diff --git a/metadata/train/scene0006_02_metadata.json b/metadata/train/scene0006_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1aacc55279be2b49347f15501a156b48cc738600
--- /dev/null
+++ b/metadata/train/scene0006_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0006_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": "scene0006_02.pt",
+  "indices_file": "scene0006_02_indices.pt",
+  "transform_to_world_file": "scene0006_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": "000086"
+    },
+    {
+      "index": 2,
+      "frame_id": "000172"
+    },
+    {
+      "index": 3,
+      "frame_id": "000258"
+    },
+    {
+      "index": 4,
+      "frame_id": "000344"
+    },
+    {
+      "index": 5,
+      "frame_id": "000431"
+    },
+    {
+      "index": 6,
+      "frame_id": "000517"
+    },
+    {
+      "index": 7,
+      "frame_id": "000603"
+    },
+    {
+      "index": 8,
+      "frame_id": "000689"
+    },
+    {
+      "index": 9,
+      "frame_id": "000776"
+    },
+    {
+      "index": 10,
+      "frame_id": "000862"
+    },
+    {
+      "index": 11,
+      "frame_id": "000948"
+    },
+    {
+      "index": 12,
+      "frame_id": "001034"
+    },
+    {
+      "index": 13,
+      "frame_id": "001120"
+    },
+    {
+      "index": 14,
+      "frame_id": "001207"
+    },
+    {
+      "index": 15,
+      "frame_id": "001293"
+    },
+    {
+      "index": 16,
+      "frame_id": "001379"
+    },
+    {
+      "index": 17,
+      "frame_id": "001465"
+    },
+    {
+      "index": 18,
+      "frame_id": "001552"
+    },
+    {
+      "index": 19,
+      "frame_id": "001638"
+    },
+    {
+      "index": 20,
+      "frame_id": "001724"
+    },
+    {
+      "index": 21,
+      "frame_id": "001810"
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+    {
+      "index": 22,
+      "frame_id": "001896"
+    },
+    {
+      "index": 23,
+      "frame_id": "001983"
+    },
+    {
+      "index": 24,
+      "frame_id": "002069"
+    },
+    {
+      "index": 25,
+      "frame_id": "002155"
+    },
+    {
+      "index": 26,
+      "frame_id": "002241"
+    },
+    {
+      "index": 27,
+      "frame_id": "002328"
+    },
+    {
+      "index": 28,
+      "frame_id": "002414"
+    },
+    {
+      "index": 29,
+      "frame_id": "002500"
+    },
+    {
+      "index": 30,
+      "frame_id": "002586"
+    },
+    {
+      "index": 31,
+      "frame_id": "002673"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000086",
+    "000172",
+    "000258",
+    "000344",
+    "000431",
+    "000517",
+    "000603",
+    "000689",
+    "000776",
+    "000862",
+    "000948",
+    "001034",
+    "001120",
+    "001207",
+    "001293",
+    "001379",
+    "001465",
+    "001552",
+    "001638",
+    "001724",
+    "001810",
+    "001896",
+    "001983",
+    "002069",
+    "002155",
+    "002241",
+    "002328",
+    "002414",
+    "002500",
+    "002586",
+    "002673"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0009_00_metadata.json b/metadata/train/scene0009_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f56b363079c1d63b0de4864a4ddb57d34464cbf3
--- /dev/null
+++ b/metadata/train/scene0009_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0009_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": "scene0009_00.pt",
+  "indices_file": "scene0009_00_indices.pt",
+  "transform_to_world_file": "scene0009_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": "000031"
+    },
+    {
+      "index": 2,
+      "frame_id": "000063"
+    },
+    {
+      "index": 3,
+      "frame_id": "000094"
+    },
+    {
+      "index": 4,
+      "frame_id": "000126"
+    },
+    {
+      "index": 5,
+      "frame_id": "000157"
+    },
+    {
+      "index": 6,
+      "frame_id": "000189"
+    },
+    {
+      "index": 7,
+      "frame_id": "000221"
+    },
+    {
+      "index": 8,
+      "frame_id": "000252"
+    },
+    {
+      "index": 9,
+      "frame_id": "000284"
+    },
+    {
+      "index": 10,
+      "frame_id": "000315"
+    },
+    {
+      "index": 11,
+      "frame_id": "000347"
+    },
+    {
+      "index": 12,
+      "frame_id": "000378"
+    },
+    {
+      "index": 13,
+      "frame_id": "000410"
+    },
+    {
+      "index": 14,
+      "frame_id": "000442"
+    },
+    {
+      "index": 15,
+      "frame_id": "000473"
+    },
+    {
+      "index": 16,
+      "frame_id": "000505"
+    },
+    {
+      "index": 17,
+      "frame_id": "000536"
+    },
+    {
+      "index": 18,
+      "frame_id": "000568"
+    },
+    {
+      "index": 19,
+      "frame_id": "000600"
+    },
+    {
+      "index": 20,
+      "frame_id": "000631"
+    },
+    {
+      "index": 21,
+      "frame_id": "000663"
+    },
+    {
+      "index": 22,
+      "frame_id": "000694"
+    },
+    {
+      "index": 23,
+      "frame_id": "000726"
+    },
+    {
+      "index": 24,
+      "frame_id": "000757"
+    },
+    {
+      "index": 25,
+      "frame_id": "000789"
+    },
+    {
+      "index": 26,
+      "frame_id": "000821"
+    },
+    {
+      "index": 27,
+      "frame_id": "000852"
+    },
+    {
+      "index": 28,
+      "frame_id": "000884"
+    },
+    {
+      "index": 29,
+      "frame_id": "000915"
+    },
+    {
+      "index": 30,
+      "frame_id": "000947"
+    },
+    {
+      "index": 31,
+      "frame_id": "000979"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000031",
+    "000063",
+    "000094",
+    "000126",
+    "000157",
+    "000189",
+    "000221",
+    "000252",
+    "000284",
+    "000315",
+    "000347",
+    "000378",
+    "000410",
+    "000442",
+    "000473",
+    "000505",
+    "000536",
+    "000568",
+    "000600",
+    "000631",
+    "000663",
+    "000694",
+    "000726",
+    "000757",
+    "000789",
+    "000821",
+    "000852",
+    "000884",
+    "000915",
+    "000947",
+    "000979"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0034_01_metadata.json b/metadata/train/scene0034_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3dda730bb9db13e44f3bd7b7364808bd928425b
--- /dev/null
+++ b/metadata/train/scene0034_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0034_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": "scene0034_01.pt",
+  "indices_file": "scene0034_01_indices.pt",
+  "transform_to_world_file": "scene0034_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": "000037"
+    },
+    {
+      "index": 2,
+      "frame_id": "000075"
+    },
+    {
+      "index": 3,
+      "frame_id": "000113"
+    },
+    {
+      "index": 4,
+      "frame_id": "000151"
+    },
+    {
+      "index": 5,
+      "frame_id": "000189"
+    },
+    {
+      "index": 6,
+      "frame_id": "000227"
+    },
+    {
+      "index": 7,
+      "frame_id": "000265"
+    },
+    {
+      "index": 8,
+      "frame_id": "000303"
+    },
+    {
+      "index": 9,
+      "frame_id": "000341"
+    },
+    {
+      "index": 10,
+      "frame_id": "000379"
+    },
+    {
+      "index": 11,
+      "frame_id": "000417"
+    },
+    {
+      "index": 12,
+      "frame_id": "000455"
+    },
+    {
+      "index": 13,
+      "frame_id": "000493"
+    },
+    {
+      "index": 14,
+      "frame_id": "000531"
+    },
+    {
+      "index": 15,
+      "frame_id": "000569"
+    },
+    {
+      "index": 16,
+      "frame_id": "000606"
+    },
+    {
+      "index": 17,
+      "frame_id": "000644"
+    },
+    {
+      "index": 18,
+      "frame_id": "000682"
+    },
+    {
+      "index": 19,
+      "frame_id": "000720"
+    },
+    {
+      "index": 20,
+      "frame_id": "000758"
+    },
+    {
+      "index": 21,
+      "frame_id": "000796"
+    },
+    {
+      "index": 22,
+      "frame_id": "000834"
+    },
+    {
+      "index": 23,
+      "frame_id": "000872"
+    },
+    {
+      "index": 24,
+      "frame_id": "000910"
+    },
+    {
+      "index": 25,
+      "frame_id": "000948"
+    },
+    {
+      "index": 26,
+      "frame_id": "000986"
+    },
+    {
+      "index": 27,
+      "frame_id": "001024"
+    },
+    {
+      "index": 28,
+      "frame_id": "001062"
+    },
+    {
+      "index": 29,
+      "frame_id": "001100"
+    },
+    {
+      "index": 30,
+      "frame_id": "001138"
+    },
+    {
+      "index": 31,
+      "frame_id": "001176"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000037",
+    "000075",
+    "000113",
+    "000151",
+    "000189",
+    "000227",
+    "000265",
+    "000303",
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+    "000379",
+    "000417",
+    "000455",
+    "000493",
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+    "000758",
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+    "000834",
+    "000872",
+    "000910",
+    "000948",
+    "000986",
+    "001024",
+    "001062",
+    "001100",
+    "001138",
+    "001176"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0044_00_metadata.json b/metadata/train/scene0044_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0191cc4595f9f469d776ed880e9377417b856f3
--- /dev/null
+++ b/metadata/train/scene0044_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0044_00",
+  "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": "scene0044_00.pt",
+  "indices_file": "scene0044_00_indices.pt",
+  "transform_to_world_file": "scene0044_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000047"
+    },
+    {
+      "index": 2,
+      "frame_id": "000094"
+    },
+    {
+      "index": 4,
+      "frame_id": "000188"
+    },
+    {
+      "index": 5,
+      "frame_id": "000235"
+    },
+    {
+      "index": 6,
+      "frame_id": "000282"
+    },
+    {
+      "index": 7,
+      "frame_id": "000329"
+    },
+    {
+      "index": 8,
+      "frame_id": "000376"
+    },
+    {
+      "index": 9,
+      "frame_id": "000423"
+    },
+    {
+      "index": 10,
+      "frame_id": "000470"
+    },
+    {
+      "index": 11,
+      "frame_id": "000517"
+    },
+    {
+      "index": 12,
+      "frame_id": "000564"
+    },
+    {
+      "index": 13,
+      "frame_id": "000611"
+    },
+    {
+      "index": 14,
+      "frame_id": "000658"
+    },
+    {
+      "index": 16,
+      "frame_id": "000752"
+    },
+    {
+      "index": 17,
+      "frame_id": "000799"
+    },
+    {
+      "index": 18,
+      "frame_id": "000846"
+    },
+    {
+      "index": 19,
+      "frame_id": "000893"
+    },
+    {
+      "index": 20,
+      "frame_id": "000940"
+    },
+    {
+      "index": 21,
+      "frame_id": "000987"
+    },
+    {
+      "index": 22,
+      "frame_id": "001034"
+    },
+    {
+      "index": 23,
+      "frame_id": "001081"
+    },
+    {
+      "index": 26,
+      "frame_id": "001222"
+    },
+    {
+      "index": 27,
+      "frame_id": "001269"
+    },
+    {
+      "index": 28,
+      "frame_id": "001316"
+    },
+    {
+      "index": 29,
+      "frame_id": "001363"
+    },
+    {
+      "index": 30,
+      "frame_id": "001410"
+    },
+    {
+      "index": 31,
+      "frame_id": "001458"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 3,
+      "frame_id": "000141",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 15,
+      "frame_id": "000705",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 24,
+      "frame_id": "001128",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 25,
+      "frame_id": "001175",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
+    "000000",
+    "000047",
+    "000094",
+    "000188",
+    "000235",
+    "000282",
+    "000329",
+    "000376",
+    "000423",
+    "000470",
+    "000517",
+    "000564",
+    "000611",
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+    "000799",
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+    "000940",
+    "000987",
+    "001034",
+    "001081",
+    "001222",
+    "001269",
+    "001316",
+    "001363",
+    "001410",
+    "001458"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0051_02_metadata.json b/metadata/train/scene0051_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..16c54c9e2c127b99759b89f9e9d3e769edfa3294
--- /dev/null
+++ b/metadata/train/scene0051_02_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0051_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": "scene0051_02.pt",
+  "indices_file": "scene0051_02_indices.pt",
+  "transform_to_world_file": "scene0051_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": "000070"
+    },
+    {
+      "index": 2,
+      "frame_id": "000141"
+    },
+    {
+      "index": 3,
+      "frame_id": "000211"
+    },
+    {
+      "index": 4,
+      "frame_id": "000282"
+    },
+    {
+      "index": 5,
+      "frame_id": "000353"
+    },
+    {
+      "index": 6,
+      "frame_id": "000423"
+    },
+    {
+      "index": 7,
+      "frame_id": "000494"
+    },
+    {
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+      "frame_id": "000565"
+    },
+    {
+      "index": 9,
+      "frame_id": "000635"
+    },
+    {
+      "index": 10,
+      "frame_id": "000706"
+    },
+    {
+      "index": 11,
+      "frame_id": "000777"
+    },
+    {
+      "index": 13,
+      "frame_id": "000918"
+    },
+    {
+      "index": 14,
+      "frame_id": "000989"
+    },
+    {
+      "index": 15,
+      "frame_id": "001059"
+    },
+    {
+      "index": 17,
+      "frame_id": "001200"
+    },
+    {
+      "index": 18,
+      "frame_id": "001271"
+    },
+    {
+      "index": 19,
+      "frame_id": "001342"
+    },
+    {
+      "index": 20,
+      "frame_id": "001412"
+    },
+    {
+      "index": 21,
+      "frame_id": "001483"
+    },
+    {
+      "index": 22,
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+      "frame_id": "002048"
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+      "frame_id": "000847",
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+      "frame_id": "001130",
+      "reason": "invalid_pose"
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+      "frame_id": "002190",
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+    "001695",
+    "001766",
+    "001836",
+    "001907",
+    "001978",
+    "002048",
+    "002119"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0073_00_metadata.json b/metadata/train/scene0073_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1b919e7ba1e53c121d10a7b48b0634d00949f3c
--- /dev/null
+++ b/metadata/train/scene0073_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0073_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": "scene0073_00.pt",
+  "indices_file": "scene0073_00_indices.pt",
+  "transform_to_world_file": "scene0073_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": "000069"
+    },
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+      "frame_id": "000139"
+    },
+    {
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+      "frame_id": "000209"
+    },
+    {
+      "index": 4,
+      "frame_id": "000279"
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+    {
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+      "frame_id": "000349"
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+      "frame_id": "000419"
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+      "frame_id": "000488"
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+      "frame_id": "000558"
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+      "frame_id": "000628"
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+      "frame_id": "000698"
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+      "frame_id": "000768"
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+      "frame_id": "000838"
+    },
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+      "frame_id": "000907"
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+      "frame_id": "000977"
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+    {
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+      "frame_id": "001047"
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+      "frame_id": "001117"
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+      "frame_id": "001187"
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+      "frame_id": "001257"
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+      "index": 19,
+      "frame_id": "001326"
+    },
+    {
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+      "frame_id": "001396"
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+      "frame_id": "001466"
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+      "frame_id": "001536"
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+      "frame_id": "001606"
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+      "frame_id": "001676"
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+      "frame_id": "001745"
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+      "frame_id": "001815"
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+    {
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+      "frame_id": "001885"
+    },
+    {
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+      "frame_id": "001955"
+    },
+    {
+      "index": 29,
+      "frame_id": "002025"
+    },
+    {
+      "index": 30,
+      "frame_id": "002095"
+    },
+    {
+      "index": 31,
+      "frame_id": "002165"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000139",
+    "000209",
+    "000279",
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+    "000419",
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+    "000628",
+    "000698",
+    "000768",
+    "000838",
+    "000907",
+    "000977",
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+    "001117",
+    "001187",
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+    "001326",
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+    "001466",
+    "001536",
+    "001606",
+    "001676",
+    "001745",
+    "001815",
+    "001885",
+    "001955",
+    "002025",
+    "002095",
+    "002165"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0079_01_metadata.json b/metadata/train/scene0079_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f38d3a60da0816f7f3e412399964eca7e673a1c
--- /dev/null
+++ b/metadata/train/scene0079_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0079_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": "scene0079_01.pt",
+  "indices_file": "scene0079_01_indices.pt",
+  "transform_to_world_file": "scene0079_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": "000014"
+    },
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+      "frame_id": "000029"
+    },
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+      "frame_id": "000044"
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+      "index": 4,
+      "frame_id": "000059"
+    },
+    {
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+      "frame_id": "000074"
+    },
+    {
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+      "frame_id": "000089"
+    },
+    {
+      "index": 7,
+      "frame_id": "000104"
+    },
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+      "frame_id": "000118"
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+      "frame_id": "000133"
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+    {
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+      "frame_id": "000148"
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+    {
+      "index": 11,
+      "frame_id": "000163"
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+    {
+      "index": 12,
+      "frame_id": "000178"
+    },
+    {
+      "index": 13,
+      "frame_id": "000193"
+    },
+    {
+      "index": 14,
+      "frame_id": "000208"
+    },
+    {
+      "index": 15,
+      "frame_id": "000223"
+    },
+    {
+      "index": 16,
+      "frame_id": "000237"
+    },
+    {
+      "index": 17,
+      "frame_id": "000252"
+    },
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+      "frame_id": "000267"
+    },
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+      "index": 19,
+      "frame_id": "000282"
+    },
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+      "frame_id": "000297"
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+      "frame_id": "000312"
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+      "frame_id": "000327"
+    },
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+      "index": 23,
+      "frame_id": "000342"
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+    {
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+      "frame_id": "000356"
+    },
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+      "frame_id": "000371"
+    },
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+      "frame_id": "000386"
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+      "frame_id": "000401"
+    },
+    {
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+      "frame_id": "000416"
+    },
+    {
+      "index": 29,
+      "frame_id": "000431"
+    },
+    {
+      "index": 30,
+      "frame_id": "000446"
+    },
+    {
+      "index": 31,
+      "frame_id": "000461"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000014",
+    "000029",
+    "000044",
+    "000059",
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+    "000163",
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+    "000371",
+    "000386",
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+    "000416",
+    "000431",
+    "000446",
+    "000461"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0094_00_metadata.json b/metadata/train/scene0094_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e0da7a1306feb73e489c837ab57df6254c4d160
--- /dev/null
+++ b/metadata/train/scene0094_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0094_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": "scene0094_00.pt",
+  "indices_file": "scene0094_00_indices.pt",
+  "transform_to_world_file": "scene0094_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"
+    },
+    {
+      "index": 2,
+      "frame_id": "000071"
+    },
+    {
+      "index": 3,
+      "frame_id": "000106"
+    },
+    {
+      "index": 4,
+      "frame_id": "000142"
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+    {
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+      "frame_id": "000178"
+    },
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+      "frame_id": "000213"
+    },
+    {
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+      "frame_id": "000249"
+    },
+    {
+      "index": 8,
+      "frame_id": "000284"
+    },
+    {
+      "index": 9,
+      "frame_id": "000320"
+    },
+    {
+      "index": 10,
+      "frame_id": "000356"
+    },
+    {
+      "index": 11,
+      "frame_id": "000391"
+    },
+    {
+      "index": 12,
+      "frame_id": "000427"
+    },
+    {
+      "index": 13,
+      "frame_id": "000462"
+    },
+    {
+      "index": 14,
+      "frame_id": "000498"
+    },
+    {
+      "index": 15,
+      "frame_id": "000534"
+    },
+    {
+      "index": 16,
+      "frame_id": "000569"
+    },
+    {
+      "index": 17,
+      "frame_id": "000605"
+    },
+    {
+      "index": 18,
+      "frame_id": "000641"
+    },
+    {
+      "index": 19,
+      "frame_id": "000676"
+    },
+    {
+      "index": 20,
+      "frame_id": "000712"
+    },
+    {
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+      "frame_id": "000747"
+    },
+    {
+      "index": 22,
+      "frame_id": "000783"
+    },
+    {
+      "index": 23,
+      "frame_id": "000819"
+    },
+    {
+      "index": 24,
+      "frame_id": "000854"
+    },
+    {
+      "index": 25,
+      "frame_id": "000890"
+    },
+    {
+      "index": 26,
+      "frame_id": "000925"
+    },
+    {
+      "index": 27,
+      "frame_id": "000961"
+    },
+    {
+      "index": 28,
+      "frame_id": "000997"
+    },
+    {
+      "index": 29,
+      "frame_id": "001032"
+    },
+    {
+      "index": 30,
+      "frame_id": "001068"
+    },
+    {
+      "index": 31,
+      "frame_id": "001104"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000035",
+    "000071",
+    "000106",
+    "000142",
+    "000178",
+    "000213",
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+    "000284",
+    "000320",
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+    "000925",
+    "000961",
+    "000997",
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+    "001068",
+    "001104"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0105_00_metadata.json b/metadata/train/scene0105_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..88bf1f16b55edededa1a8fa42ff33ff482bace33
--- /dev/null
+++ b/metadata/train/scene0105_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0105_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": "scene0105_00.pt",
+  "indices_file": "scene0105_00_indices.pt",
+  "transform_to_world_file": "scene0105_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": "000043"
+    },
+    {
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+      "frame_id": "000087"
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+      "frame_id": "000131"
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+    {
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+      "frame_id": "000175"
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+      "frame_id": "000218"
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+      "frame_id": "000262"
+    },
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+      "frame_id": "000306"
+    },
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+      "frame_id": "000350"
+    },
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+      "frame_id": "000393"
+    },
+    {
+      "index": 10,
+      "frame_id": "000437"
+    },
+    {
+      "index": 11,
+      "frame_id": "000481"
+    },
+    {
+      "index": 12,
+      "frame_id": "000525"
+    },
+    {
+      "index": 13,
+      "frame_id": "000569"
+    },
+    {
+      "index": 14,
+      "frame_id": "000612"
+    },
+    {
+      "index": 15,
+      "frame_id": "000656"
+    },
+    {
+      "index": 16,
+      "frame_id": "000700"
+    },
+    {
+      "index": 17,
+      "frame_id": "000744"
+    },
+    {
+      "index": 18,
+      "frame_id": "000787"
+    },
+    {
+      "index": 19,
+      "frame_id": "000831"
+    },
+    {
+      "index": 20,
+      "frame_id": "000875"
+    },
+    {
+      "index": 24,
+      "frame_id": "001050"
+    },
+    {
+      "index": 25,
+      "frame_id": "001094"
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+    {
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+      "frame_id": "001138"
+    },
+    {
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+      "frame_id": "001181"
+    },
+    {
+      "index": 28,
+      "frame_id": "001225"
+    },
+    {
+      "index": 29,
+      "frame_id": "001269"
+    },
+    {
+      "index": 30,
+      "frame_id": "001313"
+    },
+    {
+      "index": 31,
+      "frame_id": "001357"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 21,
+      "frame_id": "000919",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 22,
+      "frame_id": "000963",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 23,
+      "frame_id": "001006",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "001138",
+    "001181",
+    "001225",
+    "001269",
+    "001313",
+    "001357"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0123_00_metadata.json b/metadata/train/scene0123_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..caa62c17322b6b51e883bf01fc47587f80c1dbe8
--- /dev/null
+++ b/metadata/train/scene0123_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0123_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": "scene0123_00.pt",
+  "indices_file": "scene0123_00_indices.pt",
+  "transform_to_world_file": "scene0123_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
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+  ],
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0125_00_metadata.json b/metadata/train/scene0125_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff41fed95f2bd3bbfb9553b58239e5e084b56adc
--- /dev/null
+++ b/metadata/train/scene0125_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0125_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": "scene0125_00.pt",
+  "indices_file": "scene0125_00_indices.pt",
+  "transform_to_world_file": "scene0125_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": "000048"
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+      "frame_id": "000072"
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+      "frame_id": "000097"
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+      "frame_id": "000121"
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+      "frame_id": "000170"
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+      "frame_id": "000291"
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+      "frame_id": "000315"
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+      "frame_id": "000340"
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+      "frame_id": "000364"
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+      "frame_id": "000388"
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+      "frame_id": "000412"
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+      "frame_id": "000704"
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+      "frame_id": "000728"
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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/scene0126_01_metadata.json b/metadata/train/scene0126_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc96bd6faead7a464254a44ccbac17546f65cc3f
--- /dev/null
+++ b/metadata/train/scene0126_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0126_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": "scene0126_01.pt",
+  "indices_file": "scene0126_01_indices.pt",
+  "transform_to_world_file": "scene0126_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": "000117"
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+      "frame_id": "000157"
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+      "frame_id": "000235"
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+      "frame_id": "000471"
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+      "frame_id": "000510"
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+      "frame_id": "000549"
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+    {
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+      "frame_id": "000588"
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+    {
+      "index": 16,
+      "frame_id": "000628"
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+      "frame_id": "000667"
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+      "frame_id": "000706"
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+      "frame_id": "000981"
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+    {
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+      "frame_id": "001177"
+    },
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+  "frame_order": [
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0132_02_metadata.json b/metadata/train/scene0132_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4e58c4931575d2387016df5281d64d77963ed1f
--- /dev/null
+++ b/metadata/train/scene0132_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0132_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": "scene0132_02.pt",
+  "indices_file": "scene0132_02_indices.pt",
+  "transform_to_world_file": "scene0132_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": "000031"
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+    {
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+      "frame_id": "000062"
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+      "frame_id": "000093"
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+      "frame_id": "000124"
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+      "frame_id": "000155"
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+      "frame_id": "000186"
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+    {
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+    },
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+      "frame_id": "000279"
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+    {
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+      "frame_id": "000310"
+    },
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+      "frame_id": "000341"
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+      "frame_id": "000372"
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+    {
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+      "frame_id": "000403"
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+      "frame_id": "000434"
+    },
+    {
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+      "frame_id": "000465"
+    },
+    {
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+      "frame_id": "000496"
+    },
+    {
+      "index": 17,
+      "frame_id": "000527"
+    },
+    {
+      "index": 18,
+      "frame_id": "000558"
+    },
+    {
+      "index": 19,
+      "frame_id": "000589"
+    },
+    {
+      "index": 20,
+      "frame_id": "000620"
+    },
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+      "frame_id": "000713"
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+      "frame_id": "000744"
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+      "frame_id": "000775"
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+      "frame_id": "000806"
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+    {
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+      "frame_id": "000837"
+    },
+    {
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+      "frame_id": "000868"
+    },
+    {
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+      "frame_id": "000899"
+    },
+    {
+      "index": 30,
+      "frame_id": "000930"
+    },
+    {
+      "index": 31,
+      "frame_id": "000962"
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+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000062",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0143_01_metadata.json b/metadata/train/scene0143_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..349907a91db25f4c6c2a914c695b0ea489152aa1
--- /dev/null
+++ b/metadata/train/scene0143_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0143_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 30,
+  "invalid_frames_count": 2,
+  "output_shape": [
+    30,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    30
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0143_01.pt",
+  "indices_file": "scene0143_01_indices.pt",
+  "transform_to_world_file": "scene0143_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": "000928"
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+      "frame_id": "001083"
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+      "frame_id": "001392"
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+      "frame_id": "001470"
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+      "frame_id": "001857"
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+      "frame_id": "001934"
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+      "frame_id": "002012"
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+      "frame_id": "002089"
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+      "frame_id": "002244"
+    },
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+      "frame_id": "002321"
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+      "frame_id": "002399"
+    }
+  ],
+  "invalid_views": [
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+      "index": 4,
+      "frame_id": "000309",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 5,
+      "frame_id": "000386",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "000464",
+    "000541",
+    "000619",
+    "000696",
+    "000773",
+    "000851",
+    "000928",
+    "001006",
+    "001083",
+    "001160",
+    "001238",
+    "001315",
+    "001392",
+    "001470",
+    "001547",
+    "001625",
+    "001702",
+    "001779",
+    "001857",
+    "001934",
+    "002012",
+    "002089",
+    "002166",
+    "002244",
+    "002321",
+    "002399"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0161_02_metadata.json b/metadata/train/scene0161_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..68b6ec83e3b85b20a83174e002e88579fadbc0b3
--- /dev/null
+++ b/metadata/train/scene0161_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0161_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": "scene0161_02.pt",
+  "indices_file": "scene0161_02_indices.pt",
+  "transform_to_world_file": "scene0161_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": "000005"
+    },
+    {
+      "index": 2,
+      "frame_id": "000011"
+    },
+    {
+      "index": 3,
+      "frame_id": "000016"
+    },
+    {
+      "index": 4,
+      "frame_id": "000022"
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+    {
+      "index": 5,
+      "frame_id": "000028"
+    },
+    {
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+      "frame_id": "000033"
+    },
+    {
+      "index": 7,
+      "frame_id": "000039"
+    },
+    {
+      "index": 8,
+      "frame_id": "000044"
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+    {
+      "index": 9,
+      "frame_id": "000050"
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+    {
+      "index": 10,
+      "frame_id": "000056"
+    },
+    {
+      "index": 11,
+      "frame_id": "000061"
+    },
+    {
+      "index": 12,
+      "frame_id": "000067"
+    },
+    {
+      "index": 13,
+      "frame_id": "000072"
+    },
+    {
+      "index": 14,
+      "frame_id": "000078"
+    },
+    {
+      "index": 15,
+      "frame_id": "000084"
+    },
+    {
+      "index": 16,
+      "frame_id": "000089"
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+    {
+      "index": 17,
+      "frame_id": "000095"
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+    {
+      "index": 18,
+      "frame_id": "000101"
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+    {
+      "index": 19,
+      "frame_id": "000106"
+    },
+    {
+      "index": 20,
+      "frame_id": "000112"
+    },
+    {
+      "index": 21,
+      "frame_id": "000117"
+    },
+    {
+      "index": 22,
+      "frame_id": "000123"
+    },
+    {
+      "index": 23,
+      "frame_id": "000129"
+    },
+    {
+      "index": 24,
+      "frame_id": "000134"
+    },
+    {
+      "index": 25,
+      "frame_id": "000140"
+    },
+    {
+      "index": 26,
+      "frame_id": "000145"
+    },
+    {
+      "index": 27,
+      "frame_id": "000151"
+    },
+    {
+      "index": 28,
+      "frame_id": "000157"
+    },
+    {
+      "index": 29,
+      "frame_id": "000162"
+    },
+    {
+      "index": 30,
+      "frame_id": "000168"
+    },
+    {
+      "index": 31,
+      "frame_id": "000174"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000005",
+    "000011",
+    "000016",
+    "000022",
+    "000028",
+    "000033",
+    "000039",
+    "000044",
+    "000050",
+    "000056",
+    "000061",
+    "000067",
+    "000072",
+    "000078",
+    "000084",
+    "000089",
+    "000095",
+    "000101",
+    "000106",
+    "000112",
+    "000117",
+    "000123",
+    "000129",
+    "000134",
+    "000140",
+    "000145",
+    "000151",
+    "000157",
+    "000162",
+    "000168",
+    "000174"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0174_01_metadata.json b/metadata/train/scene0174_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..18ae72e29b888c6c8595585636869756f708b9da
--- /dev/null
+++ b/metadata/train/scene0174_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0174_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": "scene0174_01.pt",
+  "indices_file": "scene0174_01_indices.pt",
+  "transform_to_world_file": "scene0174_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": "000071"
+    },
+    {
+      "index": 2,
+      "frame_id": "000142"
+    },
+    {
+      "index": 3,
+      "frame_id": "000213"
+    },
+    {
+      "index": 4,
+      "frame_id": "000284"
+    },
+    {
+      "index": 5,
+      "frame_id": "000356"
+    },
+    {
+      "index": 6,
+      "frame_id": "000427"
+    },
+    {
+      "index": 7,
+      "frame_id": "000498"
+    },
+    {
+      "index": 8,
+      "frame_id": "000569"
+    },
+    {
+      "index": 9,
+      "frame_id": "000641"
+    },
+    {
+      "index": 10,
+      "frame_id": "000712"
+    },
+    {
+      "index": 11,
+      "frame_id": "000783"
+    },
+    {
+      "index": 12,
+      "frame_id": "000854"
+    },
+    {
+      "index": 13,
+      "frame_id": "000925"
+    },
+    {
+      "index": 14,
+      "frame_id": "000997"
+    },
+    {
+      "index": 15,
+      "frame_id": "001068"
+    },
+    {
+      "index": 16,
+      "frame_id": "001139"
+    },
+    {
+      "index": 17,
+      "frame_id": "001210"
+    },
+    {
+      "index": 18,
+      "frame_id": "001282"
+    },
+    {
+      "index": 19,
+      "frame_id": "001353"
+    },
+    {
+      "index": 20,
+      "frame_id": "001424"
+    },
+    {
+      "index": 21,
+      "frame_id": "001495"
+    },
+    {
+      "index": 22,
+      "frame_id": "001566"
+    },
+    {
+      "index": 23,
+      "frame_id": "001638"
+    },
+    {
+      "index": 24,
+      "frame_id": "001709"
+    },
+    {
+      "index": 25,
+      "frame_id": "001780"
+    },
+    {
+      "index": 26,
+      "frame_id": "001851"
+    },
+    {
+      "index": 27,
+      "frame_id": "001923"
+    },
+    {
+      "index": 28,
+      "frame_id": "001994"
+    },
+    {
+      "index": 29,
+      "frame_id": "002065"
+    },
+    {
+      "index": 30,
+      "frame_id": "002136"
+    },
+    {
+      "index": 31,
+      "frame_id": "002208"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000071",
+    "000142",
+    "000213",
+    "000284",
+    "000356",
+    "000427",
+    "000498",
+    "000569",
+    "000641",
+    "000712",
+    "000783",
+    "000854",
+    "000925",
+    "000997",
+    "001068",
+    "001139",
+    "001210",
+    "001282",
+    "001353",
+    "001424",
+    "001495",
+    "001566",
+    "001638",
+    "001709",
+    "001780",
+    "001851",
+    "001923",
+    "001994",
+    "002065",
+    "002136",
+    "002208"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0175_00_metadata.json b/metadata/train/scene0175_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..29b961b3bc9f7ea9198785c5031a143ad42c6e26
--- /dev/null
+++ b/metadata/train/scene0175_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0175_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": "scene0175_00.pt",
+  "indices_file": "scene0175_00_indices.pt",
+  "transform_to_world_file": "scene0175_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": "000030"
+    },
+    {
+      "index": 2,
+      "frame_id": "000060"
+    },
+    {
+      "index": 3,
+      "frame_id": "000091"
+    },
+    {
+      "index": 4,
+      "frame_id": "000121"
+    },
+    {
+      "index": 5,
+      "frame_id": "000152"
+    },
+    {
+      "index": 6,
+      "frame_id": "000182"
+    },
+    {
+      "index": 7,
+      "frame_id": "000213"
+    },
+    {
+      "index": 8,
+      "frame_id": "000243"
+    },
+    {
+      "index": 9,
+      "frame_id": "000274"
+    },
+    {
+      "index": 10,
+      "frame_id": "000304"
+    },
+    {
+      "index": 11,
+      "frame_id": "000334"
+    },
+    {
+      "index": 12,
+      "frame_id": "000365"
+    },
+    {
+      "index": 13,
+      "frame_id": "000395"
+    },
+    {
+      "index": 14,
+      "frame_id": "000426"
+    },
+    {
+      "index": 15,
+      "frame_id": "000456"
+    },
+    {
+      "index": 16,
+      "frame_id": "000487"
+    },
+    {
+      "index": 17,
+      "frame_id": "000517"
+    },
+    {
+      "index": 18,
+      "frame_id": "000548"
+    },
+    {
+      "index": 19,
+      "frame_id": "000578"
+    },
+    {
+      "index": 20,
+      "frame_id": "000609"
+    },
+    {
+      "index": 21,
+      "frame_id": "000639"
+    },
+    {
+      "index": 22,
+      "frame_id": "000669"
+    },
+    {
+      "index": 23,
+      "frame_id": "000700"
+    },
+    {
+      "index": 24,
+      "frame_id": "000730"
+    },
+    {
+      "index": 25,
+      "frame_id": "000761"
+    },
+    {
+      "index": 26,
+      "frame_id": "000791"
+    },
+    {
+      "index": 27,
+      "frame_id": "000822"
+    },
+    {
+      "index": 28,
+      "frame_id": "000852"
+    },
+    {
+      "index": 29,
+      "frame_id": "000883"
+    },
+    {
+      "index": 30,
+      "frame_id": "000913"
+    },
+    {
+      "index": 31,
+      "frame_id": "000944"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000030",
+    "000060",
+    "000091",
+    "000121",
+    "000152",
+    "000182",
+    "000213",
+    "000243",
+    "000274",
+    "000304",
+    "000334",
+    "000365",
+    "000395",
+    "000426",
+    "000456",
+    "000487",
+    "000517",
+    "000548",
+    "000578",
+    "000609",
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+    "000669",
+    "000700",
+    "000730",
+    "000761",
+    "000791",
+    "000822",
+    "000852",
+    "000883",
+    "000913",
+    "000944"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0177_02_metadata.json b/metadata/train/scene0177_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3a2d1f898c4153f163f4f2a570c15d3933d32c2
--- /dev/null
+++ b/metadata/train/scene0177_02_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0177_02",
+  "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": "scene0177_02.pt",
+  "indices_file": "scene0177_02_indices.pt",
+  "transform_to_world_file": "scene0177_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": "000072"
+    },
+    {
+      "index": 2,
+      "frame_id": "000145"
+    },
+    {
+      "index": 3,
+      "frame_id": "000217"
+    },
+    {
+      "index": 4,
+      "frame_id": "000290"
+    },
+    {
+      "index": 5,
+      "frame_id": "000362"
+    },
+    {
+      "index": 6,
+      "frame_id": "000435"
+    },
+    {
+      "index": 7,
+      "frame_id": "000508"
+    },
+    {
+      "index": 8,
+      "frame_id": "000580"
+    },
+    {
+      "index": 9,
+      "frame_id": "000653"
+    },
+    {
+      "index": 10,
+      "frame_id": "000725"
+    },
+    {
+      "index": 11,
+      "frame_id": "000798"
+    },
+    {
+      "index": 12,
+      "frame_id": "000870"
+    },
+    {
+      "index": 13,
+      "frame_id": "000943"
+    },
+    {
+      "index": 14,
+      "frame_id": "001016"
+    },
+    {
+      "index": 15,
+      "frame_id": "001088"
+    },
+    {
+      "index": 16,
+      "frame_id": "001161"
+    },
+    {
+      "index": 17,
+      "frame_id": "001233"
+    },
+    {
+      "index": 18,
+      "frame_id": "001306"
+    },
+    {
+      "index": 19,
+      "frame_id": "001379"
+    },
+    {
+      "index": 20,
+      "frame_id": "001451"
+    },
+    {
+      "index": 21,
+      "frame_id": "001524"
+    },
+    {
+      "index": 22,
+      "frame_id": "001596"
+    },
+    {
+      "index": 23,
+      "frame_id": "001669"
+    },
+    {
+      "index": 24,
+      "frame_id": "001741"
+    },
+    {
+      "index": 25,
+      "frame_id": "001814"
+    },
+    {
+      "index": 26,
+      "frame_id": "001887"
+    },
+    {
+      "index": 27,
+      "frame_id": "001959"
+    },
+    {
+      "index": 28,
+      "frame_id": "002032"
+    },
+    {
+      "index": 29,
+      "frame_id": "002104"
+    },
+    {
+      "index": 30,
+      "frame_id": "002177"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 31,
+      "frame_id": "002250",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
+    "000000",
+    "000072",
+    "000145",
+    "000217",
+    "000290",
+    "000362",
+    "000435",
+    "000508",
+    "000580",
+    "000653",
+    "000725",
+    "000798",
+    "000870",
+    "000943",
+    "001016",
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+    "001161",
+    "001233",
+    "001306",
+    "001379",
+    "001451",
+    "001524",
+    "001596",
+    "001669",
+    "001741",
+    "001814",
+    "001887",
+    "001959",
+    "002032",
+    "002104",
+    "002177"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0218_00_metadata.json b/metadata/train/scene0218_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6419ae6bdf162a4224d4ce4c5770dc826000c977
--- /dev/null
+++ b/metadata/train/scene0218_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0218_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": "scene0218_00.pt",
+  "indices_file": "scene0218_00_indices.pt",
+  "transform_to_world_file": "scene0218_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": "000050"
+    },
+    {
+      "index": 2,
+      "frame_id": "000100"
+    },
+    {
+      "index": 3,
+      "frame_id": "000150"
+    },
+    {
+      "index": 4,
+      "frame_id": "000200"
+    },
+    {
+      "index": 5,
+      "frame_id": "000250"
+    },
+    {
+      "index": 6,
+      "frame_id": "000300"
+    },
+    {
+      "index": 7,
+      "frame_id": "000350"
+    },
+    {
+      "index": 8,
+      "frame_id": "000400"
+    },
+    {
+      "index": 9,
+      "frame_id": "000450"
+    },
+    {
+      "index": 10,
+      "frame_id": "000500"
+    },
+    {
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+      "frame_id": "001550",
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+    "001250",
+    "001300",
+    "001350",
+    "001400",
+    "001450",
+    "001500"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0219_00_metadata.json b/metadata/train/scene0219_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..52912ed95c25631f03699ed77a438a21fc2ad96c
--- /dev/null
+++ b/metadata/train/scene0219_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0219_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": "scene0219_00.pt",
+  "indices_file": "scene0219_00_indices.pt",
+  "transform_to_world_file": "scene0219_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": "000036"
+    },
+    {
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+      "frame_id": "000072"
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+    {
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+      "frame_id": "000108"
+    },
+    {
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+      "frame_id": "000144"
+    },
+    {
+      "index": 5,
+      "frame_id": "000180"
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+    {
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+      "frame_id": "000216"
+    },
+    {
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+      "frame_id": "000252"
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+      "frame_id": "000288"
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+      "frame_id": "000324"
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+      "frame_id": "000360"
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+      "frame_id": "000396"
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+      "index": 12,
+      "frame_id": "000432"
+    },
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+      "frame_id": "000468"
+    },
+    {
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+      "frame_id": "000504"
+    },
+    {
+      "index": 15,
+      "frame_id": "000540"
+    },
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+      "index": 16,
+      "frame_id": "000577"
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+      "frame_id": "000613"
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+      "frame_id": "000649"
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+      "frame_id": "000685"
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+      "frame_id": "000757"
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+      "frame_id": "000829"
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+      "frame_id": "000865"
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+      "frame_id": "000901"
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+      "frame_id": "000937"
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+    {
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+      "frame_id": "000973"
+    },
+    {
+      "index": 28,
+      "frame_id": "001009"
+    },
+    {
+      "index": 29,
+      "frame_id": "001045"
+    },
+    {
+      "index": 30,
+      "frame_id": "001081"
+    },
+    {
+      "index": 31,
+      "frame_id": "001118"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000036",
+    "000072",
+    "000108",
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+    "000180",
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+    "000288",
+    "000324",
+    "000360",
+    "000396",
+    "000432",
+    "000468",
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+    "000829",
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+    "000901",
+    "000937",
+    "000973",
+    "001009",
+    "001045",
+    "001081",
+    "001118"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0223_02_metadata.json b/metadata/train/scene0223_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..346dd1446dc6e1be9bba181a0d2492bfbc8f6654
--- /dev/null
+++ b/metadata/train/scene0223_02_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0223_02",
+  "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": "scene0223_02.pt",
+  "indices_file": "scene0223_02_indices.pt",
+  "transform_to_world_file": "scene0223_02_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
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+      "frame_id": "000034"
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+      "frame_id": "000068"
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+      "frame_id": "000102"
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+    {
+      "index": 4,
+      "frame_id": "000136"
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+    {
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+      "frame_id": "000170"
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+      "frame_id": "000204"
+    },
+    {
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+      "frame_id": "000238"
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+      "frame_id": "000272"
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+      "frame_id": "000306"
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+      "frame_id": "000340"
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+      "frame_id": "000375"
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+      "frame_id": "000409"
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+      "frame_id": "000443"
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+    {
+      "index": 14,
+      "frame_id": "000477"
+    },
+    {
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+      "frame_id": "000511"
+    },
+    {
+      "index": 16,
+      "frame_id": "000545"
+    },
+    {
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+      "frame_id": "000579"
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+      "index": 18,
+      "frame_id": "000613"
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+      "frame_id": "000647"
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+      "frame_id": "000750"
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+      "frame_id": "000784"
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+    {
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+      "frame_id": "000818"
+    },
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+      "frame_id": "000852"
+    },
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+      "frame_id": "000886"
+    },
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+      "index": 27,
+      "frame_id": "000920"
+    },
+    {
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+      "frame_id": "000954"
+    },
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+      "frame_id": "000988"
+    },
+    {
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+      "frame_id": "001022"
+    },
+    {
+      "index": 31,
+      "frame_id": "001057"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 21,
+      "frame_id": "000716",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "000102",
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+    "000852",
+    "000886",
+    "000920",
+    "000954",
+    "000988",
+    "001022",
+    "001057"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0235_00_metadata.json b/metadata/train/scene0235_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6be7467607ff03dd56f6f225272f9cb24cb80259
--- /dev/null
+++ b/metadata/train/scene0235_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0235_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": "scene0235_00.pt",
+  "indices_file": "scene0235_00_indices.pt",
+  "transform_to_world_file": "scene0235_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000072"
+    },
+    {
+      "index": 2,
+      "frame_id": "000145"
+    },
+    {
+      "index": 3,
+      "frame_id": "000218"
+    },
+    {
+      "index": 4,
+      "frame_id": "000291"
+    },
+    {
+      "index": 5,
+      "frame_id": "000364"
+    },
+    {
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+      "frame_id": "000436"
+    },
+    {
+      "index": 7,
+      "frame_id": "000509"
+    },
+    {
+      "index": 8,
+      "frame_id": "000582"
+    },
+    {
+      "index": 9,
+      "frame_id": "000655"
+    },
+    {
+      "index": 10,
+      "frame_id": "000728"
+    },
+    {
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+      "frame_id": "000800"
+    },
+    {
+      "index": 12,
+      "frame_id": "000873"
+    },
+    {
+      "index": 13,
+      "frame_id": "000946"
+    },
+    {
+      "index": 14,
+      "frame_id": "001019"
+    },
+    {
+      "index": 15,
+      "frame_id": "001092"
+    },
+    {
+      "index": 16,
+      "frame_id": "001164"
+    },
+    {
+      "index": 17,
+      "frame_id": "001237"
+    },
+    {
+      "index": 18,
+      "frame_id": "001310"
+    },
+    {
+      "index": 19,
+      "frame_id": "001383"
+    },
+    {
+      "index": 20,
+      "frame_id": "001456"
+    },
+    {
+      "index": 21,
+      "frame_id": "001528"
+    },
+    {
+      "index": 22,
+      "frame_id": "001601"
+    },
+    {
+      "index": 23,
+      "frame_id": "001674"
+    },
+    {
+      "index": 24,
+      "frame_id": "001747"
+    },
+    {
+      "index": 25,
+      "frame_id": "001820"
+    },
+    {
+      "index": 26,
+      "frame_id": "001892"
+    },
+    {
+      "index": 27,
+      "frame_id": "001965"
+    },
+    {
+      "index": 28,
+      "frame_id": "002038"
+    },
+    {
+      "index": 29,
+      "frame_id": "002111"
+    },
+    {
+      "index": 30,
+      "frame_id": "002184"
+    },
+    {
+      "index": 31,
+      "frame_id": "002257"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000072",
+    "000145",
+    "000218",
+    "000291",
+    "000364",
+    "000436",
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+    "000655",
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+    "000800",
+    "000873",
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+    "001892",
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+    "002257"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0240_00_metadata.json b/metadata/train/scene0240_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9cfbe9517a47c38190b36b197cfbe70cc5d8f51
--- /dev/null
+++ b/metadata/train/scene0240_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0240_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": "scene0240_00.pt",
+  "indices_file": "scene0240_00_indices.pt",
+  "transform_to_world_file": "scene0240_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": "000033"
+    },
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+      "frame_id": "000066"
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+    {
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+      "frame_id": "000100"
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+      "frame_id": "000167"
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+      "frame_id": "000200"
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+      "frame_id": "000234"
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+    {
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+      "frame_id": "000267"
+    },
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+      "frame_id": "000301"
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+    {
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+      "frame_id": "000334"
+    },
+    {
+      "index": 11,
+      "frame_id": "000367"
+    },
+    {
+      "index": 12,
+      "frame_id": "000401"
+    },
+    {
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+      "frame_id": "000434"
+    },
+    {
+      "index": 14,
+      "frame_id": "000468"
+    },
+    {
+      "index": 15,
+      "frame_id": "000501"
+    },
+    {
+      "index": 16,
+      "frame_id": "000535"
+    },
+    {
+      "index": 17,
+      "frame_id": "000568"
+    },
+    {
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+      "frame_id": "000602"
+    },
+    {
+      "index": 19,
+      "frame_id": "000635"
+    },
+    {
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+      "frame_id": "000669"
+    },
+    {
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+      "frame_id": "000702"
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+    {
+      "index": 22,
+      "frame_id": "000735"
+    },
+    {
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+      "frame_id": "000769"
+    },
+    {
+      "index": 24,
+      "frame_id": "000802"
+    },
+    {
+      "index": 25,
+      "frame_id": "000836"
+    },
+    {
+      "index": 26,
+      "frame_id": "000869"
+    },
+    {
+      "index": 27,
+      "frame_id": "000903"
+    },
+    {
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+      "frame_id": "000936"
+    },
+    {
+      "index": 29,
+      "frame_id": "000970"
+    },
+    {
+      "index": 30,
+      "frame_id": "001003"
+    },
+    {
+      "index": 31,
+      "frame_id": "001037"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000033",
+    "000066",
+    "000100",
+    "000133",
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+    "000869",
+    "000903",
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+    "000970",
+    "001003",
+    "001037"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0242_01_metadata.json b/metadata/train/scene0242_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a362e257afeffc58b3edec587883ec9479bebe1f
--- /dev/null
+++ b/metadata/train/scene0242_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0242_01",
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+  "output_shape": [
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+  "pointcloud_file": "scene0242_01.pt",
+  "indices_file": "scene0242_01_indices.pt",
+  "transform_to_world_file": "scene0242_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
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+    "frame_id": "000000"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0244_00_metadata.json b/metadata/train/scene0244_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..681daf82bf18898421812f0c9057b4fd5dc5372e
--- /dev/null
+++ b/metadata/train/scene0244_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0244_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": "scene0244_00.pt",
+  "indices_file": "scene0244_00_indices.pt",
+  "transform_to_world_file": "scene0244_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": "000041"
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+      "frame_id": "000062"
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+      "frame_id": "000083"
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+      "frame_id": "000125"
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+      "frame_id": "000167"
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+      "frame_id": "000250"
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+      "frame_id": "000313"
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+      "frame_id": "000334"
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+      "frame_id": "000480"
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+      "frame_id": "000522"
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+      "frame_id": "000564"
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+      "frame_id": "000606"
+    },
+    {
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+      "frame_id": "000627"
+    },
+    {
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+      "frame_id": "000648"
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+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000606",
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+    "000648"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0247_01_metadata.json b/metadata/train/scene0247_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..231573f3854592b7895374c02bfb72e51ed52763
--- /dev/null
+++ b/metadata/train/scene0247_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0247_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": "scene0247_01.pt",
+  "indices_file": "scene0247_01_indices.pt",
+  "transform_to_world_file": "scene0247_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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+    {
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+      "frame_id": "000388"
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+      "frame_id": "000517"
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+      "frame_id": "001034"
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+      "frame_id": "001422"
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+      "frame_id": "001552"
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+      "frame_id": "001681"
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+      "frame_id": "001810"
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+    {
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+      "frame_id": "001940"
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+    {
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+      "frame_id": "002069"
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+      "frame_id": "002199"
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+      "frame_id": "003233"
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+      "frame_id": "003492"
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+      "frame_id": "003751"
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+    {
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+      "frame_id": "003880"
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+  ],
+  "invalid_views": [
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+      "frame_id": "004010",
+      "reason": "invalid_pose"
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+    "003751",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0250_01_metadata.json b/metadata/train/scene0250_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae5371ebba1e0179913de714ac6598e90ad86246
--- /dev/null
+++ b/metadata/train/scene0250_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0250_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": "scene0250_01.pt",
+  "indices_file": "scene0250_01_indices.pt",
+  "transform_to_world_file": "scene0250_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": "000104"
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+      "frame_id": "000313"
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+      "frame_id": "000418"
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+      "frame_id": "000732"
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+      "frame_id": "000836"
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+      "frame_id": "000941"
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+      "frame_id": "001045"
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+      "frame_id": "001150"
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+      "frame_id": "001254"
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+      "frame_id": "001359"
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+    {
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+      "frame_id": "001464"
+    },
+    {
+      "index": 15,
+      "frame_id": "001568"
+    },
+    {
+      "index": 16,
+      "frame_id": "001673"
+    },
+    {
+      "index": 17,
+      "frame_id": "001777"
+    },
+    {
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+      "frame_id": "001882"
+    },
+    {
+      "index": 19,
+      "frame_id": "001987"
+    },
+    {
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+      "frame_id": "002091"
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+      "frame_id": "002196"
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+      "frame_id": "002300"
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+      "frame_id": "002405"
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+      "frame_id": "002509"
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+      "frame_id": "002614"
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+      "frame_id": "002719"
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+      "frame_id": "002823"
+    },
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+      "frame_id": "002928"
+    },
+    {
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+      "frame_id": "003032"
+    },
+    {
+      "index": 30,
+      "frame_id": "003137"
+    },
+    {
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+      "frame_id": "003242"
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+  ],
+  "invalid_views": [],
+  "frame_order": [
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0253_00_metadata.json b/metadata/train/scene0253_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6e39ebe5fb2f27972b9c24c2210fa4d38230c45
--- /dev/null
+++ b/metadata/train/scene0253_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0253_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": "scene0253_00.pt",
+  "indices_file": "scene0253_00_indices.pt",
+  "transform_to_world_file": "scene0253_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": "000050"
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+      "frame_id": "000805"
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+      "frame_id": "001107"
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+    {
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+      "frame_id": "001158"
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+      "frame_id": "001460"
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+    {
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+      "frame_id": "001510"
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+    {
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+      "frame_id": "001561"
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+  "frame_order": [
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+    "001460",
+    "001510",
+    "001561"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0271_00_metadata.json b/metadata/train/scene0271_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d580a5e3acf8bdf3d8e3aae46b3f36dea3493a8a
--- /dev/null
+++ b/metadata/train/scene0271_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0271_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": "scene0271_00.pt",
+  "indices_file": "scene0271_00_indices.pt",
+  "transform_to_world_file": "scene0271_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": "000184"
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+    {
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+      "frame_id": "000246"
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+      "frame_id": "000307"
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+      "frame_id": "000369"
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+      "frame_id": "000430"
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+      "frame_id": "000492"
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+      "frame_id": "000553"
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+      "frame_id": "000615"
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+      "frame_id": "000677"
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+    {
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+      "frame_id": "000738"
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+      "frame_id": "000800"
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+      "frame_id": "000861"
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+      "frame_id": "000923"
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+      "frame_id": "000984"
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+      "frame_id": "001046"
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+      "frame_id": "001107"
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+      "frame_id": "001169"
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+      "frame_id": "001292"
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+      "frame_id": "001354"
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+      "frame_id": "001415"
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+      "frame_id": "001477"
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+      "index": 25,
+      "frame_id": "001538"
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+    {
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+      "frame_id": "001600"
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+      "index": 27,
+      "frame_id": "001661"
+    },
+    {
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+      "frame_id": "001723"
+    },
+    {
+      "index": 29,
+      "frame_id": "001784"
+    },
+    {
+      "index": 30,
+      "frame_id": "001846"
+    },
+    {
+      "index": 31,
+      "frame_id": "001908"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000061",
+    "000123",
+    "000184",
+    "000246",
+    "000307",
+    "000369",
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+    "000553",
+    "000615",
+    "000677",
+    "000738",
+    "000800",
+    "000861",
+    "000923",
+    "000984",
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+    "001169",
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+    "001415",
+    "001477",
+    "001538",
+    "001600",
+    "001661",
+    "001723",
+    "001784",
+    "001846",
+    "001908"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0286_00_metadata.json b/metadata/train/scene0286_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..eda845db4a9f724393fc7a18ddff6874bb2a4cb9
--- /dev/null
+++ b/metadata/train/scene0286_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0286_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": "scene0286_00.pt",
+  "indices_file": "scene0286_00_indices.pt",
+  "transform_to_world_file": "scene0286_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": "000106"
+    },
+    {
+      "index": 2,
+      "frame_id": "000212"
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+    {
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+      "frame_id": "000318"
+    },
+    {
+      "index": 4,
+      "frame_id": "000425"
+    },
+    {
+      "index": 5,
+      "frame_id": "000531"
+    },
+    {
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+      "frame_id": "000637"
+    },
+    {
+      "index": 7,
+      "frame_id": "000744"
+    },
+    {
+      "index": 8,
+      "frame_id": "000850"
+    },
+    {
+      "index": 9,
+      "frame_id": "000956"
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+      "index": 10,
+      "frame_id": "001062"
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+    {
+      "index": 11,
+      "frame_id": "001169"
+    },
+    {
+      "index": 12,
+      "frame_id": "001275"
+    },
+    {
+      "index": 13,
+      "frame_id": "001381"
+    },
+    {
+      "index": 14,
+      "frame_id": "001488"
+    },
+    {
+      "index": 15,
+      "frame_id": "001594"
+    },
+    {
+      "index": 16,
+      "frame_id": "001700"
+    },
+    {
+      "index": 17,
+      "frame_id": "001806"
+    },
+    {
+      "index": 18,
+      "frame_id": "001913"
+    },
+    {
+      "index": 19,
+      "frame_id": "002019"
+    },
+    {
+      "index": 20,
+      "frame_id": "002125"
+    },
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+      "index": 21,
+      "frame_id": "002232"
+    },
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+      "index": 22,
+      "frame_id": "002338"
+    },
+    {
+      "index": 23,
+      "frame_id": "002444"
+    },
+    {
+      "index": 24,
+      "frame_id": "002550"
+    },
+    {
+      "index": 25,
+      "frame_id": "002657"
+    },
+    {
+      "index": 26,
+      "frame_id": "002763"
+    },
+    {
+      "index": 27,
+      "frame_id": "002869"
+    },
+    {
+      "index": 28,
+      "frame_id": "002976"
+    },
+    {
+      "index": 29,
+      "frame_id": "003082"
+    },
+    {
+      "index": 30,
+      "frame_id": "003188"
+    },
+    {
+      "index": 31,
+      "frame_id": "003295"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000106",
+    "000212",
+    "000318",
+    "000425",
+    "000531",
+    "000637",
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+    "001169",
+    "001275",
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+    "002550",
+    "002657",
+    "002763",
+    "002869",
+    "002976",
+    "003082",
+    "003188",
+    "003295"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0293_01_metadata.json b/metadata/train/scene0293_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f57193b06c1095846f394458683a49ca7ff6538
--- /dev/null
+++ b/metadata/train/scene0293_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0293_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 25,
+  "invalid_frames_count": 7,
+  "output_shape": [
+    25,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    25
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0293_01.pt",
+  "indices_file": "scene0293_01_indices.pt",
+  "transform_to_world_file": "scene0293_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": "000044"
+    },
+    {
+      "index": 2,
+      "frame_id": "000088"
+    },
+    {
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+      "frame_id": "000133"
+    },
+    {
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+      "frame_id": "000177"
+    },
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+      "frame_id": "000222"
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+    {
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+      "frame_id": "000266"
+    },
+    {
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+      "frame_id": "000311"
+    },
+    {
+      "index": 8,
+      "frame_id": "000355"
+    },
+    {
+      "index": 9,
+      "frame_id": "000400"
+    },
+    {
+      "index": 10,
+      "frame_id": "000444"
+    },
+    {
+      "index": 11,
+      "frame_id": "000488"
+    },
+    {
+      "index": 12,
+      "frame_id": "000533"
+    },
+    {
+      "index": 13,
+      "frame_id": "000577"
+    },
+    {
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+      "frame_id": "000666"
+    },
+    {
+      "index": 16,
+      "frame_id": "000711"
+    },
+    {
+      "index": 17,
+      "frame_id": "000755"
+    },
+    {
+      "index": 18,
+      "frame_id": "000800"
+    },
+    {
+      "index": 19,
+      "frame_id": "000844"
+    },
+    {
+      "index": 20,
+      "frame_id": "000889"
+    },
+    {
+      "index": 21,
+      "frame_id": "000933"
+    },
+    {
+      "index": 22,
+      "frame_id": "000977"
+    },
+    {
+      "index": 23,
+      "frame_id": "001022"
+    },
+    {
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+      "frame_id": "001066"
+    },
+    {
+      "index": 25,
+      "frame_id": "001111"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 14,
+      "frame_id": "000622",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 26,
+      "frame_id": "001155",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 27,
+      "frame_id": "001200",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 28,
+      "frame_id": "001244",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 29,
+      "frame_id": "001289",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 30,
+      "frame_id": "001333",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 31,
+      "frame_id": "001378",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "000044",
+    "000088",
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+    "000844",
+    "000889",
+    "000933",
+    "000977",
+    "001022",
+    "001066",
+    "001111"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0296_00_metadata.json b/metadata/train/scene0296_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1631ed877926d46a30123db44a61dfba4a97f1d8
--- /dev/null
+++ b/metadata/train/scene0296_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0296_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": "scene0296_00.pt",
+  "indices_file": "scene0296_00_indices.pt",
+  "transform_to_world_file": "scene0296_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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+      "frame_id": "000094"
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+      "frame_id": "000125"
+    },
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+      "frame_id": "000157"
+    },
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+      "frame_id": "000188"
+    },
+    {
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+      "frame_id": "000219"
+    },
+    {
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+      "frame_id": "000251"
+    },
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+      "index": 9,
+      "frame_id": "000282"
+    },
+    {
+      "index": 10,
+      "frame_id": "000314"
+    },
+    {
+      "index": 11,
+      "frame_id": "000345"
+    },
+    {
+      "index": 12,
+      "frame_id": "000377"
+    },
+    {
+      "index": 13,
+      "frame_id": "000408"
+    },
+    {
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+      "frame_id": "000439"
+    },
+    {
+      "index": 15,
+      "frame_id": "000471"
+    },
+    {
+      "index": 16,
+      "frame_id": "000502"
+    },
+    {
+      "index": 17,
+      "frame_id": "000534"
+    },
+    {
+      "index": 18,
+      "frame_id": "000565"
+    },
+    {
+      "index": 19,
+      "frame_id": "000596"
+    },
+    {
+      "index": 20,
+      "frame_id": "000628"
+    },
+    {
+      "index": 21,
+      "frame_id": "000659"
+    },
+    {
+      "index": 22,
+      "frame_id": "000691"
+    },
+    {
+      "index": 23,
+      "frame_id": "000722"
+    },
+    {
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+      "frame_id": "000754"
+    },
+    {
+      "index": 25,
+      "frame_id": "000785"
+    },
+    {
+      "index": 26,
+      "frame_id": "000816"
+    },
+    {
+      "index": 27,
+      "frame_id": "000848"
+    },
+    {
+      "index": 28,
+      "frame_id": "000879"
+    },
+    {
+      "index": 29,
+      "frame_id": "000911"
+    },
+    {
+      "index": 30,
+      "frame_id": "000942"
+    },
+    {
+      "index": 31,
+      "frame_id": "000974"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000031",
+    "000062",
+    "000094",
+    "000125",
+    "000157",
+    "000188",
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+    "000377",
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+    "000816",
+    "000848",
+    "000879",
+    "000911",
+    "000942",
+    "000974"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0313_01_metadata.json b/metadata/train/scene0313_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb29dd9918d402ba6bed5dca6a173d62effb13b7
--- /dev/null
+++ b/metadata/train/scene0313_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0313_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": "scene0313_01.pt",
+  "indices_file": "scene0313_01_indices.pt",
+  "transform_to_world_file": "scene0313_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": "000028"
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\ No newline at end of file
diff --git a/metadata/train/scene0317_01_metadata.json b/metadata/train/scene0317_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5c5b5fc68fca3f348f44af59efff854712d0812
--- /dev/null
+++ b/metadata/train/scene0317_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0317_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "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": "scene0317_01.pt",
+  "indices_file": "scene0317_01_indices.pt",
+  "transform_to_world_file": "scene0317_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
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+    "frame_id": "000000"
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+  "image_size": [
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+    432
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+  "original_image_size": [
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+    480
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0333_00_metadata.json b/metadata/train/scene0333_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfb5c4939dd4523a760c2a27983d2c394f6ce3f8
--- /dev/null
+++ b/metadata/train/scene0333_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0333_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "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": "scene0333_00.pt",
+  "indices_file": "scene0333_00_indices.pt",
+  "transform_to_world_file": "scene0333_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0340_01_metadata.json b/metadata/train/scene0340_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5f8e9f5ce82124ce9aeb8ca423de847736aaff5
--- /dev/null
+++ b/metadata/train/scene0340_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0340_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "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": "scene0340_01.pt",
+  "indices_file": "scene0340_01_indices.pt",
+  "transform_to_world_file": "scene0340_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
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+    "frame_id": "000000"
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+  "image_size": [
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+    432
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+    480
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+      "frame_id": "000759"
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+      "frame_id": "000807"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0344_00_metadata.json b/metadata/train/scene0344_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..24dd3ba789b2e45117cb9cbcec7744d10cec8f39
--- /dev/null
+++ b/metadata/train/scene0344_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0344_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
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+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    32
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0344_00.pt",
+  "indices_file": "scene0344_00_indices.pt",
+  "transform_to_world_file": "scene0344_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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+    "000802",
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+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0344_01_metadata.json b/metadata/train/scene0344_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..336c38f3eef64a0c6ce3e65b5105c31df5dfeba0
--- /dev/null
+++ b/metadata/train/scene0344_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0344_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": "scene0344_01.pt",
+  "indices_file": "scene0344_01_indices.pt",
+  "transform_to_world_file": "scene0344_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000026"
+    },
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+      "frame_id": "000052"
+    },
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+      "frame_id": "000078"
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+    {
+      "index": 4,
+      "frame_id": "000104"
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+    {
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+      "frame_id": "000130"
+    },
+    {
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+      "frame_id": "000156"
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+    {
+      "index": 7,
+      "frame_id": "000183"
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+      "frame_id": "000209"
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+      "frame_id": "000235"
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+      "frame_id": "000261"
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+      "frame_id": "000287"
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+    {
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+      "frame_id": "000313"
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+      "frame_id": "000340"
+    },
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+      "index": 14,
+      "frame_id": "000366"
+    },
+    {
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+      "frame_id": "000392"
+    },
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+      "index": 16,
+      "frame_id": "000418"
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+      "frame_id": "000444"
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+      "frame_id": "000470"
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+      "frame_id": "000497"
+    },
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+      "frame_id": "000523"
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+      "frame_id": "000549"
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+    {
+      "index": 22,
+      "frame_id": "000575"
+    },
+    {
+      "index": 23,
+      "frame_id": "000601"
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+    {
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+      "frame_id": "000627"
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+      "index": 25,
+      "frame_id": "000654"
+    },
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+      "index": 26,
+      "frame_id": "000680"
+    },
+    {
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+      "frame_id": "000706"
+    },
+    {
+      "index": 28,
+      "frame_id": "000732"
+    },
+    {
+      "index": 29,
+      "frame_id": "000758"
+    },
+    {
+      "index": 30,
+      "frame_id": "000784"
+    },
+    {
+      "index": 31,
+      "frame_id": "000811"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000026",
+    "000052",
+    "000078",
+    "000104",
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+    "000156",
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+    "000313",
+    "000340",
+    "000366",
+    "000392",
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+    "000575",
+    "000601",
+    "000627",
+    "000654",
+    "000680",
+    "000706",
+    "000732",
+    "000758",
+    "000784",
+    "000811"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0358_02_metadata.json b/metadata/train/scene0358_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..47c090ca7e810c9ef2a92f457c998d0f44060860
--- /dev/null
+++ b/metadata/train/scene0358_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0358_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": "scene0358_02.pt",
+  "indices_file": "scene0358_02_indices.pt",
+  "transform_to_world_file": "scene0358_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"
+    },
+    {
+      "index": 2,
+      "frame_id": "000110"
+    },
+    {
+      "index": 3,
+      "frame_id": "000166"
+    },
+    {
+      "index": 4,
+      "frame_id": "000221"
+    },
+    {
+      "index": 5,
+      "frame_id": "000276"
+    },
+    {
+      "index": 6,
+      "frame_id": "000332"
+    },
+    {
+      "index": 7,
+      "frame_id": "000387"
+    },
+    {
+      "index": 8,
+      "frame_id": "000442"
+    },
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+      "index": 9,
+      "frame_id": "000498"
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+    {
+      "index": 10,
+      "frame_id": "000553"
+    },
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+      "index": 11,
+      "frame_id": "000608"
+    },
+    {
+      "index": 12,
+      "frame_id": "000664"
+    },
+    {
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+      "frame_id": "000719"
+    },
+    {
+      "index": 14,
+      "frame_id": "000774"
+    },
+    {
+      "index": 15,
+      "frame_id": "000830"
+    },
+    {
+      "index": 16,
+      "frame_id": "000885"
+    },
+    {
+      "index": 17,
+      "frame_id": "000941"
+    },
+    {
+      "index": 18,
+      "frame_id": "000996"
+    },
+    {
+      "index": 19,
+      "frame_id": "001051"
+    },
+    {
+      "index": 20,
+      "frame_id": "001107"
+    },
+    {
+      "index": 21,
+      "frame_id": "001162"
+    },
+    {
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+      "frame_id": "001217"
+    },
+    {
+      "index": 23,
+      "frame_id": "001273"
+    },
+    {
+      "index": 24,
+      "frame_id": "001328"
+    },
+    {
+      "index": 25,
+      "frame_id": "001383"
+    },
+    {
+      "index": 26,
+      "frame_id": "001439"
+    },
+    {
+      "index": 27,
+      "frame_id": "001494"
+    },
+    {
+      "index": 28,
+      "frame_id": "001549"
+    },
+    {
+      "index": 29,
+      "frame_id": "001605"
+    },
+    {
+      "index": 30,
+      "frame_id": "001660"
+    },
+    {
+      "index": 31,
+      "frame_id": "001716"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000055",
+    "000110",
+    "000166",
+    "000221",
+    "000276",
+    "000332",
+    "000387",
+    "000442",
+    "000498",
+    "000553",
+    "000608",
+    "000664",
+    "000719",
+    "000774",
+    "000830",
+    "000885",
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+    "000996",
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+    "001217",
+    "001273",
+    "001328",
+    "001383",
+    "001439",
+    "001494",
+    "001549",
+    "001605",
+    "001660",
+    "001716"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0359_00_metadata.json b/metadata/train/scene0359_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..92ae577f6f8406e718fae42dee08b4a19ce9683e
--- /dev/null
+++ b/metadata/train/scene0359_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0359_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": "scene0359_00.pt",
+  "indices_file": "scene0359_00_indices.pt",
+  "transform_to_world_file": "scene0359_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": "000021"
+    },
+    {
+      "index": 2,
+      "frame_id": "000043"
+    },
+    {
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+      "frame_id": "000065"
+    },
+    {
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+      "frame_id": "000087"
+    },
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+      "frame_id": "000109"
+    },
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+      "frame_id": "000131"
+    },
+    {
+      "index": 7,
+      "frame_id": "000153"
+    },
+    {
+      "index": 8,
+      "frame_id": "000175"
+    },
+    {
+      "index": 9,
+      "frame_id": "000197"
+    },
+    {
+      "index": 10,
+      "frame_id": "000219"
+    },
+    {
+      "index": 11,
+      "frame_id": "000240"
+    },
+    {
+      "index": 12,
+      "frame_id": "000262"
+    },
+    {
+      "index": 13,
+      "frame_id": "000284"
+    },
+    {
+      "index": 14,
+      "frame_id": "000306"
+    },
+    {
+      "index": 15,
+      "frame_id": "000328"
+    },
+    {
+      "index": 16,
+      "frame_id": "000350"
+    },
+    {
+      "index": 17,
+      "frame_id": "000372"
+    },
+    {
+      "index": 18,
+      "frame_id": "000394"
+    },
+    {
+      "index": 19,
+      "frame_id": "000416"
+    },
+    {
+      "index": 20,
+      "frame_id": "000438"
+    },
+    {
+      "index": 21,
+      "frame_id": "000459"
+    },
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+      "frame_id": "000481"
+    },
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+      "index": 23,
+      "frame_id": "000503"
+    },
+    {
+      "index": 24,
+      "frame_id": "000525"
+    },
+    {
+      "index": 25,
+      "frame_id": "000547"
+    },
+    {
+      "index": 26,
+      "frame_id": "000569"
+    },
+    {
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+      "frame_id": "000591"
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+      "index": 28,
+      "frame_id": "000613"
+    },
+    {
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+      "frame_id": "000657"
+    },
+    {
+      "index": 31,
+      "frame_id": "000679"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 29,
+      "frame_id": "000635",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "000021",
+    "000043",
+    "000065",
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+    "000525",
+    "000547",
+    "000569",
+    "000591",
+    "000613",
+    "000657",
+    "000679"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0360_00_metadata.json b/metadata/train/scene0360_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6896d6d4ec00f4243f17435d436d9c7da4a927a3
--- /dev/null
+++ b/metadata/train/scene0360_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0360_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": "scene0360_00.pt",
+  "indices_file": "scene0360_00_indices.pt",
+  "transform_to_world_file": "scene0360_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": "000065"
+    },
+    {
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+      "frame_id": "000130"
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+      "frame_id": "000195"
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+    {
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+      "frame_id": "000260"
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+    {
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+      "frame_id": "000325"
+    },
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+      "frame_id": "000390"
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+    {
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+      "frame_id": "000455"
+    },
+    {
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+      "frame_id": "000520"
+    },
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+      "frame_id": "000585"
+    },
+    {
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+      "frame_id": "000650"
+    },
+    {
+      "index": 11,
+      "frame_id": "000715"
+    },
+    {
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+      "frame_id": "000780"
+    },
+    {
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+      "frame_id": "000910"
+    },
+    {
+      "index": 15,
+      "frame_id": "000975"
+    },
+    {
+      "index": 16,
+      "frame_id": "001040"
+    },
+    {
+      "index": 17,
+      "frame_id": "001105"
+    },
+    {
+      "index": 18,
+      "frame_id": "001170"
+    },
+    {
+      "index": 19,
+      "frame_id": "001235"
+    },
+    {
+      "index": 20,
+      "frame_id": "001300"
+    },
+    {
+      "index": 21,
+      "frame_id": "001365"
+    },
+    {
+      "index": 22,
+      "frame_id": "001430"
+    },
+    {
+      "index": 23,
+      "frame_id": "001495"
+    },
+    {
+      "index": 24,
+      "frame_id": "001560"
+    },
+    {
+      "index": 25,
+      "frame_id": "001625"
+    },
+    {
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+      "frame_id": "001690"
+    },
+    {
+      "index": 27,
+      "frame_id": "001755"
+    },
+    {
+      "index": 28,
+      "frame_id": "001820"
+    },
+    {
+      "index": 29,
+      "frame_id": "001885"
+    },
+    {
+      "index": 30,
+      "frame_id": "001950"
+    },
+    {
+      "index": 31,
+      "frame_id": "002016"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 13,
+      "frame_id": "000845",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "000195",
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+    "001690",
+    "001755",
+    "001820",
+    "001885",
+    "001950",
+    "002016"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0362_01_metadata.json b/metadata/train/scene0362_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f1a1537aab653bed44f6189b853c000b068413f
--- /dev/null
+++ b/metadata/train/scene0362_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0362_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": "scene0362_01.pt",
+  "indices_file": "scene0362_01_indices.pt",
+  "transform_to_world_file": "scene0362_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": "000045"
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+      "frame_id": "000091"
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+      "frame_id": "000136"
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+      "frame_id": "000182"
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+      "frame_id": "000227"
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+      "frame_id": "000273"
+    },
+    {
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+      "frame_id": "000318"
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+    {
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+      "frame_id": "000364"
+    },
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+      "frame_id": "000409"
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+    {
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+      "frame_id": "000455"
+    },
+    {
+      "index": 11,
+      "frame_id": "000500"
+    },
+    {
+      "index": 12,
+      "frame_id": "000546"
+    },
+    {
+      "index": 13,
+      "frame_id": "000591"
+    },
+    {
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0365_00_metadata.json b/metadata/train/scene0365_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3981668537680c1216eeaddfcea5b86558ce0564
--- /dev/null
+++ b/metadata/train/scene0365_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0365_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": "scene0365_00.pt",
+  "indices_file": "scene0365_00_indices.pt",
+  "transform_to_world_file": "scene0365_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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+      "frame_id": "000689"
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+      "frame_id": "000787"
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+      "frame_id": "001427"
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+      "frame_id": "001476"
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+      "frame_id": "001526"
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+  "invalid_views": [],
+  "frame_order": [
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+    "001476",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0372_00_metadata.json b/metadata/train/scene0372_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..02508ef00253d21ae4baddebc12295e73c1df394
--- /dev/null
+++ b/metadata/train/scene0372_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0372_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": "scene0372_00.pt",
+  "indices_file": "scene0372_00_indices.pt",
+  "transform_to_world_file": "scene0372_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": "001194"
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+      "frame_id": "001279"
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+  "invalid_views": [
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+      "frame_id": "002559",
+      "reason": "invalid_pose"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0381_00_metadata.json b/metadata/train/scene0381_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfd9f0700f5cae0628f8aed55a5ea41c5faff032
--- /dev/null
+++ b/metadata/train/scene0381_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0381_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": "scene0381_00.pt",
+  "indices_file": "scene0381_00_indices.pt",
+  "transform_to_world_file": "scene0381_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": "000030"
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+      "frame_id": "000137"
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+      "frame_id": "000168"
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+      "frame_id": "000198"
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+      "frame_id": "000214"
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+      "frame_id": "000229"
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+      "frame_id": "000244"
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+      "frame_id": "000259"
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+      "frame_id": "000275"
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+      "frame_id": "000443"
+    },
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+      "frame_id": "000458"
+    },
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+      "frame_id": "000474"
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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/scene0387_02_metadata.json b/metadata/train/scene0387_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0647929cc1c4a8f580ec4a266babddd1f2ecaac2
--- /dev/null
+++ b/metadata/train/scene0387_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0387_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": "scene0387_02.pt",
+  "indices_file": "scene0387_02_indices.pt",
+  "transform_to_world_file": "scene0387_02_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
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+      "frame_id": "000000"
+    },
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+      "frame_id": "000280"
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+      "frame_id": "000311"
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+    {
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+      "frame_id": "000404"
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+      "frame_id": "000435"
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+    {
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+      "frame_id": "000466"
+    },
+    {
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+      "frame_id": "000498"
+    },
+    {
+      "index": 17,
+      "frame_id": "000529"
+    },
+    {
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+      "frame_id": "000560"
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+      "frame_id": "000591"
+    },
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+      "frame_id": "000622"
+    },
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+      "frame_id": "000715"
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+      "frame_id": "000747"
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+      "frame_id": "000778"
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+    {
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+      "frame_id": "000840"
+    },
+    {
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+      "frame_id": "000871"
+    },
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+      "frame_id": "000902"
+    },
+    {
+      "index": 30,
+      "frame_id": "000933"
+    },
+    {
+      "index": 31,
+      "frame_id": "000965"
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+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000062",
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+    "000933",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0394_01_metadata.json b/metadata/train/scene0394_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..390888929dbfcb949f6d089eeeea68f9253f8ac0
--- /dev/null
+++ b/metadata/train/scene0394_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0394_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": [
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+  "coordinate_system": "first_camera_frame",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0395_01_metadata.json b/metadata/train/scene0395_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c68b548b78914a6e9dc017ad7f62e4cde79584ae
--- /dev/null
+++ b/metadata/train/scene0395_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0395_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": "scene0395_01.pt",
+  "indices_file": "scene0395_01_indices.pt",
+  "transform_to_world_file": "scene0395_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": "000084"
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+      "frame_id": "000168"
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+      "frame_id": "000337"
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+      "frame_id": "000421"
+    },
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+      "frame_id": "000506"
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+      "frame_id": "000590"
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+      "frame_id": "000843"
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+      "frame_id": "001012"
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+      "frame_id": "001181"
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+      "frame_id": "001265"
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+      "frame_id": "001350"
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+      "frame_id": "002278"
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+      "frame_id": "002362"
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+      "frame_id": "002447"
+    },
+    {
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+      "frame_id": "002531"
+    },
+    {
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+      "frame_id": "002616"
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+  "frame_order": [
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+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0399_01_metadata.json b/metadata/train/scene0399_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d57243a89a7a347fc0405ffd42ce3a342660e1c3
--- /dev/null
+++ b/metadata/train/scene0399_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0399_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": "scene0399_01.pt",
+  "indices_file": "scene0399_01_indices.pt",
+  "transform_to_world_file": "scene0399_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": "000162"
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+      "frame_id": "000365"
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+      "frame_id": "000487"
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+      "frame_id": "000527"
+    },
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+      "frame_id": "000568"
+    },
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+      "frame_id": "000609"
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+      "frame_id": "000649"
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+      "frame_id": "000690"
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+      "frame_id": "000731"
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+      "frame_id": "000893"
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+      "frame_id": "001015"
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+      "frame_id": "001177"
+    },
+    {
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+      "frame_id": "001218"
+    },
+    {
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+      "frame_id": "001259"
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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/scene0408_01_metadata.json b/metadata/train/scene0408_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b76a5cff1e84b4268605409da00130fabd62e96c
--- /dev/null
+++ b/metadata/train/scene0408_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0408_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": "scene0408_01.pt",
+  "indices_file": "scene0408_01_indices.pt",
+  "transform_to_world_file": "scene0408_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": "000037"
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+      "frame_id": "000074"
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+      "frame_id": "000149"
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+      "frame_id": "000335"
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+    {
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+      "frame_id": "000372"
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+      "frame_id": "000410"
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+    {
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+      "frame_id": "000447"
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+    {
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+      "frame_id": "000484"
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+      "frame_id": "000522"
+    },
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+      "frame_id": "000559"
+    },
+    {
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+      "frame_id": "000596"
+    },
+    {
+      "index": 17,
+      "frame_id": "000633"
+    },
+    {
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+      "frame_id": "000671"
+    },
+    {
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+      "frame_id": "000708"
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+      "frame_id": "000857"
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+      "frame_id": "000894"
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+      "frame_id": "000932"
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+      "frame_id": "000969"
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+      "frame_id": "001006"
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+      "frame_id": "001044"
+    },
+    {
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+      "frame_id": "001081"
+    },
+    {
+      "index": 30,
+      "frame_id": "001118"
+    },
+    {
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+      "frame_id": "001156"
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+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000074",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0409_00_metadata.json b/metadata/train/scene0409_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f53a91d5a8810759e793fd51687d7135bcda6b61
--- /dev/null
+++ b/metadata/train/scene0409_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0409_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": "scene0409_00.pt",
+  "indices_file": "scene0409_00_indices.pt",
+  "transform_to_world_file": "scene0409_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": "000036"
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+      "frame_id": "000720"
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+      "frame_id": "000864"
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+      "frame_id": "000936"
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+    {
+      "index": 27,
+      "frame_id": "000972"
+    },
+    {
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+      "frame_id": "001008"
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+    {
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+      "frame_id": "001044"
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+  ],
+  "invalid_views": [
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+      "frame_id": "000144",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 5,
+      "frame_id": "000180",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 6,
+      "frame_id": "000216",
+      "reason": "invalid_pose"
+    },
+    {
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+      "frame_id": "000252",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 8,
+      "frame_id": "000288",
+      "reason": "invalid_pose"
+    },
+    {
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+      "frame_id": "000324",
+      "reason": "invalid_pose"
+    },
+    {
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+      "frame_id": "000360",
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+      "frame_id": "000396",
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+    {
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+      "frame_id": "000432",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 13,
+      "frame_id": "000468",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 30,
+      "frame_id": "001080",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 31,
+      "frame_id": "001117",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "000036",
+    "000072",
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+    "000504",
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+    "000756",
+    "000792",
+    "000828",
+    "000864",
+    "000900",
+    "000936",
+    "000972",
+    "001008",
+    "001044"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0410_01_metadata.json b/metadata/train/scene0410_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6965739493837b4ed3f728458d118d3c8202ac24
--- /dev/null
+++ b/metadata/train/scene0410_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0410_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 30,
+  "invalid_frames_count": 2,
+  "output_shape": [
+    30,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    30
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0410_01.pt",
+  "indices_file": "scene0410_01_indices.pt",
+  "transform_to_world_file": "scene0410_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000048"
+    },
+    {
+      "index": 2,
+      "frame_id": "000096"
+    },
+    {
+      "index": 3,
+      "frame_id": "000145"
+    },
+    {
+      "index": 4,
+      "frame_id": "000193"
+    },
+    {
+      "index": 5,
+      "frame_id": "000242"
+    },
+    {
+      "index": 6,
+      "frame_id": "000290"
+    },
+    {
+      "index": 7,
+      "frame_id": "000339"
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+    {
+      "index": 8,
+      "frame_id": "000387"
+    },
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+      "index": 9,
+      "frame_id": "000436"
+    },
+    {
+      "index": 10,
+      "frame_id": "000484"
+    },
+    {
+      "index": 11,
+      "frame_id": "000532"
+    },
+    {
+      "index": 12,
+      "frame_id": "000581"
+    },
+    {
+      "index": 13,
+      "frame_id": "000629"
+    },
+    {
+      "index": 14,
+      "frame_id": "000678"
+    },
+    {
+      "index": 15,
+      "frame_id": "000726"
+    },
+    {
+      "index": 16,
+      "frame_id": "000775"
+    },
+    {
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+      "frame_id": "000823"
+    },
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+      "index": 18,
+      "frame_id": "000872"
+    },
+    {
+      "index": 19,
+      "frame_id": "000920"
+    },
+    {
+      "index": 20,
+      "frame_id": "000969"
+    },
+    {
+      "index": 21,
+      "frame_id": "001017"
+    },
+    {
+      "index": 24,
+      "frame_id": "001162"
+    },
+    {
+      "index": 25,
+      "frame_id": "001211"
+    },
+    {
+      "index": 26,
+      "frame_id": "001259"
+    },
+    {
+      "index": 27,
+      "frame_id": "001308"
+    },
+    {
+      "index": 28,
+      "frame_id": "001356"
+    },
+    {
+      "index": 29,
+      "frame_id": "001405"
+    },
+    {
+      "index": 30,
+      "frame_id": "001453"
+    },
+    {
+      "index": 31,
+      "frame_id": "001502"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 22,
+      "frame_id": "001065",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 23,
+      "frame_id": "001114",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "000048",
+    "000096",
+    "000145",
+    "000193",
+    "000242",
+    "000290",
+    "000339",
+    "000387",
+    "000436",
+    "000484",
+    "000532",
+    "000581",
+    "000629",
+    "000678",
+    "000726",
+    "000775",
+    "000823",
+    "000872",
+    "000920",
+    "000969",
+    "001017",
+    "001162",
+    "001211",
+    "001259",
+    "001308",
+    "001356",
+    "001405",
+    "001453",
+    "001502"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0428_01_metadata.json b/metadata/train/scene0428_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1999c248a7d217b40527bff765dbeac542f562e
--- /dev/null
+++ b/metadata/train/scene0428_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0428_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": "scene0428_01.pt",
+  "indices_file": "scene0428_01_indices.pt",
+  "transform_to_world_file": "scene0428_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": "000024"
+    },
+    {
+      "index": 2,
+      "frame_id": "000049"
+    },
+    {
+      "index": 3,
+      "frame_id": "000074"
+    },
+    {
+      "index": 4,
+      "frame_id": "000098"
+    },
+    {
+      "index": 5,
+      "frame_id": "000123"
+    },
+    {
+      "index": 6,
+      "frame_id": "000148"
+    },
+    {
+      "index": 7,
+      "frame_id": "000172"
+    },
+    {
+      "index": 8,
+      "frame_id": "000197"
+    },
+    {
+      "index": 9,
+      "frame_id": "000222"
+    },
+    {
+      "index": 10,
+      "frame_id": "000247"
+    },
+    {
+      "index": 11,
+      "frame_id": "000271"
+    },
+    {
+      "index": 12,
+      "frame_id": "000296"
+    },
+    {
+      "index": 13,
+      "frame_id": "000321"
+    },
+    {
+      "index": 14,
+      "frame_id": "000345"
+    },
+    {
+      "index": 15,
+      "frame_id": "000370"
+    },
+    {
+      "index": 16,
+      "frame_id": "000395"
+    },
+    {
+      "index": 17,
+      "frame_id": "000420"
+    },
+    {
+      "index": 18,
+      "frame_id": "000444"
+    },
+    {
+      "index": 19,
+      "frame_id": "000469"
+    },
+    {
+      "index": 20,
+      "frame_id": "000494"
+    },
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+      "index": 21,
+      "frame_id": "000518"
+    },
+    {
+      "index": 22,
+      "frame_id": "000543"
+    },
+    {
+      "index": 23,
+      "frame_id": "000568"
+    },
+    {
+      "index": 24,
+      "frame_id": "000593"
+    },
+    {
+      "index": 25,
+      "frame_id": "000617"
+    },
+    {
+      "index": 26,
+      "frame_id": "000642"
+    },
+    {
+      "index": 27,
+      "frame_id": "000667"
+    },
+    {
+      "index": 28,
+      "frame_id": "000691"
+    },
+    {
+      "index": 29,
+      "frame_id": "000716"
+    },
+    {
+      "index": 30,
+      "frame_id": "000741"
+    },
+    {
+      "index": 31,
+      "frame_id": "000766"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000024",
+    "000049",
+    "000074",
+    "000098",
+    "000123",
+    "000148",
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+    "000222",
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+    "000271",
+    "000296",
+    "000321",
+    "000345",
+    "000370",
+    "000395",
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+    "000543",
+    "000568",
+    "000593",
+    "000617",
+    "000642",
+    "000667",
+    "000691",
+    "000716",
+    "000741",
+    "000766"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0434_01_metadata.json b/metadata/train/scene0434_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c623363aad5d6b20c4ccfc6ea724499a24424936
--- /dev/null
+++ b/metadata/train/scene0434_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0434_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": "scene0434_01.pt",
+  "indices_file": "scene0434_01_indices.pt",
+  "transform_to_world_file": "scene0434_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": "000049"
+    },
+    {
+      "index": 2,
+      "frame_id": "000099"
+    },
+    {
+      "index": 3,
+      "frame_id": "000149"
+    },
+    {
+      "index": 4,
+      "frame_id": "000199"
+    },
+    {
+      "index": 5,
+      "frame_id": "000248"
+    },
+    {
+      "index": 6,
+      "frame_id": "000298"
+    },
+    {
+      "index": 7,
+      "frame_id": "000348"
+    },
+    {
+      "index": 8,
+      "frame_id": "000398"
+    },
+    {
+      "index": 9,
+      "frame_id": "000447"
+    },
+    {
+      "index": 10,
+      "frame_id": "000497"
+    },
+    {
+      "index": 11,
+      "frame_id": "000547"
+    },
+    {
+      "index": 12,
+      "frame_id": "000597"
+    },
+    {
+      "index": 13,
+      "frame_id": "000647"
+    },
+    {
+      "index": 14,
+      "frame_id": "000696"
+    },
+    {
+      "index": 15,
+      "frame_id": "000746"
+    },
+    {
+      "index": 16,
+      "frame_id": "000796"
+    },
+    {
+      "index": 17,
+      "frame_id": "000846"
+    },
+    {
+      "index": 18,
+      "frame_id": "000895"
+    },
+    {
+      "index": 19,
+      "frame_id": "000945"
+    },
+    {
+      "index": 20,
+      "frame_id": "000995"
+    },
+    {
+      "index": 21,
+      "frame_id": "001045"
+    },
+    {
+      "index": 22,
+      "frame_id": "001095"
+    },
+    {
+      "index": 23,
+      "frame_id": "001144"
+    },
+    {
+      "index": 24,
+      "frame_id": "001194"
+    },
+    {
+      "index": 25,
+      "frame_id": "001244"
+    },
+    {
+      "index": 26,
+      "frame_id": "001294"
+    },
+    {
+      "index": 27,
+      "frame_id": "001343"
+    },
+    {
+      "index": 28,
+      "frame_id": "001393"
+    },
+    {
+      "index": 29,
+      "frame_id": "001443"
+    },
+    {
+      "index": 30,
+      "frame_id": "001493"
+    },
+    {
+      "index": 31,
+      "frame_id": "001543"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000049",
+    "000099",
+    "000149",
+    "000199",
+    "000248",
+    "000298",
+    "000348",
+    "000398",
+    "000447",
+    "000497",
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+    "000597",
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+    "000696",
+    "000746",
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+    "001294",
+    "001343",
+    "001393",
+    "001443",
+    "001493",
+    "001543"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0439_01_metadata.json b/metadata/train/scene0439_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e88a7f3216d5382060c3ea43849f959a731c54ba
--- /dev/null
+++ b/metadata/train/scene0439_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0439_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": "scene0439_01.pt",
+  "indices_file": "scene0439_01_indices.pt",
+  "transform_to_world_file": "scene0439_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": "000038"
+    },
+    {
+      "index": 2,
+      "frame_id": "000076"
+    },
+    {
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+      "frame_id": "000114"
+    },
+    {
+      "index": 4,
+      "frame_id": "000152"
+    },
+    {
+      "index": 5,
+      "frame_id": "000190"
+    },
+    {
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+      "frame_id": "000228"
+    },
+    {
+      "index": 7,
+      "frame_id": "000266"
+    },
+    {
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+      "frame_id": "000304"
+    },
+    {
+      "index": 9,
+      "frame_id": "000342"
+    },
+    {
+      "index": 10,
+      "frame_id": "000380"
+    },
+    {
+      "index": 11,
+      "frame_id": "000418"
+    },
+    {
+      "index": 12,
+      "frame_id": "000456"
+    },
+    {
+      "index": 13,
+      "frame_id": "000494"
+    },
+    {
+      "index": 14,
+      "frame_id": "000532"
+    },
+    {
+      "index": 15,
+      "frame_id": "000570"
+    },
+    {
+      "index": 16,
+      "frame_id": "000609"
+    },
+    {
+      "index": 17,
+      "frame_id": "000647"
+    },
+    {
+      "index": 18,
+      "frame_id": "000685"
+    },
+    {
+      "index": 19,
+      "frame_id": "000723"
+    },
+    {
+      "index": 20,
+      "frame_id": "000761"
+    },
+    {
+      "index": 21,
+      "frame_id": "000799"
+    },
+    {
+      "index": 22,
+      "frame_id": "000837"
+    },
+    {
+      "index": 23,
+      "frame_id": "000875"
+    },
+    {
+      "index": 24,
+      "frame_id": "000913"
+    },
+    {
+      "index": 25,
+      "frame_id": "000951"
+    },
+    {
+      "index": 26,
+      "frame_id": "000989"
+    },
+    {
+      "index": 27,
+      "frame_id": "001027"
+    },
+    {
+      "index": 28,
+      "frame_id": "001065"
+    },
+    {
+      "index": 29,
+      "frame_id": "001103"
+    },
+    {
+      "index": 30,
+      "frame_id": "001141"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 31,
+      "frame_id": "001180",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
+    "000000",
+    "000038",
+    "000076",
+    "000114",
+    "000152",
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+    "000913",
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+    "000989",
+    "001027",
+    "001065",
+    "001103",
+    "001141"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0486_00_metadata.json b/metadata/train/scene0486_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf8235d1fe95cba52a083198299cc505540ce260
--- /dev/null
+++ b/metadata/train/scene0486_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0486_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": "scene0486_00.pt",
+  "indices_file": "scene0486_00_indices.pt",
+  "transform_to_world_file": "scene0486_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": "000095"
+    },
+    {
+      "index": 2,
+      "frame_id": "000191"
+    },
+    {
+      "index": 3,
+      "frame_id": "000286"
+    },
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0505_00_metadata.json b/metadata/train/scene0505_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0bf9108fcb0730f2b9706de7c7c20ce214afefc
--- /dev/null
+++ b/metadata/train/scene0505_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0505_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": "scene0505_00.pt",
+  "indices_file": "scene0505_00_indices.pt",
+  "transform_to_world_file": "scene0505_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": "000125"
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+      "frame_id": "000250"
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+      "frame_id": "000375"
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+      "frame_id": "000500"
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+      "frame_id": "000625"
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+      "frame_id": "000750"
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+      "frame_id": "000875"
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+      "frame_id": "001251"
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+      "frame_id": "001376"
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+      "frame_id": "001501"
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+      "frame_id": "001626"
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+      "frame_id": "001751"
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+      "frame_id": "001876"
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+      "frame_id": "002002"
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+      "frame_id": "002127"
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+      "frame_id": "002877"
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+      "frame_id": "003128"
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+      "frame_id": "003378"
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+      "frame_id": "003628"
+    },
+    {
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+      "frame_id": "003753"
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+      "frame_id": "003879"
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+  "frame_order": [
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+    "001501",
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+    "003503",
+    "003628",
+    "003753",
+    "003879"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0511_00_metadata.json b/metadata/train/scene0511_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e6081d08bd8a8b5b651e8512415f918b2683d68
--- /dev/null
+++ b/metadata/train/scene0511_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0511_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": "scene0511_00.pt",
+  "indices_file": "scene0511_00_indices.pt",
+  "transform_to_world_file": "scene0511_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": "000040"
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+      "frame_id": "000080"
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+      "frame_id": "000120"
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+      "frame_id": "000160"
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+      "frame_id": "000240"
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+      "frame_id": "000280"
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+      "frame_id": "000320"
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+      "frame_id": "000360"
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+      "frame_id": "000400"
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+      "frame_id": "000440"
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+      "frame_id": "000480"
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+      "frame_id": "000520"
+    },
+    {
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+      "frame_id": "000560"
+    },
+    {
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+      "frame_id": "000600"
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+      "frame_id": "000641"
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+      "frame_id": "000681"
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+      "frame_id": "000721"
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+      "frame_id": "000761"
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+      "frame_id": "001001"
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+      "frame_id": "001041"
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+      "frame_id": "001081"
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+      "frame_id": "001121"
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+      "frame_id": "001161"
+    },
+    {
+      "index": 30,
+      "frame_id": "001201"
+    },
+    {
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+      "frame_id": "001242"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000080",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0515_02_metadata.json b/metadata/train/scene0515_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c57b527d9b61f946bcea7dde869ec6aedd0bdd3f
--- /dev/null
+++ b/metadata/train/scene0515_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0515_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": "scene0515_02.pt",
+  "indices_file": "scene0515_02_indices.pt",
+  "transform_to_world_file": "scene0515_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": "000085"
+    },
+    {
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+      "frame_id": "000170"
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+      "frame_id": "000255"
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+      "frame_id": "000340"
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+      "frame_id": "000425"
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+      "frame_id": "000510"
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+      "frame_id": "000595"
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+      "frame_id": "000680"
+    },
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+      "frame_id": "000765"
+    },
+    {
+      "index": 10,
+      "frame_id": "000850"
+    },
+    {
+      "index": 11,
+      "frame_id": "000935"
+    },
+    {
+      "index": 12,
+      "frame_id": "001020"
+    },
+    {
+      "index": 13,
+      "frame_id": "001105"
+    },
+    {
+      "index": 14,
+      "frame_id": "001190"
+    },
+    {
+      "index": 15,
+      "frame_id": "001275"
+    },
+    {
+      "index": 16,
+      "frame_id": "001360"
+    },
+    {
+      "index": 17,
+      "frame_id": "001445"
+    },
+    {
+      "index": 18,
+      "frame_id": "001530"
+    },
+    {
+      "index": 19,
+      "frame_id": "001615"
+    },
+    {
+      "index": 20,
+      "frame_id": "001700"
+    },
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+      "frame_id": "001785"
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+    {
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+      "frame_id": "001870"
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+      "frame_id": "001955"
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+      "index": 24,
+      "frame_id": "002040"
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+    {
+      "index": 25,
+      "frame_id": "002125"
+    },
+    {
+      "index": 26,
+      "frame_id": "002210"
+    },
+    {
+      "index": 27,
+      "frame_id": "002295"
+    },
+    {
+      "index": 28,
+      "frame_id": "002380"
+    },
+    {
+      "index": 29,
+      "frame_id": "002465"
+    },
+    {
+      "index": 30,
+      "frame_id": "002550"
+    },
+    {
+      "index": 31,
+      "frame_id": "002636"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000085",
+    "000170",
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+    "000425",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0517_00_metadata.json b/metadata/train/scene0517_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..02beb2781f9f372a048c61dc65a2c3d839695a0e
--- /dev/null
+++ b/metadata/train/scene0517_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0517_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": "scene0517_00.pt",
+  "indices_file": "scene0517_00_indices.pt",
+  "transform_to_world_file": "scene0517_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": "000732"
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+      "frame_id": "000823"
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+      "frame_id": "001098"
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+      "frame_id": "001190"
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+      "frame_id": "001281"
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+    {
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+      "frame_id": "001373"
+    },
+    {
+      "index": 16,
+      "frame_id": "001464"
+    },
+    {
+      "index": 17,
+      "frame_id": "001556"
+    },
+    {
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+      "frame_id": "001647"
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+    {
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+      "frame_id": "001739"
+    },
+    {
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+      "frame_id": "001830"
+    },
+    {
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+      "frame_id": "001922"
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+    {
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+      "frame_id": "002014"
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+      "frame_id": "002105"
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+      "frame_id": "002197"
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+    {
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+      "frame_id": "002288"
+    },
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+      "frame_id": "002380"
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+      "frame_id": "002471"
+    },
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+      "frame_id": "002563"
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+      "frame_id": "002654"
+    },
+    {
+      "index": 30,
+      "frame_id": "002746"
+    },
+    {
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+      "frame_id": "002838"
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+    "002105",
+    "002197",
+    "002288",
+    "002380",
+    "002471",
+    "002563",
+    "002654",
+    "002746",
+    "002838"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0521_00_metadata.json b/metadata/train/scene0521_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..161804e062ad3c118fc3d3ece667cacd10079a7c
--- /dev/null
+++ b/metadata/train/scene0521_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0521_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": "scene0521_00.pt",
+  "indices_file": "scene0521_00_indices.pt",
+  "transform_to_world_file": "scene0521_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": "000050"
+    },
+    {
+      "index": 2,
+      "frame_id": "000100"
+    },
+    {
+      "index": 3,
+      "frame_id": "000151"
+    },
+    {
+      "index": 4,
+      "frame_id": "000201"
+    },
+    {
+      "index": 5,
+      "frame_id": "000252"
+    },
+    {
+      "index": 6,
+      "frame_id": "000302"
+    },
+    {
+      "index": 7,
+      "frame_id": "000353"
+    },
+    {
+      "index": 8,
+      "frame_id": "000403"
+    },
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+      "index": 9,
+      "frame_id": "000454"
+    },
+    {
+      "index": 10,
+      "frame_id": "000504"
+    },
+    {
+      "index": 11,
+      "frame_id": "000555"
+    },
+    {
+      "index": 12,
+      "frame_id": "000605"
+    },
+    {
+      "index": 13,
+      "frame_id": "000656"
+    },
+    {
+      "index": 14,
+      "frame_id": "000706"
+    },
+    {
+      "index": 15,
+      "frame_id": "000757"
+    },
+    {
+      "index": 16,
+      "frame_id": "000807"
+    },
+    {
+      "index": 17,
+      "frame_id": "000858"
+    },
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+      "index": 18,
+      "frame_id": "000908"
+    },
+    {
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+      "frame_id": "000959"
+    },
+    {
+      "index": 20,
+      "frame_id": "001009"
+    },
+    {
+      "index": 21,
+      "frame_id": "001060"
+    },
+    {
+      "index": 22,
+      "frame_id": "001110"
+    },
+    {
+      "index": 23,
+      "frame_id": "001161"
+    },
+    {
+      "index": 24,
+      "frame_id": "001211"
+    },
+    {
+      "index": 25,
+      "frame_id": "001262"
+    },
+    {
+      "index": 26,
+      "frame_id": "001312"
+    },
+    {
+      "index": 27,
+      "frame_id": "001363"
+    },
+    {
+      "index": 28,
+      "frame_id": "001413"
+    },
+    {
+      "index": 29,
+      "frame_id": "001464"
+    },
+    {
+      "index": 30,
+      "frame_id": "001514"
+    },
+    {
+      "index": 31,
+      "frame_id": "001565"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000050",
+    "000100",
+    "000151",
+    "000201",
+    "000252",
+    "000302",
+    "000353",
+    "000403",
+    "000454",
+    "000504",
+    "000555",
+    "000605",
+    "000656",
+    "000706",
+    "000757",
+    "000807",
+    "000858",
+    "000908",
+    "000959",
+    "001009",
+    "001060",
+    "001110",
+    "001161",
+    "001211",
+    "001262",
+    "001312",
+    "001363",
+    "001413",
+    "001464",
+    "001514",
+    "001565"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0524_00_metadata.json b/metadata/train/scene0524_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e247a3670e50df4c5484b568025c6540c2bb9392
--- /dev/null
+++ b/metadata/train/scene0524_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0524_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": "scene0524_00.pt",
+  "indices_file": "scene0524_00_indices.pt",
+  "transform_to_world_file": "scene0524_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": "000057"
+    },
+    {
+      "index": 2,
+      "frame_id": "000114"
+    },
+    {
+      "index": 3,
+      "frame_id": "000171"
+    },
+    {
+      "index": 4,
+      "frame_id": "000229"
+    },
+    {
+      "index": 5,
+      "frame_id": "000286"
+    },
+    {
+      "index": 6,
+      "frame_id": "000343"
+    },
+    {
+      "index": 7,
+      "frame_id": "000400"
+    },
+    {
+      "index": 8,
+      "frame_id": "000458"
+    },
+    {
+      "index": 9,
+      "frame_id": "000515"
+    },
+    {
+      "index": 11,
+      "frame_id": "000629"
+    },
+    {
+      "index": 12,
+      "frame_id": "000687"
+    },
+    {
+      "index": 13,
+      "frame_id": "000744"
+    },
+    {
+      "index": 14,
+      "frame_id": "000801"
+    },
+    {
+      "index": 15,
+      "frame_id": "000858"
+    },
+    {
+      "index": 16,
+      "frame_id": "000916"
+    },
+    {
+      "index": 17,
+      "frame_id": "000973"
+    },
+    {
+      "index": 18,
+      "frame_id": "001030"
+    },
+    {
+      "index": 19,
+      "frame_id": "001087"
+    },
+    {
+      "index": 20,
+      "frame_id": "001145"
+    },
+    {
+      "index": 21,
+      "frame_id": "001202"
+    },
+    {
+      "index": 22,
+      "frame_id": "001259"
+    },
+    {
+      "index": 23,
+      "frame_id": "001316"
+    },
+    {
+      "index": 24,
+      "frame_id": "001374"
+    },
+    {
+      "index": 25,
+      "frame_id": "001431"
+    },
+    {
+      "index": 26,
+      "frame_id": "001488"
+    },
+    {
+      "index": 27,
+      "frame_id": "001545"
+    },
+    {
+      "index": 28,
+      "frame_id": "001603"
+    },
+    {
+      "index": 29,
+      "frame_id": "001660"
+    },
+    {
+      "index": 30,
+      "frame_id": "001717"
+    },
+    {
+      "index": 31,
+      "frame_id": "001775"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 10,
+      "frame_id": "000572",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
+    "000000",
+    "000057",
+    "000114",
+    "000171",
+    "000229",
+    "000286",
+    "000343",
+    "000400",
+    "000458",
+    "000515",
+    "000629",
+    "000687",
+    "000744",
+    "000801",
+    "000858",
+    "000916",
+    "000973",
+    "001030",
+    "001087",
+    "001145",
+    "001202",
+    "001259",
+    "001316",
+    "001374",
+    "001431",
+    "001488",
+    "001545",
+    "001603",
+    "001660",
+    "001717",
+    "001775"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0530_00_metadata.json b/metadata/train/scene0530_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..93c5ecba912c573a180bcc4408b7f1ed6b469e2a
--- /dev/null
+++ b/metadata/train/scene0530_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0530_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": "scene0530_00.pt",
+  "indices_file": "scene0530_00_indices.pt",
+  "transform_to_world_file": "scene0530_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": "000036"
+    },
+    {
+      "index": 2,
+      "frame_id": "000072"
+    },
+    {
+      "index": 3,
+      "frame_id": "000108"
+    },
+    {
+      "index": 4,
+      "frame_id": "000144"
+    },
+    {
+      "index": 5,
+      "frame_id": "000180"
+    },
+    {
+      "index": 6,
+      "frame_id": "000216"
+    },
+    {
+      "index": 7,
+      "frame_id": "000252"
+    },
+    {
+      "index": 8,
+      "frame_id": "000289"
+    },
+    {
+      "index": 9,
+      "frame_id": "000325"
+    },
+    {
+      "index": 10,
+      "frame_id": "000361"
+    },
+    {
+      "index": 11,
+      "frame_id": "000397"
+    },
+    {
+      "index": 12,
+      "frame_id": "000433"
+    },
+    {
+      "index": 13,
+      "frame_id": "000469"
+    },
+    {
+      "index": 14,
+      "frame_id": "000505"
+    },
+    {
+      "index": 15,
+      "frame_id": "000541"
+    },
+    {
+      "index": 16,
+      "frame_id": "000578"
+    },
+    {
+      "index": 17,
+      "frame_id": "000614"
+    },
+    {
+      "index": 18,
+      "frame_id": "000650"
+    },
+    {
+      "index": 19,
+      "frame_id": "000686"
+    },
+    {
+      "index": 20,
+      "frame_id": "000722"
+    },
+    {
+      "index": 21,
+      "frame_id": "000758"
+    },
+    {
+      "index": 22,
+      "frame_id": "000794"
+    },
+    {
+      "index": 23,
+      "frame_id": "000830"
+    },
+    {
+      "index": 24,
+      "frame_id": "000867"
+    },
+    {
+      "index": 25,
+      "frame_id": "000903"
+    },
+    {
+      "index": 26,
+      "frame_id": "000939"
+    },
+    {
+      "index": 27,
+      "frame_id": "000975"
+    },
+    {
+      "index": 28,
+      "frame_id": "001011"
+    },
+    {
+      "index": 29,
+      "frame_id": "001047"
+    },
+    {
+      "index": 30,
+      "frame_id": "001083"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 31,
+      "frame_id": "001120",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
+    "000000",
+    "000036",
+    "000072",
+    "000108",
+    "000144",
+    "000180",
+    "000216",
+    "000252",
+    "000289",
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+    "000361",
+    "000397",
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+    "000830",
+    "000867",
+    "000903",
+    "000939",
+    "000975",
+    "001011",
+    "001047",
+    "001083"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0536_01_metadata.json b/metadata/train/scene0536_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..71748655edc168ec29f46f2713f197e90b9acf35
--- /dev/null
+++ b/metadata/train/scene0536_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0536_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": "scene0536_01.pt",
+  "indices_file": "scene0536_01_indices.pt",
+  "transform_to_world_file": "scene0536_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": "000032"
+    },
+    {
+      "index": 2,
+      "frame_id": "000065"
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+    {
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+      "frame_id": "000097"
+    },
+    {
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+      "frame_id": "000130"
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+    {
+      "index": 5,
+      "frame_id": "000162"
+    },
+    {
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+      "frame_id": "000195"
+    },
+    {
+      "index": 7,
+      "frame_id": "000227"
+    },
+    {
+      "index": 8,
+      "frame_id": "000260"
+    },
+    {
+      "index": 9,
+      "frame_id": "000292"
+    },
+    {
+      "index": 10,
+      "frame_id": "000325"
+    },
+    {
+      "index": 11,
+      "frame_id": "000357"
+    },
+    {
+      "index": 12,
+      "frame_id": "000390"
+    },
+    {
+      "index": 13,
+      "frame_id": "000422"
+    },
+    {
+      "index": 14,
+      "frame_id": "000455"
+    },
+    {
+      "index": 15,
+      "frame_id": "000487"
+    },
+    {
+      "index": 16,
+      "frame_id": "000520"
+    },
+    {
+      "index": 17,
+      "frame_id": "000552"
+    },
+    {
+      "index": 18,
+      "frame_id": "000585"
+    },
+    {
+      "index": 19,
+      "frame_id": "000617"
+    },
+    {
+      "index": 20,
+      "frame_id": "000650"
+    },
+    {
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+      "frame_id": "000682"
+    },
+    {
+      "index": 22,
+      "frame_id": "000715"
+    },
+    {
+      "index": 23,
+      "frame_id": "000747"
+    },
+    {
+      "index": 24,
+      "frame_id": "000780"
+    },
+    {
+      "index": 25,
+      "frame_id": "000812"
+    },
+    {
+      "index": 26,
+      "frame_id": "000845"
+    },
+    {
+      "index": 27,
+      "frame_id": "000877"
+    },
+    {
+      "index": 28,
+      "frame_id": "000910"
+    },
+    {
+      "index": 29,
+      "frame_id": "000942"
+    },
+    {
+      "index": 30,
+      "frame_id": "000975"
+    },
+    {
+      "index": 31,
+      "frame_id": "001008"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000032",
+    "000065",
+    "000097",
+    "000130",
+    "000162",
+    "000195",
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+    "000845",
+    "000877",
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+    "000942",
+    "000975",
+    "001008"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0543_02_metadata.json b/metadata/train/scene0543_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3c26565a2d633e23af34cb4831cadb3089d0139
--- /dev/null
+++ b/metadata/train/scene0543_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0543_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": "scene0543_02.pt",
+  "indices_file": "scene0543_02_indices.pt",
+  "transform_to_world_file": "scene0543_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": "000032"
+    },
+    {
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+      "frame_id": "000065"
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+      "frame_id": "000098"
+    },
+    {
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+      "frame_id": "000131"
+    },
+    {
+      "index": 5,
+      "frame_id": "000164"
+    },
+    {
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+      "frame_id": "000196"
+    },
+    {
+      "index": 7,
+      "frame_id": "000229"
+    },
+    {
+      "index": 8,
+      "frame_id": "000262"
+    },
+    {
+      "index": 9,
+      "frame_id": "000295"
+    },
+    {
+      "index": 10,
+      "frame_id": "000328"
+    },
+    {
+      "index": 11,
+      "frame_id": "000360"
+    },
+    {
+      "index": 12,
+      "frame_id": "000393"
+    },
+    {
+      "index": 13,
+      "frame_id": "000426"
+    },
+    {
+      "index": 14,
+      "frame_id": "000459"
+    },
+    {
+      "index": 15,
+      "frame_id": "000492"
+    },
+    {
+      "index": 16,
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+      "frame_id": "000984"
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+  "frame_order": [
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+    "000951",
+    "000984",
+    "001017"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0579_02_metadata.json b/metadata/train/scene0579_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cece12136528e5bae8de2175a3e8c3d10611e55
--- /dev/null
+++ b/metadata/train/scene0579_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0579_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": "scene0579_02.pt",
+  "indices_file": "scene0579_02_indices.pt",
+  "transform_to_world_file": "scene0579_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": "000019"
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+      "frame_id": "000039"
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+    {
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+      "frame_id": "000058"
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+      "frame_id": "000078"
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+      "frame_id": "000097"
+    },
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+      "frame_id": "000117"
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+      "frame_id": "000136"
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+      "frame_id": "000156"
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+      "frame_id": "000175"
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+      "frame_id": "000195"
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+      "frame_id": "000214"
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+      "frame_id": "000234"
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+      "frame_id": "000253"
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+      "frame_id": "000273"
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+      "frame_id": "000292"
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+      "frame_id": "000312"
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+      "frame_id": "000331"
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+      "frame_id": "000351"
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+      "frame_id": "000370"
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+      "frame_id": "000409"
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+      "frame_id": "000429"
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+      "frame_id": "000448"
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+      "frame_id": "000468"
+    },
+    {
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+      "frame_id": "000487"
+    },
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+      "frame_id": "000507"
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+      "frame_id": "000526"
+    },
+    {
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+      "frame_id": "000546"
+    },
+    {
+      "index": 29,
+      "frame_id": "000565"
+    },
+    {
+      "index": 30,
+      "frame_id": "000585"
+    },
+    {
+      "index": 31,
+      "frame_id": "000605"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000019",
+    "000039",
+    "000058",
+    "000078",
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+    "000117",
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+    "000234",
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+    "000292",
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+    "000448",
+    "000468",
+    "000487",
+    "000507",
+    "000526",
+    "000546",
+    "000565",
+    "000585",
+    "000605"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0585_01_metadata.json b/metadata/train/scene0585_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..feac30d2605818b785fabd0225194e10c000d66b
--- /dev/null
+++ b/metadata/train/scene0585_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0585_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 18,
+  "invalid_frames_count": 14,
+  "output_shape": [
+    18,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    18
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0585_01.pt",
+  "indices_file": "scene0585_01_indices.pt",
+  "transform_to_world_file": "scene0585_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": "000094"
+    },
+    {
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+      "frame_id": "000188"
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+      "frame_id": "000282"
+    },
+    {
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+      "frame_id": "000376"
+    },
+    {
+      "index": 5,
+      "frame_id": "000470"
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+    {
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+      "frame_id": "000564"
+    },
+    {
+      "index": 7,
+      "frame_id": "000658"
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+    {
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+      "frame_id": "000752"
+    },
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+      "index": 23,
+      "frame_id": "002162"
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+      "frame_id": "002256"
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+      "index": 25,
+      "frame_id": "002350"
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+    {
+      "index": 26,
+      "frame_id": "002444"
+    },
+    {
+      "index": 27,
+      "frame_id": "002538"
+    },
+    {
+      "index": 28,
+      "frame_id": "002632"
+    },
+    {
+      "index": 29,
+      "frame_id": "002726"
+    },
+    {
+      "index": 30,
+      "frame_id": "002820"
+    },
+    {
+      "index": 31,
+      "frame_id": "002915"
+    }
+  ],
+  "invalid_views": [
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+      "index": 9,
+      "frame_id": "000846",
+      "reason": "invalid_pose"
+    },
+    {
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+      "frame_id": "000940",
+      "reason": "invalid_pose"
+    },
+    {
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+      "frame_id": "001034",
+      "reason": "invalid_pose"
+    },
+    {
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+      "frame_id": "001128",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 13,
+      "frame_id": "001222",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 14,
+      "frame_id": "001316",
+      "reason": "invalid_pose"
+    },
+    {
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+      "frame_id": "001410",
+      "reason": "invalid_pose"
+    },
+    {
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+      "frame_id": "001504",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 17,
+      "frame_id": "001598",
+      "reason": "invalid_pose"
+    },
+    {
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+      "frame_id": "001692",
+      "reason": "invalid_pose"
+    },
+    {
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+      "frame_id": "001786",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 20,
+      "frame_id": "001880",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 21,
+      "frame_id": "001974",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 22,
+      "frame_id": "002068",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "000094",
+    "000188",
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+    "000376",
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+    "002350",
+    "002444",
+    "002538",
+    "002632",
+    "002726",
+    "002820",
+    "002915"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0586_01_metadata.json b/metadata/train/scene0586_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5ada51b2300a9922f1a966957bcce2522082005
--- /dev/null
+++ b/metadata/train/scene0586_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0586_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 27,
+  "invalid_frames_count": 5,
+  "output_shape": [
+    27,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    27
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0586_01.pt",
+  "indices_file": "scene0586_01_indices.pt",
+  "transform_to_world_file": "scene0586_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": 6,
+      "frame_id": "000192"
+    },
+    {
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+      "frame_id": "000224"
+    },
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+      "frame_id": "000256"
+    },
+    {
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+      "frame_id": "000288"
+    },
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+      "frame_id": "000320"
+    },
+    {
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+      "frame_id": "000352"
+    },
+    {
+      "index": 12,
+      "frame_id": "000384"
+    },
+    {
+      "index": 13,
+      "frame_id": "000416"
+    },
+    {
+      "index": 14,
+      "frame_id": "000448"
+    },
+    {
+      "index": 15,
+      "frame_id": "000480"
+    },
+    {
+      "index": 16,
+      "frame_id": "000513"
+    },
+    {
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+      "frame_id": "000545"
+    },
+    {
+      "index": 18,
+      "frame_id": "000577"
+    },
+    {
+      "index": 19,
+      "frame_id": "000609"
+    },
+    {
+      "index": 20,
+      "frame_id": "000641"
+    },
+    {
+      "index": 21,
+      "frame_id": "000673"
+    },
+    {
+      "index": 22,
+      "frame_id": "000705"
+    },
+    {
+      "index": 23,
+      "frame_id": "000737"
+    },
+    {
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+      "frame_id": "000769"
+    },
+    {
+      "index": 25,
+      "frame_id": "000801"
+    },
+    {
+      "index": 26,
+      "frame_id": "000833"
+    },
+    {
+      "index": 27,
+      "frame_id": "000865"
+    },
+    {
+      "index": 28,
+      "frame_id": "000897"
+    },
+    {
+      "index": 29,
+      "frame_id": "000929"
+    },
+    {
+      "index": 30,
+      "frame_id": "000961"
+    },
+    {
+      "index": 31,
+      "frame_id": "000994"
+    }
+  ],
+  "invalid_views": [
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+      "index": 1,
+      "frame_id": "000032",
+      "reason": "invalid_pose"
+    },
+    {
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+      "frame_id": "000064",
+      "reason": "invalid_pose"
+    },
+    {
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+      "frame_id": "000096",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 4,
+      "frame_id": "000128",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 5,
+      "frame_id": "000160",
+      "reason": "invalid_pose"
+    }
+  ],
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+    "000929",
+    "000961",
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+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0587_00_metadata.json b/metadata/train/scene0587_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9266254ff4e733266c02ba8357603c94c164b690
--- /dev/null
+++ b/metadata/train/scene0587_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0587_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": "scene0587_00.pt",
+  "indices_file": "scene0587_00_indices.pt",
+  "transform_to_world_file": "scene0587_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": "000021"
+    },
+    {
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+      "frame_id": "000042"
+    },
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+      "frame_id": "000064"
+    },
+    {
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+      "frame_id": "000085"
+    },
+    {
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+      "frame_id": "000106"
+    },
+    {
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+      "frame_id": "000128"
+    },
+    {
+      "index": 7,
+      "frame_id": "000149"
+    },
+    {
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+      "frame_id": "000170"
+    },
+    {
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+      "frame_id": "000192"
+    },
+    {
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+      "frame_id": "000213"
+    },
+    {
+      "index": 11,
+      "frame_id": "000234"
+    },
+    {
+      "index": 12,
+      "frame_id": "000256"
+    },
+    {
+      "index": 13,
+      "frame_id": "000277"
+    },
+    {
+      "index": 14,
+      "frame_id": "000298"
+    },
+    {
+      "index": 15,
+      "frame_id": "000320"
+    },
+    {
+      "index": 16,
+      "frame_id": "000341"
+    },
+    {
+      "index": 17,
+      "frame_id": "000363"
+    },
+    {
+      "index": 18,
+      "frame_id": "000384"
+    },
+    {
+      "index": 19,
+      "frame_id": "000405"
+    },
+    {
+      "index": 20,
+      "frame_id": "000427"
+    },
+    {
+      "index": 21,
+      "frame_id": "000448"
+    },
+    {
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+      "frame_id": "000469"
+    },
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+      "frame_id": "000491"
+    },
+    {
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+      "frame_id": "000512"
+    },
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+      "index": 25,
+      "frame_id": "000533"
+    },
+    {
+      "index": 26,
+      "frame_id": "000555"
+    },
+    {
+      "index": 27,
+      "frame_id": "000576"
+    },
+    {
+      "index": 28,
+      "frame_id": "000597"
+    },
+    {
+      "index": 29,
+      "frame_id": "000619"
+    },
+    {
+      "index": 30,
+      "frame_id": "000640"
+    },
+    {
+      "index": 31,
+      "frame_id": "000662"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000021",
+    "000042",
+    "000064",
+    "000085",
+    "000106",
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+    "000491",
+    "000512",
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+    "000555",
+    "000576",
+    "000597",
+    "000619",
+    "000640",
+    "000662"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0612_01_metadata.json b/metadata/train/scene0612_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cbc83f4324a49c64cdce6d574348bdc8651543a
--- /dev/null
+++ b/metadata/train/scene0612_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0612_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": [
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0625_01_metadata.json b/metadata/train/scene0625_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..058f46e53c11533a8ec113a398cec3744bcff8be
--- /dev/null
+++ b/metadata/train/scene0625_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0625_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": "scene0625_01.pt",
+  "indices_file": "scene0625_01_indices.pt",
+  "transform_to_world_file": "scene0625_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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+    {
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+      "frame_id": "000036"
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+      "frame_id": "000072"
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+      "frame_id": "000144"
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+      "frame_id": "000180"
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+      "frame_id": "000541"
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+      "frame_id": "000938"
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+      "frame_id": "000974"
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+  ],
+  "invalid_views": [
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+      "frame_id": "001010",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 29,
+      "frame_id": "001046",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 30,
+      "frame_id": "001082",
+      "reason": "invalid_pose"
+    },
+    {
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+      "frame_id": "001119",
+      "reason": "invalid_pose"
+    }
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+    "000794",
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+    "000902",
+    "000938",
+    "000974"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0630_03_metadata.json b/metadata/train/scene0630_03_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6be3e20cffe78f1769667dba347ea45d9dcf92ce
--- /dev/null
+++ b/metadata/train/scene0630_03_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0630_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": "scene0630_03.pt",
+  "indices_file": "scene0630_03_indices.pt",
+  "transform_to_world_file": "scene0630_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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+      "frame_id": "000000"
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+      "frame_id": "000066"
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+      "frame_id": "000133"
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+      "frame_id": "000332"
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+      "frame_id": "000366"
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+      "frame_id": "000399"
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+      "frame_id": "000432"
+    },
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+      "frame_id": "000466"
+    },
+    {
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+      "frame_id": "000499"
+    },
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+      "frame_id": "000532"
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+      "frame_id": "000565"
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+    },
+    {
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+      "frame_id": "000998"
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+      "frame_id": "001032"
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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/scene0659_00_metadata.json b/metadata/train/scene0659_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cb2e63dd4dbf8123a7efe7da0d4d6c32b0988a9
--- /dev/null
+++ b/metadata/train/scene0659_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0659_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": "scene0659_00.pt",
+  "indices_file": "scene0659_00_indices.pt",
+  "transform_to_world_file": "scene0659_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": "000052"
+    },
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+      "frame_id": "000104"
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+      "frame_id": "000156"
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+    {
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+      "frame_id": "000364"
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+      "frame_id": "000416"
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+      "frame_id": "000468"
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+      "frame_id": "000520"
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+      "frame_id": "000572"
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+    {
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+      "frame_id": "000624"
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+      "frame_id": "000676"
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+    {
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+      "frame_id": "000728"
+    },
+    {
+      "index": 15,
+      "frame_id": "000780"
+    },
+    {
+      "index": 16,
+      "frame_id": "000833"
+    },
+    {
+      "index": 17,
+      "frame_id": "000885"
+    },
+    {
+      "index": 18,
+      "frame_id": "000937"
+    },
+    {
+      "index": 19,
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+      "frame_id": "001041"
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+      "frame_id": "001145"
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+      "frame_id": "001197"
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+      "frame_id": "001249"
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+      "frame_id": "001301"
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+      "frame_id": "001353"
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+      "frame_id": "001405"
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+    {
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+      "frame_id": "001457"
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+      "frame_id": "001509"
+    },
+    {
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+      "frame_id": "001561"
+    },
+    {
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+      "frame_id": "001614"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000052",
+    "000104",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0672_00_metadata.json b/metadata/train/scene0672_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b61347149cc3b538142087eac2e84bc5fa2f5cbe
--- /dev/null
+++ b/metadata/train/scene0672_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0672_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": "scene0672_00.pt",
+  "indices_file": "scene0672_00_indices.pt",
+  "transform_to_world_file": "scene0672_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": "001196"
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+      "frame_id": "001288"
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+      "frame_id": "001380"
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+      "frame_id": "001472"
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+      "frame_id": "001564"
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+      "frame_id": "001656"
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+    {
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+      "frame_id": "001748"
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+      "frame_id": "001840"
+    },
+    {
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+      "frame_id": "002024"
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+      "frame_id": "002116"
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+      "frame_id": "002208"
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+    {
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+      "frame_id": "002392"
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\ No newline at end of file
diff --git a/metadata/train/scene0673_05_metadata.json b/metadata/train/scene0673_05_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..964fbd3653954de292278e7125854b1aeec01cf7
--- /dev/null
+++ b/metadata/train/scene0673_05_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0673_05",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
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+    432,
+    432,
+    3
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+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
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+  "pointcloud_file": "scene0673_05.pt",
+  "indices_file": "scene0673_05_indices.pt",
+  "transform_to_world_file": "scene0673_05_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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+}
\ No newline at end of file
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new file mode 100644
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new file mode 100644
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