      "frame_id": "002381"
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+    {
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+      "frame_id": "002489"
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+      "frame_id": "002598"
+    },
+    {
+      "index": 25,
+      "frame_id": "002706"
+    },
+    {
+      "index": 26,
+      "frame_id": "002814"
+    },
+    {
+      "index": 27,
+      "frame_id": "002922"
+    },
+    {
+      "index": 28,
+      "frame_id": "003031"
+    },
+    {
+      "index": 29,
+      "frame_id": "003139"
+    },
+    {
+      "index": 30,
+      "frame_id": "003247"
+    },
+    {
+      "index": 31,
+      "frame_id": "003356"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000108",
+    "000216",
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+    "002706",
+    "002814",
+    "002922",
+    "003031",
+    "003139",
+    "003247",
+    "003356"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0592_01_metadata.json b/metadata/train/scene0592_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..960051ed4adafee9f1c199ffad7ffd3d11b27642
--- /dev/null
+++ b/metadata/train/scene0592_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0592_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": [
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+  "pointcloud_file": "scene0592_01.pt",
+  "indices_file": "scene0592_01_indices.pt",
+  "transform_to_world_file": "scene0592_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
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+    "frame_id": "000000"
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+    432
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+    "002230",
+    "002307",
+    "002384"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0601_01_metadata.json b/metadata/train/scene0601_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9a6a456a2555773798f8e91f3ac1956a800780e
--- /dev/null
+++ b/metadata/train/scene0601_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0601_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": "scene0601_01.pt",
+  "indices_file": "scene0601_01_indices.pt",
+  "transform_to_world_file": "scene0601_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": "000049"
+    },
+    {
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+      "frame_id": "000098"
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+      "frame_id": "000147"
+    },
+    {
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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": "000343"
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+      "frame_id": "000392"
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+      "frame_id": "000441"
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+      "frame_id": "000539"
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+      "frame_id": "000588"
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+      "frame_id": "000637"
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+      "frame_id": "000686"
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+      "frame_id": "000735"
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+      "frame_id": "000784"
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+      "frame_id": "000833"
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+      "frame_id": "000882"
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+      "frame_id": "001127"
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+      "frame_id": "001176"
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+      "frame_id": "001274"
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+      "frame_id": "001323"
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+      "frame_id": "001372"
+    },
+    {
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+      "frame_id": "001421"
+    },
+    {
+      "index": 30,
+      "frame_id": "001470"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 31,
+      "frame_id": "001520",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "001127",
+    "001176",
+    "001225",
+    "001274",
+    "001323",
+    "001372",
+    "001421",
+    "001470"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0611_01_metadata.json b/metadata/train/scene0611_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..287bf488044eaed1f77521818c599e2bed6cd7b2
--- /dev/null
+++ b/metadata/train/scene0611_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0611_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": "scene0611_01.pt",
+  "indices_file": "scene0611_01_indices.pt",
+  "transform_to_world_file": "scene0611_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": "000041"
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+    {
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+      "frame_id": "000083"
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+    {
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+      "frame_id": "000125"
+    },
+    {
+      "index": 4,
+      "frame_id": "000167"
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+      "frame_id": "000209"
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+      "frame_id": "000251"
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+      "frame_id": "000292"
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+      "frame_id": "000334"
+    },
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+      "frame_id": "000376"
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+      "frame_id": "000418"
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+      "frame_id": "000460"
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+    {
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+      "frame_id": "000502"
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+    {
+      "index": 13,
+      "frame_id": "000543"
+    },
+    {
+      "index": 14,
+      "frame_id": "000585"
+    },
+    {
+      "index": 15,
+      "frame_id": "000627"
+    },
+    {
+      "index": 16,
+      "frame_id": "000669"
+    },
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+      "index": 17,
+      "frame_id": "000711"
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+      "frame_id": "000753"
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+      "frame_id": "000794"
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+      "frame_id": "000836"
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+      "frame_id": "000920"
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+      "frame_id": "000962"
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+      "frame_id": "001004"
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+      "frame_id": "001045"
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+      "frame_id": "001087"
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+      "frame_id": "001129"
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+      "frame_id": "001171"
+    },
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+      "frame_id": "001213"
+    },
+    {
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+      "frame_id": "001255"
+    },
+    {
+      "index": 31,
+      "frame_id": "001297"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000083",
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+    "001213",
+    "001255",
+    "001297"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0649_00_metadata.json b/metadata/train/scene0649_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9c828b5f10ed0e191a5cb0166efd5714b550616
--- /dev/null
+++ b/metadata/train/scene0649_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0649_00",
+  "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": "scene0649_00.pt",
+  "indices_file": "scene0649_00_indices.pt",
+  "transform_to_world_file": "scene0649_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": "000052"
+    },
+    {
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+      "frame_id": "000104"
+    },
+    {
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+      "frame_id": "000156"
+    },
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+      "frame_id": "000208"
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+    {
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+      "frame_id": "000260"
+    },
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+      "frame_id": "000312"
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+    {
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+      "frame_id": "000365"
+    },
+    {
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+      "frame_id": "000417"
+    },
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+      "frame_id": "000469"
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+    {
+      "index": 10,
+      "frame_id": "000521"
+    },
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+      "frame_id": "000573"
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+    {
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+      "frame_id": "000625"
+    },
+    {
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+      "frame_id": "000678"
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+    {
+      "index": 14,
+      "frame_id": "000730"
+    },
+    {
+      "index": 15,
+      "frame_id": "000782"
+    },
+    {
+      "index": 16,
+      "frame_id": "000834"
+    },
+    {
+      "index": 17,
+      "frame_id": "000886"
+    },
+    {
+      "index": 18,
+      "frame_id": "000938"
+    },
+    {
+      "index": 19,
+      "frame_id": "000991"
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+    {
+      "index": 20,
+      "frame_id": "001043"
+    },
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+      "frame_id": "001095"
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+    {
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+      "frame_id": "001147"
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+      "frame_id": "001199"
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+    {
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+      "frame_id": "001251"
+    },
+    {
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+      "frame_id": "001304"
+    },
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+      "index": 28,
+      "frame_id": "001460"
+    },
+    {
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+      "frame_id": "001512"
+    },
+    {
+      "index": 30,
+      "frame_id": "001564"
+    },
+    {
+      "index": 31,
+      "frame_id": "001617"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 26,
+      "frame_id": "001356",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 27,
+      "frame_id": "001408",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
+    "000000",
+    "000052",
+    "000104",
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+    "000208",
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+    "001304",
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+    "001512",
+    "001564",
+    "001617"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0666_02_metadata.json b/metadata/train/scene0666_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..99cbb5a164712ae5c4a6e68ab3dec11494a51788
--- /dev/null
+++ b/metadata/train/scene0666_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0666_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": "scene0666_02.pt",
+  "indices_file": "scene0666_02_indices.pt",
+  "transform_to_world_file": "scene0666_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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+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
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+      "frame_id": "000047"
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+      "frame_id": "000095"
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+      "frame_id": "000143"
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+      "frame_id": "000190"
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+      "frame_id": "000238"
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+      "frame_id": "000286"
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+    {
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+      "frame_id": "000333"
+    },
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+      "frame_id": "000381"
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+      "frame_id": "000429"
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+    {
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+      "frame_id": "000476"
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+      "frame_id": "000524"
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+      "frame_id": "000572"
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+      "frame_id": "000619"
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+      "frame_id": "000667"
+    },
+    {
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+      "frame_id": "000715"
+    },
+    {
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+      "frame_id": "000762"
+    },
+    {
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+      "frame_id": "000810"
+    },
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+      "frame_id": "000858"
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+    {
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+      "frame_id": "000905"
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+    {
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+      "frame_id": "000953"
+    },
+    {
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+      "frame_id": "001001"
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+    {
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+      "frame_id": "001048"
+    },
+    {
+      "index": 23,
+      "frame_id": "001096"
+    },
+    {
+      "index": 24,
+      "frame_id": "001144"
+    },
+    {
+      "index": 25,
+      "frame_id": "001191"
+    },
+    {
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+      "frame_id": "001239"
+    },
+    {
+      "index": 27,
+      "frame_id": "001287"
+    },
+    {
+      "index": 28,
+      "frame_id": "001334"
+    },
+    {
+      "index": 29,
+      "frame_id": "001382"
+    },
+    {
+      "index": 30,
+      "frame_id": "001430"
+    },
+    {
+      "index": 31,
+      "frame_id": "001478"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000047",
+    "000095",
+    "000143",
+    "000190",
+    "000238",
+    "000286",
+    "000333",
+    "000381",
+    "000429",
+    "000476",
+    "000524",
+    "000572",
+    "000619",
+    "000667",
+    "000715",
+    "000762",
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+    "000858",
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+    "001001",
+    "001048",
+    "001096",
+    "001144",
+    "001191",
+    "001239",
+    "001287",
+    "001334",
+    "001382",
+    "001430",
+    "001478"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0667_00_metadata.json b/metadata/train/scene0667_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d8735219cc136c1d7db7c7a6ede071aba834692
--- /dev/null
+++ b/metadata/train/scene0667_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0667_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": "scene0667_00.pt",
+  "indices_file": "scene0667_00_indices.pt",
+  "transform_to_world_file": "scene0667_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": "000149"
+    },
+    {
+      "index": 2,
+      "frame_id": "000299"
+    },
+    {
+      "index": 3,
+      "frame_id": "000449"
+    },
+    {
+      "index": 4,
+      "frame_id": "000599"
+    },
+    {
+      "index": 5,
+      "frame_id": "000749"
+    },
+    {
+      "index": 6,
+      "frame_id": "000899"
+    },
+    {
+      "index": 7,
+      "frame_id": "001049"
+    },
+    {
+      "index": 8,
+      "frame_id": "001199"
+    },
+    {
+      "index": 9,
+      "frame_id": "001349"
+    },
+    {
+      "index": 10,
+      "frame_id": "001499"
+    },
+    {
+      "index": 11,
+      "frame_id": "001648"
+    },
+    {
+      "index": 12,
+      "frame_id": "001798"
+    },
+    {
+      "index": 13,
+      "frame_id": "001948"
+    },
+    {
+      "index": 14,
+      "frame_id": "002098"
+    },
+    {
+      "index": 15,
+      "frame_id": "002248"
+    },
+    {
+      "index": 16,
+      "frame_id": "002398"
+    },
+    {
+      "index": 17,
+      "frame_id": "002548"
+    },
+    {
+      "index": 18,
+      "frame_id": "002698"
+    },
+    {
+      "index": 19,
+      "frame_id": "002848"
+    },
+    {
+      "index": 20,
+      "frame_id": "002998"
+    },
+    {
+      "index": 21,
+      "frame_id": "003147"
+    },
+    {
+      "index": 22,
+      "frame_id": "003297"
+    },
+    {
+      "index": 23,
+      "frame_id": "003447"
+    },
+    {
+      "index": 24,
+      "frame_id": "003597"
+    },
+    {
+      "index": 25,
+      "frame_id": "003747"
+    },
+    {
+      "index": 26,
+      "frame_id": "003897"
+    },
+    {
+      "index": 27,
+      "frame_id": "004047"
+    },
+    {
+      "index": 28,
+      "frame_id": "004197"
+    },
+    {
+      "index": 29,
+      "frame_id": "004347"
+    },
+    {
+      "index": 30,
+      "frame_id": "004497"
+    },
+    {
+      "index": 31,
+      "frame_id": "004647"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000149",
+    "000299",
+    "000449",
+    "000599",
+    "000749",
+    "000899",
+    "001049",
+    "001199",
+    "001349",
+    "001499",
+    "001648",
+    "001798",
+    "001948",
+    "002098",
+    "002248",
+    "002398",
+    "002548",
+    "002698",
+    "002848",
+    "002998",
+    "003147",
+    "003297",
+    "003447",
+    "003597",
+    "003747",
+    "003897",
+    "004047",
+    "004197",
+    "004347",
+    "004497",
+    "004647"
+  ]
+}
\ No newline at end of file