diff --git a/metadata/train/scene0009_02_metadata.json b/metadata/train/scene0009_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..067115072d19931a6cb6f0dfb8860eae1bf89642
--- /dev/null
+++ b/metadata/train/scene0009_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0009_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": "scene0009_02.pt",
+  "indices_file": "scene0009_02_indices.pt",
+  "transform_to_world_file": "scene0009_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": "000035"
+    },
+    {
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+      "frame_id": "000071"
+    },
+    {
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+      "frame_id": "000106"
+    },
+    {
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+      "frame_id": "000142"
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+    {
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+      "frame_id": "000177"
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+    {
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+      "frame_id": "000213"
+    },
+    {
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+      "frame_id": "000248"
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+    {
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+      "frame_id": "000284"
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+    {
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+      "frame_id": "000319"
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+    {
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+      "frame_id": "000355"
+    },
+    {
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+      "frame_id": "000391"
+    },
+    {
+      "index": 12,
+      "frame_id": "000426"
+    },
+    {
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+      "frame_id": "000462"
+    },
+    {
+      "index": 14,
+      "frame_id": "000497"
+    },
+    {
+      "index": 15,
+      "frame_id": "000533"
+    },
+    {
+      "index": 16,
+      "frame_id": "000568"
+    },
+    {
+      "index": 17,
+      "frame_id": "000604"
+    },
+    {
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+      "frame_id": "000639"
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+    {
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+      "frame_id": "000675"
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+    {
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+      "frame_id": "000710"
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+      "frame_id": "000746"
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+      "frame_id": "000782"
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+    {
+      "index": 23,
+      "frame_id": "000817"
+    },
+    {
+      "index": 24,
+      "frame_id": "000853"
+    },
+    {
+      "index": 25,
+      "frame_id": "000888"
+    },
+    {
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+      "frame_id": "000924"
+    },
+    {
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+      "frame_id": "000959"
+    },
+    {
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+      "frame_id": "000995"
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+    {
+      "index": 29,
+      "frame_id": "001030"
+    },
+    {
+      "index": 30,
+      "frame_id": "001066"
+    },
+    {
+      "index": 31,
+      "frame_id": "001102"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000035",
+    "000071",
+    "000106",
+    "000142",
+    "000177",
+    "000213",
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+    "000675",
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+    "000746",
+    "000782",
+    "000817",
+    "000853",
+    "000888",
+    "000924",
+    "000959",
+    "000995",
+    "001030",
+    "001066",
+    "001102"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0016_02_metadata.json b/metadata/train/scene0016_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..45e9532dd92b65fc869441ab2dc114908d5baa0d
--- /dev/null
+++ b/metadata/train/scene0016_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0016_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": "scene0016_02.pt",
+  "indices_file": "scene0016_02_indices.pt",
+  "transform_to_world_file": "scene0016_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": "000030"
+    },
+    {
+      "index": 2,
+      "frame_id": "000060"
+    },
+    {
+      "index": 3,
+      "frame_id": "000090"
+    },
+    {
+      "index": 4,
+      "frame_id": "000121"
+    },
+    {
+      "index": 5,
+      "frame_id": "000151"
+    },
+    {
+      "index": 6,
+      "frame_id": "000181"
+    },
+    {
+      "index": 7,
+      "frame_id": "000211"
+    },
+    {
+      "index": 8,
+      "frame_id": "000242"
+    },
+    {
+      "index": 9,
+      "frame_id": "000272"
+    },
+    {
+      "index": 10,
+      "frame_id": "000302"
+    },
+    {
+      "index": 11,
+      "frame_id": "000332"
+    },
+    {
+      "index": 12,
+      "frame_id": "000363"
+    },
+    {
+      "index": 13,
+      "frame_id": "000393"
+    },
+    {
+      "index": 14,
+      "frame_id": "000423"
+    },
+    {
+      "index": 15,
+      "frame_id": "000453"
+    },
+    {
+      "index": 16,
+      "frame_id": "000484"
+    },
+    {
+      "index": 17,
+      "frame_id": "000514"
+    },
+    {
+      "index": 18,
+      "frame_id": "000544"
+    },
+    {
+      "index": 19,
+      "frame_id": "000574"
+    },
+    {
+      "index": 20,
+      "frame_id": "000605"
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+    {
+      "index": 21,
+      "frame_id": "000635"
+    },
+    {
+      "index": 22,
+      "frame_id": "000665"
+    },
+    {
+      "index": 23,
+      "frame_id": "000695"
+    },
+    {
+      "index": 24,
+      "frame_id": "000726"
+    },
+    {
+      "index": 25,
+      "frame_id": "000756"
+    },
+    {
+      "index": 26,
+      "frame_id": "000786"
+    },
+    {
+      "index": 27,
+      "frame_id": "000816"
+    },
+    {
+      "index": 28,
+      "frame_id": "000847"
+    },
+    {
+      "index": 29,
+      "frame_id": "000877"
+    },
+    {
+      "index": 30,
+      "frame_id": "000907"
+    },
+    {
+      "index": 31,
+      "frame_id": "000938"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000030",
+    "000060",
+    "000090",
+    "000121",
+    "000151",
+    "000181",
+    "000211",
+    "000242",
+    "000272",
+    "000302",
+    "000332",
+    "000363",
+    "000393",
+    "000423",
+    "000453",
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+    "000514",
+    "000544",
+    "000574",
+    "000605",
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+    "000665",
+    "000695",
+    "000726",
+    "000756",
+    "000786",
+    "000816",
+    "000847",
+    "000877",
+    "000907",
+    "000938"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0048_00_metadata.json b/metadata/train/scene0048_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..69591a41a894d66778eed3c873a7b0b1adb58bed
--- /dev/null
+++ b/metadata/train/scene0048_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0048_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": "scene0048_00.pt",
+  "indices_file": "scene0048_00_indices.pt",
+  "transform_to_world_file": "scene0048_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": "000145"
+    },
+    {
+      "index": 5,
+      "frame_id": "000181"
+    },
+    {
+      "index": 6,
+      "frame_id": "000217"
+    },
+    {
+      "index": 7,
+      "frame_id": "000254"
+    },
+    {
+      "index": 8,
+      "frame_id": "000290"
+    },
+    {
+      "index": 9,
+      "frame_id": "000326"
+    },
+    {
+      "index": 10,
+      "frame_id": "000362"
+    },
+    {
+      "index": 11,
+      "frame_id": "000399"
+    },
+    {
+      "index": 12,
+      "frame_id": "000435"
+    },
+    {
+      "index": 13,
+      "frame_id": "000471"
+    },
+    {
+      "index": 14,
+      "frame_id": "000508"
+    },
+    {
+      "index": 15,
+      "frame_id": "000544"
+    },
+    {
+      "index": 16,
+      "frame_id": "000580"
+    },
+    {
+      "index": 17,
+      "frame_id": "000616"
+    },
+    {
+      "index": 18,
+      "frame_id": "000653"
+    },
+    {
+      "index": 19,
+      "frame_id": "000689"
+    },
+    {
+      "index": 20,
+      "frame_id": "000725"
+    },
+    {
+      "index": 21,
+      "frame_id": "000762"
+    },
+    {
+      "index": 22,
+      "frame_id": "000798"
+    },
+    {
+      "index": 23,
+      "frame_id": "000834"
+    },
+    {
+      "index": 24,
+      "frame_id": "000870"
+    },
+    {
+      "index": 25,
+      "frame_id": "000907"
+    },
+    {
+      "index": 26,
+      "frame_id": "000943"
+    },
+    {
+      "index": 27,
+      "frame_id": "000979"
+    },
+    {
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+      "frame_id": "001016"
+    },
+    {
+      "index": 29,
+      "frame_id": "001052"
+    },
+    {
+      "index": 30,
+      "frame_id": "001088"
+    },
+    {
+      "index": 31,
+      "frame_id": "001125"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000036",
+    "000072",
+    "000108",
+    "000145",
+    "000181",
+    "000217",
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+    "000834",
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+    "000943",
+    "000979",
+    "001016",
+    "001052",
+    "001088",
+    "001125"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0048_01_metadata.json b/metadata/train/scene0048_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8947a36b47171cc136c2dfb836d961e390a319d
--- /dev/null
+++ b/metadata/train/scene0048_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0048_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": "scene0048_01.pt",
+  "indices_file": "scene0048_01_indices.pt",
+  "transform_to_world_file": "scene0048_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": "000021"
+    },
+    {
+      "index": 2,
+      "frame_id": "000043"
+    },
+    {
+      "index": 3,
+      "frame_id": "000064"
+    },
+    {
+      "index": 4,
+      "frame_id": "000086"
+    },
+    {
+      "index": 5,
+      "frame_id": "000107"
+    },
+    {
+      "index": 6,
+      "frame_id": "000129"
+    },
+    {
+      "index": 7,
+      "frame_id": "000151"
+    },
+    {
+      "index": 8,
+      "frame_id": "000172"
+    },
+    {
+      "index": 9,
+      "frame_id": "000194"
+    },
+    {
+      "index": 10,
+      "frame_id": "000215"
+    },
+    {
+      "index": 11,
+      "frame_id": "000237"
+    },
+    {
+      "index": 12,
+      "frame_id": "000258"
+    },
+    {
+      "index": 13,
+      "frame_id": "000280"
+    },
+    {
+      "index": 14,
+      "frame_id": "000302"
+    },
+    {
+      "index": 15,
+      "frame_id": "000323"
+    },
+    {
+      "index": 16,
+      "frame_id": "000345"
+    },
+    {
+      "index": 17,
+      "frame_id": "000366"
+    },
+    {
+      "index": 18,
+      "frame_id": "000388"
+    },
+    {
+      "index": 19,
+      "frame_id": "000410"
+    },
+    {
+      "index": 20,
+      "frame_id": "000431"
+    },
+    {
+      "index": 21,
+      "frame_id": "000453"
+    },
+    {
+      "index": 22,
+      "frame_id": "000474"
+    },
+    {
+      "index": 23,
+      "frame_id": "000496"
+    },
+    {
+      "index": 24,
+      "frame_id": "000517"
+    },
+    {
+      "index": 25,
+      "frame_id": "000539"
+    },
+    {
+      "index": 26,
+      "frame_id": "000561"
+    },
+    {
+      "index": 27,
+      "frame_id": "000582"
+    },
+    {
+      "index": 28,
+      "frame_id": "000604"
+    },
+    {
+      "index": 29,
+      "frame_id": "000625"
+    },
+    {
+      "index": 30,
+      "frame_id": "000647"
+    },
+    {
+      "index": 31,
+      "frame_id": "000669"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000021",
+    "000043",
+    "000064",
+    "000086",
+    "000107",
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+    "000647",
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+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0052_01_metadata.json b/metadata/train/scene0052_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b737a6c287135b652ae39b2ff92206b76380658
--- /dev/null
+++ b/metadata/train/scene0052_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0052_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": "scene0052_01.pt",
+  "indices_file": "scene0052_01_indices.pt",
+  "transform_to_world_file": "scene0052_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"
+    },
+    {
+      "index": 2,
+      "frame_id": "000057"
+    },
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+      "frame_id": "000085"
+    },
+    {
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+      "frame_id": "000114"
+    },
+    {
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+      "frame_id": "000142"
+    },
+    {
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+      "frame_id": "000171"
+    },
+    {
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+      "frame_id": "000199"
+    },
+    {
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+      "frame_id": "000228"
+    },
+    {
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+      "frame_id": "000256"
+    },
+    {
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+      "frame_id": "000285"
+    },
+    {
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+      "frame_id": "000314"
+    },
+    {
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+      "frame_id": "000342"
+    },
+    {
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+      "frame_id": "000371"
+    },
+    {
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+      "frame_id": "000399"
+    },
+    {
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+      "frame_id": "000428"
+    },
+    {
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+      "frame_id": "000456"
+    },
+    {
+      "index": 17,
+      "frame_id": "000485"
+    },
+    {
+      "index": 18,
+      "frame_id": "000513"
+    },
+    {
+      "index": 19,
+      "frame_id": "000542"
+    },
+    {
+      "index": 20,
+      "frame_id": "000570"
+    },
+    {
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+      "frame_id": "000770"
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+      "frame_id": "000856"
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+  "frame_order": [
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+    "000885"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0053_00_metadata.json b/metadata/train/scene0053_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..83723d8b4534884973c68d50521bb4772e8a34b5
--- /dev/null
+++ b/metadata/train/scene0053_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0053_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": "scene0053_00.pt",
+  "indices_file": "scene0053_00_indices.pt",
+  "transform_to_world_file": "scene0053_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000017"
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+      "frame_id": "000035"
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+      "frame_id": "000052"
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+      "frame_id": "000070"
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+      "frame_id": "000087"
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+      "frame_id": "000105"
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+      "frame_id": "000175"
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+      "frame_id": "000193"
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+    {
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+      "frame_id": "000210"
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+      "frame_id": "000228"
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+      "frame_id": "000245"
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+      "frame_id": "000263"
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+      "frame_id": "000280"
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+      "frame_id": "000298"
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+      "frame_id": "000333"
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+      "frame_id": "000350"
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+      "frame_id": "000368"
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+      "frame_id": "000386"
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+      "frame_id": "000403"
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+      "frame_id": "000421"
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+      "frame_id": "000438"
+    },
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+      "index": 26,
+      "frame_id": "000456"
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+    {
+      "index": 27,
+      "frame_id": "000473"
+    },
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+      "frame_id": "000491"
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+      "index": 29,
+      "frame_id": "000508"
+    },
+    {
+      "index": 30,
+      "frame_id": "000526"
+    },
+    {
+      "index": 31,
+      "frame_id": "000544"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000035",
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+    "000210",
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+    "000403",
+    "000421",
+    "000438",
+    "000456",
+    "000473",
+    "000491",
+    "000508",
+    "000526",
+    "000544"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0074_00_metadata.json b/metadata/train/scene0074_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c175cf9158aba43f9f540a009a175a3cdd4c40a9
--- /dev/null
+++ b/metadata/train/scene0074_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0074_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": "scene0074_00.pt",
+  "indices_file": "scene0074_00_indices.pt",
+  "transform_to_world_file": "scene0074_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": "000088"
+    },
+    {
+      "index": 2,
+      "frame_id": "000177"
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+    {
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+      "frame_id": "000265"
+    },
+    {
+      "index": 4,
+      "frame_id": "000354"
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+    {
+      "index": 5,
+      "frame_id": "000442"
+    },
+    {
+      "index": 6,
+      "frame_id": "000531"
+    },
+    {
+      "index": 7,
+      "frame_id": "000620"
+    },
+    {
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+      "frame_id": "000708"
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+      "frame_id": "000797"
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+      "index": 10,
+      "frame_id": "000885"
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+      "frame_id": "000974"
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+    {
+      "index": 12,
+      "frame_id": "001062"
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+    {
+      "index": 13,
+      "frame_id": "001151"
+    },
+    {
+      "index": 14,
+      "frame_id": "001240"
+    },
+    {
+      "index": 15,
+      "frame_id": "001328"
+    },
+    {
+      "index": 16,
+      "frame_id": "001417"
+    },
+    {
+      "index": 17,
+      "frame_id": "001505"
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+      "index": 18,
+      "frame_id": "001594"
+    },
+    {
+      "index": 19,
+      "frame_id": "001683"
+    },
+    {
+      "index": 20,
+      "frame_id": "001771"
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+    {
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+      "frame_id": "001860"
+    },
+    {
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+      "frame_id": "001948"
+    },
+    {
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+      "frame_id": "002037"
+    },
+    {
+      "index": 24,
+      "frame_id": "002125"
+    },
+    {
+      "index": 25,
+      "frame_id": "002214"
+    },
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+      "index": 26,
+      "frame_id": "002303"
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+      "index": 27,
+      "frame_id": "002391"
+    },
+    {
+      "index": 28,
+      "frame_id": "002480"
+    },
+    {
+      "index": 29,
+      "frame_id": "002568"
+    },
+    {
+      "index": 30,
+      "frame_id": "002657"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 31,
+      "frame_id": "002746",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "001860",
+    "001948",
+    "002037",
+    "002125",
+    "002214",
+    "002303",
+    "002391",
+    "002480",
+    "002568",
+    "002657"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0090_00_metadata.json b/metadata/train/scene0090_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8be1df31b75a0c48ccac087cef92f0a0190ee24b
--- /dev/null
+++ b/metadata/train/scene0090_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0090_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": "scene0090_00.pt",
+  "indices_file": "scene0090_00_indices.pt",
+  "transform_to_world_file": "scene0090_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000017"
+    },
+    {
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+      "frame_id": "000034"
+    },
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+      "frame_id": "000051"
+    },
+    {
+      "index": 4,
+      "frame_id": "000068"
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+    {
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+      "frame_id": "000085"
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+      "frame_id": "000103"
+    },
+    {
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+      "frame_id": "000120"
+    },
+    {
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+      "frame_id": "000137"
+    },
+    {
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+      "frame_id": "000154"
+    },
+    {
+      "index": 10,
+      "frame_id": "000171"
+    },
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+      "frame_id": "000189"
+    },
+    {
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+      "frame_id": "000206"
+    },
+    {
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+      "frame_id": "000223"
+    },
+    {
+      "index": 14,
+      "frame_id": "000240"
+    },
+    {
+      "index": 15,
+      "frame_id": "000257"
+    },
+    {
+      "index": 16,
+      "frame_id": "000275"
+    },
+    {
+      "index": 17,
+      "frame_id": "000292"
+    },
+    {
+      "index": 18,
+      "frame_id": "000309"
+    },
+    {
+      "index": 19,
+      "frame_id": "000326"
+    },
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+      "index": 20,
+      "frame_id": "000343"
+    },
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+      "frame_id": "000361"
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+      "frame_id": "000378"
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+      "frame_id": "000395"
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+      "frame_id": "000412"
+    },
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+      "frame_id": "000429"
+    },
+    {
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+      "frame_id": "000447"
+    },
+    {
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+      "frame_id": "000464"
+    },
+    {
+      "index": 28,
+      "frame_id": "000481"
+    },
+    {
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+      "frame_id": "000498"
+    },
+    {
+      "index": 30,
+      "frame_id": "000515"
+    },
+    {
+      "index": 31,
+      "frame_id": "000533"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000017",
+    "000034",
+    "000051",
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+    "000085",
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+    "000533"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0098_01_metadata.json b/metadata/train/scene0098_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6474aafcba62212d81066ef8fc0e5316b987b09
--- /dev/null
+++ b/metadata/train/scene0098_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0098_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": "scene0098_01.pt",
+  "indices_file": "scene0098_01_indices.pt",
+  "transform_to_world_file": "scene0098_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"
+    },
+    {
+      "index": 1,
+      "frame_id": "000053"
+    },
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+      "frame_id": "000106"
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+      "frame_id": "000159"
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+      "frame_id": "000212"
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+      "frame_id": "000265"
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+      "frame_id": "000318"
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+      "frame_id": "000371"
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+    {
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+      "frame_id": "000424"
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+      "frame_id": "000477"
+    },
+    {
+      "index": 10,
+      "frame_id": "000530"
+    },
+    {
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+      "frame_id": "000583"
+    },
+    {
+      "index": 12,
+      "frame_id": "000636"
+    },
+    {
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+      "frame_id": "000689"
+    },
+    {
+      "index": 14,
+      "frame_id": "000742"
+    },
+    {
+      "index": 15,
+      "frame_id": "000795"
+    },
+    {
+      "index": 16,
+      "frame_id": "000848"
+    },
+    {
+      "index": 17,
+      "frame_id": "000901"
+    },
+    {
+      "index": 18,
+      "frame_id": "000954"
+    },
+    {
+      "index": 19,
+      "frame_id": "001007"
+    },
+    {
+      "index": 20,
+      "frame_id": "001060"
+    },
+    {
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+      "frame_id": "001113"
+    },
+    {
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+      "frame_id": "001166"
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+    {
+      "index": 23,
+      "frame_id": "001219"
+    },
+    {
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+      "frame_id": "001325"
+    },
+    {
+      "index": 26,
+      "frame_id": "001378"
+    },
+    {
+      "index": 27,
+      "frame_id": "001431"
+    },
+    {
+      "index": 28,
+      "frame_id": "001484"
+    },
+    {
+      "index": 30,
+      "frame_id": "001590"
+    },
+    {
+      "index": 31,
+      "frame_id": "001643"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 24,
+      "frame_id": "001272",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 29,
+      "frame_id": "001537",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "000106",
+    "000159",
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+    "000265",
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+    "001325",
+    "001378",
+    "001431",
+    "001484",
+    "001590",
+    "001643"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0109_00_metadata.json b/metadata/train/scene0109_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e827d8212091b7dcc94044dba4e22fc93a18415
--- /dev/null
+++ b/metadata/train/scene0109_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0109_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": "scene0109_00.pt",
+  "indices_file": "scene0109_00_indices.pt",
+  "transform_to_world_file": "scene0109_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
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+  "valid_view_mapping": [
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0118_01_metadata.json b/metadata/train/scene0118_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..16f2bc574d531bdbfff768232890efff41623f47
--- /dev/null
+++ b/metadata/train/scene0118_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0118_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": "scene0118_01.pt",
+  "indices_file": "scene0118_01_indices.pt",
+  "transform_to_world_file": "scene0118_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": "000036"
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+      "frame_id": "000054"
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+      "frame_id": "000072"
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+      "frame_id": "000090"
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+      "frame_id": "000108"
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+      "frame_id": "000126"
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+      "frame_id": "000235"
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+      "frame_id": "000271"
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+      "frame_id": "000488"
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+      "frame_id": "000524"
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+    {
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+      "frame_id": "000542"
+    },
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+  "frame_order": [
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+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0127_00_metadata.json b/metadata/train/scene0127_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b57e96b2bd10e2697910c70ba30f07dcf86e1599
--- /dev/null
+++ b/metadata/train/scene0127_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0127_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 30,
+  "invalid_frames_count": 2,
+  "output_shape": [
+    30,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    30
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0127_00.pt",
+  "indices_file": "scene0127_00_indices.pt",
+  "transform_to_world_file": "scene0127_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": "000082"
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+      "frame_id": "000123"
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+      "frame_id": "000164"
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+      "frame_id": "000492"
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+      "frame_id": "000533"
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+      "frame_id": "000574"
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+    {
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+      "frame_id": "000615"
+    },
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+      "frame_id": "000656"
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+      "frame_id": "000697"
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+      "frame_id": "000738"
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+      "frame_id": "000984"
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+      "frame_id": "001025"
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+      "frame_id": "001189"
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+    },
+    {
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+      "frame_id": "001272"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 27,
+      "frame_id": "001107",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 28,
+      "frame_id": "001148",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "000082",
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+    "000984",
+    "001025",
+    "001066",
+    "001189",
+    "001230",
+    "001272"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0133_00_metadata.json b/metadata/train/scene0133_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..70305e199c8e675431eb9b85194f252a40e3701f
--- /dev/null
+++ b/metadata/train/scene0133_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0133_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": "scene0133_00.pt",
+  "indices_file": "scene0133_00_indices.pt",
+  "transform_to_world_file": "scene0133_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": "000028"
+    },
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+      "frame_id": "000057"
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+      "frame_id": "000086"
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+      "frame_id": "000115"
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+      "frame_id": "000144"
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+      "frame_id": "000173"
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+      "frame_id": "000201"
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+    {
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+      "frame_id": "000230"
+    },
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+      "frame_id": "000259"
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+      "frame_id": "000288"
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+      "frame_id": "000317"
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+      "frame_id": "000346"
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+    {
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+      "frame_id": "000374"
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+      "frame_id": "000403"
+    },
+    {
+      "index": 15,
+      "frame_id": "000432"
+    },
+    {
+      "index": 16,
+      "frame_id": "000461"
+    },
+    {
+      "index": 17,
+      "frame_id": "000490"
+    },
+    {
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+      "frame_id": "000519"
+    },
+    {
+      "index": 19,
+      "frame_id": "000547"
+    },
+    {
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+      "frame_id": "000576"
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+      "frame_id": "000634"
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+      "frame_id": "000663"
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+    {
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+      "frame_id": "000720"
+    },
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+      "frame_id": "000749"
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+      "frame_id": "000778"
+    },
+    {
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+      "frame_id": "000807"
+    },
+    {
+      "index": 29,
+      "frame_id": "000836"
+    },
+    {
+      "index": 30,
+      "frame_id": "000865"
+    },
+    {
+      "index": 31,
+      "frame_id": "000894"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000057",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0136_01_metadata.json b/metadata/train/scene0136_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0bccc0f47bb6dc806c33ccd4ec6aa7d802806a6
--- /dev/null
+++ b/metadata/train/scene0136_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0136_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": "scene0136_01.pt",
+  "indices_file": "scene0136_01_indices.pt",
+  "transform_to_world_file": "scene0136_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": "000177"
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+      "frame_id": "000354"
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+      "frame_id": "000380"
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+      "frame_id": "000405"
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+      "frame_id": "000431"
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+      "frame_id": "000709"
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+      "frame_id": "000735"
+    },
+    {
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+      "frame_id": "000760"
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+    {
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+  "frame_order": [
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+    "000760",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0136_02_metadata.json b/metadata/train/scene0136_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f741a19d578c39b2b6e7db2bd601690ec0bf7c71
--- /dev/null
+++ b/metadata/train/scene0136_02_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0136_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": "scene0136_02.pt",
+  "indices_file": "scene0136_02_indices.pt",
+  "transform_to_world_file": "scene0136_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": "000048"
+    },
+    {
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+      "frame_id": "000097"
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+      "index": 3,
+      "frame_id": "000146"
+    },
+    {
+      "index": 4,
+      "frame_id": "000194"
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+      "frame_id": "000243"
+    },
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+      "frame_id": "000292"
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+    {
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+      "frame_id": "000340"
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+      "frame_id": "000389"
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+      "frame_id": "000438"
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+      "frame_id": "000487"
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+      "index": 11,
+      "frame_id": "000535"
+    },
+    {
+      "index": 12,
+      "frame_id": "000584"
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+    {
+      "index": 13,
+      "frame_id": "000633"
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+      "frame_id": "000681"
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+    {
+      "index": 15,
+      "frame_id": "000730"
+    },
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+      "index": 16,
+      "frame_id": "000779"
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+      "frame_id": "000828"
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+      "frame_id": "000876"
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+      "index": 19,
+      "frame_id": "000925"
+    },
+    {
+      "index": 20,
+      "frame_id": "000974"
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+    {
+      "index": 21,
+      "frame_id": "001022"
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+      "frame_id": "001071"
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+      "index": 23,
+      "frame_id": "001120"
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+      "frame_id": "001169"
+    },
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+      "frame_id": "001217"
+    },
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+      "index": 26,
+      "frame_id": "001266"
+    },
+    {
+      "index": 27,
+      "frame_id": "001315"
+    },
+    {
+      "index": 28,
+      "frame_id": "001363"
+    },
+    {
+      "index": 29,
+      "frame_id": "001412"
+    },
+    {
+      "index": 30,
+      "frame_id": "001461"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 31,
+      "frame_id": "001510",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "000048",
+    "000097",
+    "000146",
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+    "000535",
+    "000584",
+    "000633",
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+    "000779",
+    "000828",
+    "000876",
+    "000925",
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+    "001022",
+    "001071",
+    "001120",
+    "001169",
+    "001217",
+    "001266",
+    "001315",
+    "001363",
+    "001412",
+    "001461"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0137_01_metadata.json b/metadata/train/scene0137_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8d5a2684112b25932593c7e77fa40a425a65b7e
--- /dev/null
+++ b/metadata/train/scene0137_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0137_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": "scene0137_01.pt",
+  "indices_file": "scene0137_01_indices.pt",
+  "transform_to_world_file": "scene0137_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": "000072"
+    },
+    {
+      "index": 2,
+      "frame_id": "000145"
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+      "frame_id": "000218"
+    },
+    {
+      "index": 4,
+      "frame_id": "000291"
+    },
+    {
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+      "frame_id": "000364"
+    },
+    {
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+      "frame_id": "000437"
+    },
+    {
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+      "frame_id": "000510"
+    },
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+      "index": 8,
+      "frame_id": "000583"
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+      "index": 9,
+      "frame_id": "000656"
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+      "frame_id": "000729"
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+      "index": 11,
+      "frame_id": "000801"
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+    {
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+      "frame_id": "000874"
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+      "frame_id": "000947"
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+      "frame_id": "001020"
+    },
+    {
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+      "frame_id": "001093"
+    },
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+      "index": 16,
+      "frame_id": "001166"
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+      "index": 17,
+      "frame_id": "001239"
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+      "frame_id": "001312"
+    },
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+      "index": 19,
+      "frame_id": "001385"
+    },
+    {
+      "index": 20,
+      "frame_id": "001458"
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+      "frame_id": "001530"
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+      "index": 22,
+      "frame_id": "001603"
+    },
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+      "index": 23,
+      "frame_id": "001676"
+    },
+    {
+      "index": 24,
+      "frame_id": "001749"
+    },
+    {
+      "index": 25,
+      "frame_id": "001822"
+    },
+    {
+      "index": 26,
+      "frame_id": "001895"
+    },
+    {
+      "index": 27,
+      "frame_id": "001968"
+    },
+    {
+      "index": 28,
+      "frame_id": "002041"
+    },
+    {
+      "index": 29,
+      "frame_id": "002114"
+    },
+    {
+      "index": 30,
+      "frame_id": "002187"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 31,
+      "frame_id": "002260",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "000072",
+    "000145",
+    "000218",
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+    "000364",
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+    "000801",
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+    "001749",
+    "001822",
+    "001895",
+    "001968",
+    "002041",
+    "002114",
+    "002187"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0151_00_metadata.json b/metadata/train/scene0151_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..43da6bec5b270f4ecb33bde9be7a9309d1617215
--- /dev/null
+++ b/metadata/train/scene0151_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0151_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": "scene0151_00.pt",
+  "indices_file": "scene0151_00_indices.pt",
+  "transform_to_world_file": "scene0151_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": "000146"
+    },
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+      "frame_id": "000293"
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+      "frame_id": "000440"
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+      "frame_id": "000587"
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+      "frame_id": "000733"
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+      "frame_id": "000880"
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+      "frame_id": "001027"
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+    {
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+      "frame_id": "001174"
+    },
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+      "frame_id": "001320"
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+      "index": 10,
+      "frame_id": "001467"
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+      "frame_id": "001614"
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+    {
+      "index": 12,
+      "frame_id": "001761"
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+    {
+      "index": 13,
+      "frame_id": "001908"
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+    {
+      "index": 14,
+      "frame_id": "002054"
+    },
+    {
+      "index": 15,
+      "frame_id": "002201"
+    },
+    {
+      "index": 16,
+      "frame_id": "002348"
+    },
+    {
+      "index": 17,
+      "frame_id": "002495"
+    },
+    {
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+      "frame_id": "002641"
+    },
+    {
+      "index": 19,
+      "frame_id": "002788"
+    },
+    {
+      "index": 20,
+      "frame_id": "002935"
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+      "frame_id": "003082"
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+      "frame_id": "003229"
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+    {
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+      "frame_id": "003375"
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+      "index": 24,
+      "frame_id": "003522"
+    },
+    {
+      "index": 25,
+      "frame_id": "003669"
+    },
+    {
+      "index": 26,
+      "frame_id": "003816"
+    },
+    {
+      "index": 29,
+      "frame_id": "004256"
+    },
+    {
+      "index": 30,
+      "frame_id": "004403"
+    }
+  ],
+  "invalid_views": [
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+      "frame_id": "003962",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 28,
+      "frame_id": "004109",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 31,
+      "frame_id": "004550",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "003375",
+    "003522",
+    "003669",
+    "003816",
+    "004256",
+    "004403"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0154_00_metadata.json b/metadata/train/scene0154_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..eea44d746cecf5f21989bf1f27182e2b6c5e302b
--- /dev/null
+++ b/metadata/train/scene0154_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0154_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": "scene0154_00.pt",
+  "indices_file": "scene0154_00_indices.pt",
+  "transform_to_world_file": "scene0154_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": "000022"
+    },
+    {
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+      "frame_id": "000045"
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+      "frame_id": "000068"
+    },
+    {
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+      "frame_id": "000091"
+    },
+    {
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+      "frame_id": "000114"
+    },
+    {
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+      "frame_id": "000137"
+    },
+    {
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+      "frame_id": "000160"
+    },
+    {
+      "index": 8,
+      "frame_id": "000183"
+    },
+    {
+      "index": 9,
+      "frame_id": "000206"
+    },
+    {
+      "index": 10,
+      "frame_id": "000229"
+    },
+    {
+      "index": 11,
+      "frame_id": "000252"
+    },
+    {
+      "index": 12,
+      "frame_id": "000275"
+    },
+    {
+      "index": 13,
+      "frame_id": "000298"
+    },
+    {
+      "index": 14,
+      "frame_id": "000321"
+    },
+    {
+      "index": 15,
+      "frame_id": "000344"
+    },
+    {
+      "index": 16,
+      "frame_id": "000366"
+    },
+    {
+      "index": 17,
+      "frame_id": "000389"
+    },
+    {
+      "index": 18,
+      "frame_id": "000412"
+    },
+    {
+      "index": 19,
+      "frame_id": "000435"
+    },
+    {
+      "index": 20,
+      "frame_id": "000458"
+    },
+    {
+      "index": 21,
+      "frame_id": "000481"
+    },
+    {
+      "index": 22,
+      "frame_id": "000504"
+    },
+    {
+      "index": 23,
+      "frame_id": "000527"
+    },
+    {
+      "index": 24,
+      "frame_id": "000550"
+    },
+    {
+      "index": 25,
+      "frame_id": "000573"
+    },
+    {
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+      "frame_id": "000596"
+    },
+    {
+      "index": 27,
+      "frame_id": "000619"
+    },
+    {
+      "index": 28,
+      "frame_id": "000642"
+    },
+    {
+      "index": 29,
+      "frame_id": "000665"
+    },
+    {
+      "index": 30,
+      "frame_id": "000688"
+    },
+    {
+      "index": 31,
+      "frame_id": "000711"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000022",
+    "000045",
+    "000068",
+    "000091",
+    "000114",
+    "000137",
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+    "000550",
+    "000573",
+    "000596",
+    "000619",
+    "000642",
+    "000665",
+    "000688",
+    "000711"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0157_00_metadata.json b/metadata/train/scene0157_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..56b1ab516ee5fc4f6bac04e1556f0386b2d0763f
--- /dev/null
+++ b/metadata/train/scene0157_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0157_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": "scene0157_00.pt",
+  "indices_file": "scene0157_00_indices.pt",
+  "transform_to_world_file": "scene0157_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000039"
+    },
+    {
+      "index": 2,
+      "frame_id": "000079"
+    },
+    {
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+      "frame_id": "000119"
+    },
+    {
+      "index": 4,
+      "frame_id": "000158"
+    },
+    {
+      "index": 5,
+      "frame_id": "000198"
+    },
+    {
+      "index": 6,
+      "frame_id": "000238"
+    },
+    {
+      "index": 7,
+      "frame_id": "000277"
+    },
+    {
+      "index": 8,
+      "frame_id": "000317"
+    },
+    {
+      "index": 9,
+      "frame_id": "000357"
+    },
+    {
+      "index": 10,
+      "frame_id": "000397"
+    },
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+    "001191",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0162_00_metadata.json b/metadata/train/scene0162_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e35a4be4abe03127e9d5b0c0e4462babc4c1d7b
--- /dev/null
+++ b/metadata/train/scene0162_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0162_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": "scene0162_00.pt",
+  "indices_file": "scene0162_00_indices.pt",
+  "transform_to_world_file": "scene0162_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": "000068"
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+      "frame_id": "000137"
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+      "frame_id": "000171"
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+      "frame_id": "000206"
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+      "frame_id": "000824"
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+      "frame_id": "000961"
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+      "frame_id": "001030"
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+      "frame_id": "001065"
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+  ],
+  "invalid_views": [
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+      "frame_id": "000034",
+      "reason": "invalid_pose"
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+    "000893",
+    "000927",
+    "000961",
+    "000996",
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+    "001065"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0173_02_metadata.json b/metadata/train/scene0173_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7271b42b0c9d69b8e72f871ebd4bdbae50da5bca
--- /dev/null
+++ b/metadata/train/scene0173_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0173_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": "scene0173_02.pt",
+  "indices_file": "scene0173_02_indices.pt",
+  "transform_to_world_file": "scene0173_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
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+  "valid_view_mapping": [
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+      "frame_id": "000000"
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+      "frame_id": "000153"
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+      "frame_id": "000267"
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+      "frame_id": "000535"
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+      "frame_id": "000573"
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+      "frame_id": "000612"
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+      "frame_id": "001109"
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+  "frame_order": [
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0180_00_metadata.json b/metadata/train/scene0180_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3b433bc6aa3403774999a9fe07099278154d463
--- /dev/null
+++ b/metadata/train/scene0180_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0180_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": "scene0180_00.pt",
+  "indices_file": "scene0180_00_indices.pt",
+  "transform_to_world_file": "scene0180_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": "000042"
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+      "frame_id": "000085"
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+      "frame_id": "000128"
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+    {
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+      "frame_id": "000171"
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+      "frame_id": "000342"
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+      "frame_id": "000385"
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+      "frame_id": "000428"
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+      "frame_id": "000471"
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+    {
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+      "frame_id": "000514"
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+      "frame_id": "000556"
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+    {
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+      "frame_id": "000599"
+    },
+    {
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+      "frame_id": "000642"
+    },
+    {
+      "index": 16,
+      "frame_id": "000685"
+    },
+    {
+      "index": 17,
+      "frame_id": "000728"
+    },
+    {
+      "index": 18,
+      "frame_id": "000771"
+    },
+    {
+      "index": 19,
+      "frame_id": "000813"
+    },
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+      "frame_id": "000856"
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+      "frame_id": "000899"
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+      "frame_id": "000942"
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+      "frame_id": "000985"
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+    {
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+      "frame_id": "001028"
+    },
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+      "frame_id": "001070"
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+      "frame_id": "001113"
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+      "frame_id": "001156"
+    },
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+      "frame_id": "001199"
+    },
+    {
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+      "frame_id": "001242"
+    },
+    {
+      "index": 30,
+      "frame_id": "001285"
+    },
+    {
+      "index": 31,
+      "frame_id": "001328"
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+  ],
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+  "frame_order": [
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+    "000171",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0184_00_metadata.json b/metadata/train/scene0184_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..312d7fb354728810e1dadad013bcc84c4a648d62
--- /dev/null
+++ b/metadata/train/scene0184_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0184_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": "scene0184_00.pt",
+  "indices_file": "scene0184_00_indices.pt",
+  "transform_to_world_file": "scene0184_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": "000103"
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+      "frame_id": "000930"
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+      "frame_id": "001033"
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+      "frame_id": "001137"
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+    {
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+      "frame_id": "001240"
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+    {
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+      "frame_id": "001344"
+    },
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+      "frame_id": "001447"
+    },
+    {
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+      "frame_id": "001550"
+    },
+    {
+      "index": 16,
+      "frame_id": "001654"
+    },
+    {
+      "index": 17,
+      "frame_id": "001757"
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+      "frame_id": "001860"
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+    {
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+      "frame_id": "001964"
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+    {
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+      "frame_id": "002067"
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+      "frame_id": "002274"
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+      "frame_id": "002377"
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+      "frame_id": "002481"
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+      "frame_id": "002584"
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+      "frame_id": "002688"
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+    {
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+      "frame_id": "002791"
+    },
+    {
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+      "frame_id": "002894"
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+    {
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+      "frame_id": "002998"
+    },
+    {
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+      "frame_id": "003101"
+    },
+    {
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+      "frame_id": "003205"
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+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "003101",
+    "003205"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0192_02_metadata.json b/metadata/train/scene0192_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b9b63ec58f7ed1f760bf6fec29a782288992eed
--- /dev/null
+++ b/metadata/train/scene0192_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0192_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": "scene0192_02.pt",
+  "indices_file": "scene0192_02_indices.pt",
+  "transform_to_world_file": "scene0192_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": "000054"
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+      "frame_id": "000082"
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+    {
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+      "frame_id": "000109"
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+    {
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+      "frame_id": "000137"
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+      "frame_id": "000164"
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+    {
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+      "frame_id": "000192"
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+    {
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+      "frame_id": "000219"
+    },
+    {
+      "index": 9,
+      "frame_id": "000247"
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+    {
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+      "frame_id": "000274"
+    },
+    {
+      "index": 11,
+      "frame_id": "000302"
+    },
+    {
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+      "frame_id": "000329"
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+      "frame_id": "000357"
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+      "frame_id": "000384"
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+    {
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+      "frame_id": "000412"
+    },
+    {
+      "index": 16,
+      "frame_id": "000439"
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+    {
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+      "frame_id": "000467"
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+      "frame_id": "000494"
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+      "frame_id": "000522"
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+      "frame_id": "000549"
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+      "frame_id": "000604"
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+      "frame_id": "000632"
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+      "frame_id": "000687"
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+      "frame_id": "000714"
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+      "frame_id": "000742"
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+      "frame_id": "000769"
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+      "frame_id": "000797"
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+      "frame_id": "000824"
+    },
+    {
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+      "frame_id": "000852"
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+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000329",
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+    "000604",
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+    "000714",
+    "000742",
+    "000769",
+    "000797",
+    "000824",
+    "000852"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0211_02_metadata.json b/metadata/train/scene0211_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..29900048c352e0e4e5cd94c07078591f498d0e02
--- /dev/null
+++ b/metadata/train/scene0211_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0211_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": "scene0211_02.pt",
+  "indices_file": "scene0211_02_indices.pt",
+  "transform_to_world_file": "scene0211_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": "000079"
+    },
+    {
+      "index": 2,
+      "frame_id": "000159"
+    },
+    {
+      "index": 3,
+      "frame_id": "000239"
+    },
+    {
+      "index": 4,
+      "frame_id": "000318"
+    },
+    {
+      "index": 5,
+      "frame_id": "000398"
+    },
+    {
+      "index": 6,
+      "frame_id": "000478"
+    },
+    {
+      "index": 7,
+      "frame_id": "000558"
+    },
+    {
+      "index": 8,
+      "frame_id": "000637"
+    },
+    {
+      "index": 9,
+      "frame_id": "000717"
+    },
+    {
+      "index": 10,
+      "frame_id": "000797"
+    },
+    {
+      "index": 11,
+      "frame_id": "000877"
+    },
+    {
+      "index": 12,
+      "frame_id": "000956"
+    },
+    {
+      "index": 13,
+      "frame_id": "001036"
+    },
+    {
+      "index": 14,
+      "frame_id": "001116"
+    },
+    {
+      "index": 15,
+      "frame_id": "001196"
+    },
+    {
+      "index": 16,
+      "frame_id": "001275"
+    },
+    {
+      "index": 17,
+      "frame_id": "001355"
+    },
+    {
+      "index": 18,
+      "frame_id": "001435"
+    },
+    {
+      "index": 19,
+      "frame_id": "001515"
+    },
+    {
+      "index": 20,
+      "frame_id": "001594"
+    },
+    {
+      "index": 21,
+      "frame_id": "001674"
+    },
+    {
+      "index": 22,
+      "frame_id": "001754"
+    },
+    {
+      "index": 23,
+      "frame_id": "001834"
+    },
+    {
+      "index": 24,
+      "frame_id": "001913"
+    },
+    {
+      "index": 25,
+      "frame_id": "001993"
+    },
+    {
+      "index": 26,
+      "frame_id": "002073"
+    },
+    {
+      "index": 27,
+      "frame_id": "002153"
+    },
+    {
+      "index": 28,
+      "frame_id": "002232"
+    },
+    {
+      "index": 29,
+      "frame_id": "002312"
+    },
+    {
+      "index": 30,
+      "frame_id": "002392"
+    },
+    {
+      "index": 31,
+      "frame_id": "002472"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000079",
+    "000159",
+    "000239",
+    "000318",
+    "000398",
+    "000478",
+    "000558",
+    "000637",
+    "000717",
+    "000797",
+    "000877",
+    "000956",
+    "001036",
+    "001116",
+    "001196",
+    "001275",
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+    "001435",
+    "001515",
+    "001594",
+    "001674",
+    "001754",
+    "001834",
+    "001913",
+    "001993",
+    "002073",
+    "002153",
+    "002232",
+    "002312",
+    "002392",
+    "002472"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0220_02_metadata.json b/metadata/train/scene0220_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3565674cf387595eb04132cd2ca68dd4dd06d3b2
--- /dev/null
+++ b/metadata/train/scene0220_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0220_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": "scene0220_02.pt",
+  "indices_file": "scene0220_02_indices.pt",
+  "transform_to_world_file": "scene0220_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": "000065"
+    },
+    {
+      "index": 2,
+      "frame_id": "000130"
+    },
+    {
+      "index": 3,
+      "frame_id": "000195"
+    },
+    {
+      "index": 4,
+      "frame_id": "000261"
+    },
+    {
+      "index": 5,
+      "frame_id": "000326"
+    },
+    {
+      "index": 6,
+      "frame_id": "000391"
+    },
+    {
+      "index": 7,
+      "frame_id": "000457"
+    },
+    {
+      "index": 8,
+      "frame_id": "000522"
+    },
+    {
+      "index": 9,
+      "frame_id": "000587"
+    },
+    {
+      "index": 10,
+      "frame_id": "000653"
+    },
+    {
+      "index": 11,
+      "frame_id": "000718"
+    },
+    {
+      "index": 12,
+      "frame_id": "000783"
+    },
+    {
+      "index": 13,
+      "frame_id": "000849"
+    },
+    {
+      "index": 14,
+      "frame_id": "000914"
+    },
+    {
+      "index": 15,
+      "frame_id": "000979"
+    },
+    {
+      "index": 16,
+      "frame_id": "001045"
+    },
+    {
+      "index": 17,
+      "frame_id": "001110"
+    },
+    {
+      "index": 18,
+      "frame_id": "001175"
+    },
+    {
+      "index": 19,
+      "frame_id": "001241"
+    },
+    {
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+      "frame_id": "001306"
+    },
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+      "frame_id": "001371"
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+      "frame_id": "001437"
+    },
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+      "frame_id": "001502"
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+      "frame_id": "001567"
+    },
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+      "frame_id": "001633"
+    },
+    {
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+      "frame_id": "001698"
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+    {
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+      "frame_id": "001763"
+    },
+    {
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+      "frame_id": "001829"
+    },
+    {
+      "index": 29,
+      "frame_id": "001894"
+    },
+    {
+      "index": 30,
+      "frame_id": "001959"
+    },
+    {
+      "index": 31,
+      "frame_id": "002025"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000065",
+    "000130",
+    "000195",
+    "000261",
+    "000326",
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+    "000783",
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+    "001698",
+    "001763",
+    "001829",
+    "001894",
+    "001959",
+    "002025"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0223_01_metadata.json b/metadata/train/scene0223_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f96c66f0fbed5082df3a7657ed61bc26ecf73d10
--- /dev/null
+++ b/metadata/train/scene0223_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0223_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": "scene0223_01.pt",
+  "indices_file": "scene0223_01_indices.pt",
+  "transform_to_world_file": "scene0223_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"
+    },
+    {
+      "index": 3,
+      "frame_id": "000133"
+    },
+    {
+      "index": 4,
+      "frame_id": "000177"
+    },
+    {
+      "index": 5,
+      "frame_id": "000221"
+    },
+    {
+      "index": 6,
+      "frame_id": "000266"
+    },
+    {
+      "index": 7,
+      "frame_id": "000310"
+    },
+    {
+      "index": 8,
+      "frame_id": "000354"
+    },
+    {
+      "index": 9,
+      "frame_id": "000399"
+    },
+    {
+      "index": 10,
+      "frame_id": "000443"
+    },
+    {
+      "index": 11,
+      "frame_id": "000487"
+    },
+    {
+      "index": 12,
+      "frame_id": "000532"
+    },
+    {
+      "index": 13,
+      "frame_id": "000576"
+    },
+    {
+      "index": 14,
+      "frame_id": "000620"
+    },
+    {
+      "index": 15,
+      "frame_id": "000665"
+    },
+    {
+      "index": 16,
+      "frame_id": "000709"
+    },
+    {
+      "index": 17,
+      "frame_id": "000754"
+    },
+    {
+      "index": 18,
+      "frame_id": "000798"
+    },
+    {
+      "index": 19,
+      "frame_id": "000842"
+    },
+    {
+      "index": 20,
+      "frame_id": "000887"
+    },
+    {
+      "index": 21,
+      "frame_id": "000931"
+    },
+    {
+      "index": 22,
+      "frame_id": "000975"
+    },
+    {
+      "index": 23,
+      "frame_id": "001020"
+    },
+    {
+      "index": 24,
+      "frame_id": "001064"
+    },
+    {
+      "index": 25,
+      "frame_id": "001108"
+    },
+    {
+      "index": 26,
+      "frame_id": "001153"
+    },
+    {
+      "index": 27,
+      "frame_id": "001197"
+    },
+    {
+      "index": 28,
+      "frame_id": "001241"
+    },
+    {
+      "index": 29,
+      "frame_id": "001286"
+    },
+    {
+      "index": 30,
+      "frame_id": "001330"
+    },
+    {
+      "index": 31,
+      "frame_id": "001375"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
+    "000000",
+    "000044",
+    "000088",
+    "000133",
+    "000177",
+    "000221",
+    "000266",
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+    "000399",
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+    "001286",
+    "001330",
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+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0232_01_metadata.json b/metadata/train/scene0232_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..04ad949434d60aa2bf9222ce0a2eb24355ad82bd
--- /dev/null
+++ b/metadata/train/scene0232_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0232_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 29,
+  "invalid_frames_count": 3,
+  "output_shape": [
+    29,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    29
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0232_01.pt",
+  "indices_file": "scene0232_01_indices.pt",
+  "transform_to_world_file": "scene0232_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": "000059"
+    },
+    {
+      "index": 2,
+      "frame_id": "000118"
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+    {
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+      "frame_id": "000177"
+    },
+    {
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+      "frame_id": "000237"
+    },
+    {
+      "index": 5,
+      "frame_id": "000296"
+    },
+    {
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+      "frame_id": "000355"
+    },
+    {
+      "index": 7,
+      "frame_id": "000415"
+    },
+    {
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+      "frame_id": "000474"
+    },
+    {
+      "index": 9,
+      "frame_id": "000533"
+    },
+    {
+      "index": 13,
+      "frame_id": "000770"
+    },
+    {
+      "index": 14,
+      "frame_id": "000830"
+    },
+    {
+      "index": 15,
+      "frame_id": "000889"
+    },
+    {
+      "index": 16,
+      "frame_id": "000948"
+    },
+    {
+      "index": 17,
+      "frame_id": "001007"
+    },
+    {
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+      "frame_id": "001067"
+    },
+    {
+      "index": 19,
+      "frame_id": "001126"
+    },
+    {
+      "index": 20,
+      "frame_id": "001185"
+    },
+    {
+      "index": 21,
+      "frame_id": "001245"
+    },
+    {
+      "index": 22,
+      "frame_id": "001304"
+    },
+    {
+      "index": 23,
+      "frame_id": "001363"
+    },
+    {
+      "index": 24,
+      "frame_id": "001422"
+    },
+    {
+      "index": 25,
+      "frame_id": "001482"
+    },
+    {
+      "index": 26,
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+    },
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+    "001719",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0242_02_metadata.json b/metadata/train/scene0242_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..93f0d2842ad10953d72b399c9a5365674557cab7
--- /dev/null
+++ b/metadata/train/scene0242_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0242_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": "scene0242_02.pt",
+  "indices_file": "scene0242_02_indices.pt",
+  "transform_to_world_file": "scene0242_02_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
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+      "frame_id": "000000"
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+    {
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+      "frame_id": "000029"
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+      "frame_id": "000059"
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+      "frame_id": "000088"
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+      "frame_id": "000118"
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+      "frame_id": "000147"
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+      "frame_id": "000177"
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+      "frame_id": "000295"
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+      "frame_id": "000325"
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+      "frame_id": "000443"
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+      "frame_id": "000738"
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+      "frame_id": "000768"
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+      "frame_id": "000797"
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+      "frame_id": "000827"
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+      "frame_id": "000856"
+    },
+    {
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+      "frame_id": "000886"
+    },
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+      "frame_id": "000916"
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+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000768",
+    "000797",
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+    "000856",
+    "000886",
+    "000916"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0265_01_metadata.json b/metadata/train/scene0265_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcf3f07f60afad9a4b76707d60c0e854957fa3e9
--- /dev/null
+++ b/metadata/train/scene0265_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0265_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": "scene0265_01.pt",
+  "indices_file": "scene0265_01_indices.pt",
+  "transform_to_world_file": "scene0265_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": "000079"
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+      "frame_id": "000119"
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+      "frame_id": "000159"
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+      "frame_id": "000199"
+    },
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+      "frame_id": "000239"
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+      "frame_id": "000279"
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+      "frame_id": "000319"
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+      "frame_id": "000359"
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+      "frame_id": "000399"
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+      "frame_id": "000439"
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+    {
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+      "frame_id": "000479"
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+      "frame_id": "000519"
+    },
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+      "frame_id": "000559"
+    },
+    {
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+      "frame_id": "000599"
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+      "index": 16,
+      "frame_id": "000639"
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+      "frame_id": "000679"
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+      "frame_id": "000719"
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+      "frame_id": "000879"
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+      "frame_id": "000919"
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+      "frame_id": "000999"
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+      "frame_id": "001039"
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+      "frame_id": "001079"
+    },
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+      "frame_id": "001119"
+    },
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+      "frame_id": "001159"
+    },
+    {
+      "index": 30,
+      "frame_id": "001199"
+    },
+    {
+      "index": 31,
+      "frame_id": "001239"
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+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000079",
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+    "001039",
+    "001079",
+    "001119",
+    "001159",
+    "001199",
+    "001239"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0266_00_metadata.json b/metadata/train/scene0266_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..01952e4f7b7120fe06bc6e4657eece2154cb8ffe
--- /dev/null
+++ b/metadata/train/scene0266_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0266_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": "scene0266_00.pt",
+  "indices_file": "scene0266_00_indices.pt",
+  "transform_to_world_file": "scene0266_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000067"
+    },
+    {
+      "index": 2,
+      "frame_id": "000134"
+    },
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+      "frame_id": "000201"
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+      "frame_id": "000268"
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+      "frame_id": "000402"
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+      "frame_id": "000469"
+    },
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+      "frame_id": "000537"
+    },
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+      "frame_id": "000604"
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+    {
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+      "frame_id": "000671"
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+      "index": 11,
+      "frame_id": "000738"
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+    {
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+      "frame_id": "000805"
+    },
+    {
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+      "frame_id": "000872"
+    },
+    {
+      "index": 14,
+      "frame_id": "000939"
+    },
+    {
+      "index": 15,
+      "frame_id": "001006"
+    },
+    {
+      "index": 16,
+      "frame_id": "001074"
+    },
+    {
+      "index": 17,
+      "frame_id": "001141"
+    },
+    {
+      "index": 18,
+      "frame_id": "001208"
+    },
+    {
+      "index": 19,
+      "frame_id": "001275"
+    },
+    {
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+      "frame_id": "001342"
+    },
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+      "frame_id": "001409"
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+      "frame_id": "001476"
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+      "frame_id": "001543"
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+      "frame_id": "001611"
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+      "frame_id": "001678"
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+      "frame_id": "001745"
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+      "frame_id": "001812"
+    },
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+      "frame_id": "001879"
+    },
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+      "frame_id": "001946"
+    },
+    {
+      "index": 30,
+      "frame_id": "002013"
+    },
+    {
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+      "frame_id": "002081"
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+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "002013",
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+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0268_01_metadata.json b/metadata/train/scene0268_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..80dddcd68979cef93dfa12ac90d5c51459bfb888
--- /dev/null
+++ b/metadata/train/scene0268_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0268_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": "scene0268_01.pt",
+  "indices_file": "scene0268_01_indices.pt",
+  "transform_to_world_file": "scene0268_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": "000036"
+    },
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+      "frame_id": "000073"
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+      "frame_id": "000329"
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+      "frame_id": "000366"
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+      "frame_id": "000403"
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+    {
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+      "frame_id": "000439"
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+      "frame_id": "000476"
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+    {
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+      "frame_id": "000513"
+    },
+    {
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+      "frame_id": "000549"
+    },
+    {
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+      "frame_id": "000586"
+    },
+    {
+      "index": 17,
+      "frame_id": "000622"
+    },
+    {
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+      "frame_id": "000659"
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+    {
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+      "frame_id": "000842"
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+      "frame_id": "000916"
+    },
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+      "frame_id": "000952"
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+      "frame_id": "000989"
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+      "frame_id": "001026"
+    },
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+      "frame_id": "001062"
+    },
+    {
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+      "frame_id": "001099"
+    },
+    {
+      "index": 31,
+      "frame_id": "001136"
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+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000073",
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+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0272_01_metadata.json b/metadata/train/scene0272_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f21ef5b8fb71aef00464b9dbc6556c85670ed41
--- /dev/null
+++ b/metadata/train/scene0272_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0272_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": "scene0272_01.pt",
+  "indices_file": "scene0272_01_indices.pt",
+  "transform_to_world_file": "scene0272_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000040"
+    },
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0280_02_metadata.json b/metadata/train/scene0280_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d4b959af3d136fcd40bd3348fd4c82824373588
--- /dev/null
+++ b/metadata/train/scene0280_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0280_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": "scene0280_02.pt",
+  "indices_file": "scene0280_02_indices.pt",
+  "transform_to_world_file": "scene0280_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": "000146"
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+      "frame_id": "000586"
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+      "frame_id": "000684"
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+      "frame_id": "000781"
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+      "frame_id": "000830"
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+      "frame_id": "001221"
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+      "frame_id": "001417"
+    },
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+      "frame_id": "001466"
+    },
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+  "frame_order": [
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+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0305_00_metadata.json b/metadata/train/scene0305_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ceb9b29cc0cc0a051bbdd9207609e0fc952f2334
--- /dev/null
+++ b/metadata/train/scene0305_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0305_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": "scene0305_00.pt",
+  "indices_file": "scene0305_00_indices.pt",
+  "transform_to_world_file": "scene0305_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": "000080"
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+      "frame_id": "000161"
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+      "frame_id": "000322"
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+      "frame_id": "000968"
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+      "frame_id": "001049"
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+      "frame_id": "001129"
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+    {
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+      "frame_id": "001210"
+    },
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+      "frame_id": "001291"
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+      "frame_id": "001372"
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+      "frame_id": "001452"
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+      "frame_id": "002340"
+    },
+    {
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+      "frame_id": "002421"
+    },
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+      "frame_id": "002502"
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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/scene0306_01_metadata.json b/metadata/train/scene0306_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fca6bf9cdfafbf809b8e02d8d600d64fe2bbb93d
--- /dev/null
+++ b/metadata/train/scene0306_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0306_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": "scene0306_01.pt",
+  "indices_file": "scene0306_01_indices.pt",
+  "transform_to_world_file": "scene0306_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": "000032"
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+      "frame_id": "000065"
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+      "frame_id": "000097"
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+      "frame_id": "000130"
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+      "frame_id": "000260"
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+      "frame_id": "000293"
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+      "frame_id": "000325"
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+      "frame_id": "000358"
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+    {
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+      "frame_id": "000390"
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+      "frame_id": "000423"
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+      "frame_id": "000456"
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+      "frame_id": "000488"
+    },
+    {
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+      "frame_id": "000521"
+    },
+    {
+      "index": 17,
+      "frame_id": "000553"
+    },
+    {
+      "index": 18,
+      "frame_id": "000586"
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+    {
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+      "frame_id": "000619"
+    },
+    {
+      "index": 20,
+      "frame_id": "000651"
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+      "frame_id": "000684"
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+      "frame_id": "000716"
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+      "frame_id": "000749"
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+      "frame_id": "000781"
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+      "frame_id": "000814"
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+      "frame_id": "000847"
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+      "frame_id": "000879"
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+      "frame_id": "000912"
+    },
+    {
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+      "frame_id": "000944"
+    },
+    {
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+      "frame_id": "000977"
+    }
+  ],
+  "invalid_views": [
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+      "index": 31,
+      "frame_id": "001010",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0320_00_metadata.json b/metadata/train/scene0320_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b361dcbe0fbc406e23a711b345871284fd5055b
--- /dev/null
+++ b/metadata/train/scene0320_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0320_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": "scene0320_00.pt",
+  "indices_file": "scene0320_00_indices.pt",
+  "transform_to_world_file": "scene0320_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": "001874"
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+      "frame_id": "002249"
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+      "frame_id": "002624"
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+      "frame_id": "002749"
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+      "frame_id": "002874"
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+      "frame_id": "003499"
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+    "003249",
+    "003374",
+    "003499",
+    "003624",
+    "003749",
+    "003874"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0327_00_metadata.json b/metadata/train/scene0327_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e698d2ca394213217642d93e2f44dafe466ccc2a
--- /dev/null
+++ b/metadata/train/scene0327_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0327_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": "scene0327_00.pt",
+  "indices_file": "scene0327_00_indices.pt",
+  "transform_to_world_file": "scene0327_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"
+    },
+    {
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+      "frame_id": "000144"
+    },
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+      "frame_id": "000216"
+    },
+    {
+      "index": 4,
+      "frame_id": "000288"
+    },
+    {
+      "index": 5,
+      "frame_id": "000360"
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+    {
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+      "frame_id": "000432"
+    },
+    {
+      "index": 7,
+      "frame_id": "000504"
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+      "index": 8,
+      "frame_id": "000576"
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+      "frame_id": "000648"
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+      "index": 10,
+      "frame_id": "000720"
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+      "frame_id": "000792"
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+    {
+      "index": 12,
+      "frame_id": "000864"
+    },
+    {
+      "index": 13,
+      "frame_id": "000936"
+    },
+    {
+      "index": 14,
+      "frame_id": "001008"
+    },
+    {
+      "index": 15,
+      "frame_id": "001080"
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+    {
+      "index": 16,
+      "frame_id": "001152"
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+      "frame_id": "001224"
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+      "frame_id": "001296"
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+      "frame_id": "001368"
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+    {
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+      "frame_id": "001440"
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+      "frame_id": "001512"
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+      "frame_id": "001584"
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+      "frame_id": "001656"
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+      "frame_id": "001728"
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+      "frame_id": "001800"
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+      "frame_id": "001872"
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+    {
+      "index": 27,
+      "frame_id": "001944"
+    },
+    {
+      "index": 28,
+      "frame_id": "002016"
+    },
+    {
+      "index": 29,
+      "frame_id": "002088"
+    },
+    {
+      "index": 30,
+      "frame_id": "002160"
+    },
+    {
+      "index": 31,
+      "frame_id": "002232"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000072",
+    "000144",
+    "000216",
+    "000288",
+    "000360",
+    "000432",
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+    "000648",
+    "000720",
+    "000792",
+    "000864",
+    "000936",
+    "001008",
+    "001080",
+    "001152",
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+    "001296",
+    "001368",
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+    "001512",
+    "001584",
+    "001656",
+    "001728",
+    "001800",
+    "001872",
+    "001944",
+    "002016",
+    "002088",
+    "002160",
+    "002232"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0339_00_metadata.json b/metadata/train/scene0339_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..25e916462322da5646ddc2487d152fbee44df9c5
--- /dev/null
+++ b/metadata/train/scene0339_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0339_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": "scene0339_00.pt",
+  "indices_file": "scene0339_00_indices.pt",
+  "transform_to_world_file": "scene0339_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000045"
+    },
+    {
+      "index": 2,
+      "frame_id": "000091"
+    },
+    {
+      "index": 3,
+      "frame_id": "000137"
+    },
+    {
+      "index": 4,
+      "frame_id": "000183"
+    },
+    {
+      "index": 5,
+      "frame_id": "000228"
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+      "frame_id": "000274"
+    },
+    {
+      "index": 7,
+      "frame_id": "000320"
+    },
+    {
+      "index": 8,
+      "frame_id": "000366"
+    },
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+      "frame_id": "000411"
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+    {
+      "index": 10,
+      "frame_id": "000457"
+    },
+    {
+      "index": 11,
+      "frame_id": "000503"
+    },
+    {
+      "index": 12,
+      "frame_id": "000549"
+    },
+    {
+      "index": 13,
+      "frame_id": "000595"
+    },
+    {
+      "index": 14,
+      "frame_id": "000640"
+    },
+    {
+      "index": 15,
+      "frame_id": "000686"
+    },
+    {
+      "index": 16,
+      "frame_id": "000732"
+    },
+    {
+      "index": 17,
+      "frame_id": "000778"
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+    {
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+      "frame_id": "000823"
+    },
+    {
+      "index": 19,
+      "frame_id": "000869"
+    },
+    {
+      "index": 20,
+      "frame_id": "000915"
+    },
+    {
+      "index": 21,
+      "frame_id": "000961"
+    },
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+      "index": 22,
+      "frame_id": "001007"
+    },
+    {
+      "index": 23,
+      "frame_id": "001052"
+    },
+    {
+      "index": 24,
+      "frame_id": "001098"
+    },
+    {
+      "index": 25,
+      "frame_id": "001144"
+    },
+    {
+      "index": 26,
+      "frame_id": "001190"
+    },
+    {
+      "index": 27,
+      "frame_id": "001235"
+    },
+    {
+      "index": 28,
+      "frame_id": "001281"
+    },
+    {
+      "index": 29,
+      "frame_id": "001327"
+    },
+    {
+      "index": 30,
+      "frame_id": "001373"
+    },
+    {
+      "index": 31,
+      "frame_id": "001419"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000045",
+    "000091",
+    "000137",
+    "000183",
+    "000228",
+    "000274",
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+    "000366",
+    "000411",
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+    "000503",
+    "000549",
+    "000595",
+    "000640",
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+    "000732",
+    "000778",
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+    "001190",
+    "001235",
+    "001281",
+    "001327",
+    "001373",
+    "001419"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0346_01_metadata.json b/metadata/train/scene0346_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..28934e20bc245c037314ed7387b5e7f17a46a79d
--- /dev/null
+++ b/metadata/train/scene0346_01_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0346_01",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 29,
+  "invalid_frames_count": 3,
+  "output_shape": [
+    29,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    29
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0346_01.pt",
+  "indices_file": "scene0346_01_indices.pt",
+  "transform_to_world_file": "scene0346_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": "000016"
+    },
+    {
+      "index": 2,
+      "frame_id": "000033"
+    },
+    {
+      "index": 3,
+      "frame_id": "000050"
+    },
+    {
+      "index": 4,
+      "frame_id": "000066"
+    },
+    {
+      "index": 5,
+      "frame_id": "000083"
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+    {
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+      "frame_id": "000100"
+    },
+    {
+      "index": 7,
+      "frame_id": "000116"
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+    {
+      "index": 8,
+      "frame_id": "000133"
+    },
+    {
+      "index": 9,
+      "frame_id": "000150"
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+    {
+      "index": 10,
+      "frame_id": "000167"
+    },
+    {
+      "index": 11,
+      "frame_id": "000183"
+    },
+    {
+      "index": 12,
+      "frame_id": "000200"
+    },
+    {
+      "index": 13,
+      "frame_id": "000217"
+    },
+    {
+      "index": 14,
+      "frame_id": "000233"
+    },
+    {
+      "index": 15,
+      "frame_id": "000250"
+    },
+    {
+      "index": 16,
+      "frame_id": "000267"
+    },
+    {
+      "index": 17,
+      "frame_id": "000284"
+    },
+    {
+      "index": 18,
+      "frame_id": "000300"
+    },
+    {
+      "index": 19,
+      "frame_id": "000317"
+    },
+    {
+      "index": 20,
+      "frame_id": "000334"
+    },
+    {
+      "index": 21,
+      "frame_id": "000350"
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+    {
+      "index": 22,
+      "frame_id": "000367"
+    },
+    {
+      "index": 23,
+      "frame_id": "000384"
+    },
+    {
+      "index": 24,
+      "frame_id": "000401"
+    },
+    {
+      "index": 26,
+      "frame_id": "000434"
+    },
+    {
+      "index": 27,
+      "frame_id": "000451"
+    },
+    {
+      "index": 28,
+      "frame_id": "000467"
+    },
+    {
+      "index": 29,
+      "frame_id": "000484"
+    }
+  ],
+  "invalid_views": [
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+      "index": 25,
+      "frame_id": "000417",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 30,
+      "frame_id": "000501",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 31,
+      "frame_id": "000518",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "000016",
+    "000033",
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+    "000066",
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+    "000384",
+    "000401",
+    "000434",
+    "000451",
+    "000467",
+    "000484"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0384_00_metadata.json b/metadata/train/scene0384_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5fa8b4c2fe873d9ee6dcca5b65b0eaa65e81d62
--- /dev/null
+++ b/metadata/train/scene0384_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0384_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": "scene0384_00.pt",
+  "indices_file": "scene0384_00_indices.pt",
+  "transform_to_world_file": "scene0384_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": "000041"
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+      "frame_id": "000082"
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+      "frame_id": "000123"
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+      "frame_id": "000165"
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+      "frame_id": "000247"
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+      "frame_id": "000289"
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+    {
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+      "frame_id": "000330"
+    },
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+      "frame_id": "000371"
+    },
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+      "frame_id": "000412"
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+    {
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+      "frame_id": "000454"
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+    {
+      "index": 12,
+      "frame_id": "000495"
+    },
+    {
+      "index": 13,
+      "frame_id": "000536"
+    },
+    {
+      "index": 14,
+      "frame_id": "000578"
+    },
+    {
+      "index": 15,
+      "frame_id": "000619"
+    },
+    {
+      "index": 16,
+      "frame_id": "000660"
+    },
+    {
+      "index": 17,
+      "frame_id": "000701"
+    },
+    {
+      "index": 18,
+      "frame_id": "000743"
+    },
+    {
+      "index": 19,
+      "frame_id": "000784"
+    },
+    {
+      "index": 20,
+      "frame_id": "000825"
+    },
+    {
+      "index": 21,
+      "frame_id": "000867"
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+    {
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+      "frame_id": "000908"
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+      "index": 23,
+      "frame_id": "000949"
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+      "frame_id": "000990"
+    },
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+      "frame_id": "001032"
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+      "frame_id": "001073"
+    },
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+      "frame_id": "001114"
+    },
+    {
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+      "frame_id": "001156"
+    },
+    {
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+      "frame_id": "001197"
+    },
+    {
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+      "frame_id": "001238"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 31,
+      "frame_id": "001280",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "001156",
+    "001197",
+    "001238"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0401_00_metadata.json b/metadata/train/scene0401_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac0f2d402d577d9a9aacffe1e4bc809afdb26a3c
--- /dev/null
+++ b/metadata/train/scene0401_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0401_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": "scene0401_00.pt",
+  "indices_file": "scene0401_00_indices.pt",
+  "transform_to_world_file": "scene0401_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": "000078"
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+      "frame_id": "000471"
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+      "frame_id": "000550"
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+      "frame_id": "000628"
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+      "frame_id": "000707"
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+      "frame_id": "000785"
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+      "index": 11,
+      "frame_id": "000864"
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+    {
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+      "frame_id": "000942"
+    },
+    {
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+      "frame_id": "001021"
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+    "002357",
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+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0404_00_metadata.json b/metadata/train/scene0404_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..83bc43b8fd98930b5914a8c96de7fc865d368df4
--- /dev/null
+++ b/metadata/train/scene0404_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0404_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": "scene0404_00.pt",
+  "indices_file": "scene0404_00_indices.pt",
+  "transform_to_world_file": "scene0404_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": "000141"
+    },
+    {
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+      "frame_id": "000282"
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+    {
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+      "frame_id": "000423"
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+    {
+      "index": 4,
+      "frame_id": "000564"
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+    {
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+      "frame_id": "000705"
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+      "frame_id": "000846"
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+      "index": 7,
+      "frame_id": "000988"
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+      "frame_id": "001129"
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+      "frame_id": "001270"
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+      "frame_id": "001411"
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+      "frame_id": "001552"
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+      "frame_id": "001693"
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+      "frame_id": "001835"
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+      "frame_id": "001976"
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+      "frame_id": "002117"
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+      "frame_id": "002258"
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+      "frame_id": "002399"
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+      "frame_id": "002540"
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+      "frame_id": "002823"
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+      "frame_id": "002964"
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+      "frame_id": "003105"
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+      "frame_id": "003246"
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+      "frame_id": "003529"
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+      "frame_id": "003670"
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+      "frame_id": "003811"
+    },
+    {
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+      "frame_id": "003952"
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+      "frame_id": "004093"
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+    {
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+      "frame_id": "004234"
+    },
+    {
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+      "frame_id": "004376"
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+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000282",
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+    "001270",
+    "001411",
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+    "001693",
+    "001835",
+    "001976",
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+    "002258",
+    "002399",
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+    "002682",
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+    "003105",
+    "003246",
+    "003387",
+    "003529",
+    "003670",
+    "003811",
+    "003952",
+    "004093",
+    "004234",
+    "004376"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0407_00_metadata.json b/metadata/train/scene0407_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cf804db96218f0fe7bdaa05f3a0a47b30ab9de5
--- /dev/null
+++ b/metadata/train/scene0407_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0407_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": "scene0407_00.pt",
+  "indices_file": "scene0407_00_indices.pt",
+  "transform_to_world_file": "scene0407_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": "000034"
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+    {
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+      "frame_id": "000069"
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+      "frame_id": "000104"
+    },
+    {
+      "index": 4,
+      "frame_id": "000138"
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+    {
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+      "frame_id": "000173"
+    },
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+      "index": 6,
+      "frame_id": "000208"
+    },
+    {
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+      "frame_id": "000243"
+    },
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+      "frame_id": "000277"
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+      "frame_id": "000312"
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+      "frame_id": "000347"
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+      "index": 11,
+      "frame_id": "000382"
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+    {
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+      "frame_id": "000416"
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+      "frame_id": "000451"
+    },
+    {
+      "index": 14,
+      "frame_id": "000486"
+    },
+    {
+      "index": 15,
+      "frame_id": "000521"
+    },
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+      "index": 16,
+      "frame_id": "000555"
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+      "index": 17,
+      "frame_id": "000590"
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+      "frame_id": "000625"
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+      "frame_id": "000660"
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+      "frame_id": "000729"
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+      "frame_id": "000764"
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+      "frame_id": "000799"
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+      "frame_id": "000833"
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+      "frame_id": "000868"
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+      "frame_id": "000903"
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+      "frame_id": "000938"
+    },
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+      "frame_id": "000972"
+    },
+    {
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+      "frame_id": "001007"
+    },
+    {
+      "index": 30,
+      "frame_id": "001042"
+    },
+    {
+      "index": 31,
+      "frame_id": "001077"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000069",
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+    "000972",
+    "001007",
+    "001042",
+    "001077"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0420_02_metadata.json b/metadata/train/scene0420_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..14260374a60e471d45b744953560113901375a80
--- /dev/null
+++ b/metadata/train/scene0420_02_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0420_02",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 30,
+  "invalid_frames_count": 2,
+  "output_shape": [
+    30,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    30
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0420_02.pt",
+  "indices_file": "scene0420_02_indices.pt",
+  "transform_to_world_file": "scene0420_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": "000045"
+    },
+    {
+      "index": 2,
+      "frame_id": "000091"
+    },
+    {
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+      "frame_id": "000137"
+    },
+    {
+      "index": 4,
+      "frame_id": "000183"
+    },
+    {
+      "index": 5,
+      "frame_id": "000229"
+    },
+    {
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+      "frame_id": "000274"
+    },
+    {
+      "index": 7,
+      "frame_id": "000320"
+    },
+    {
+      "index": 8,
+      "frame_id": "000366"
+    },
+    {
+      "index": 9,
+      "frame_id": "000412"
+    },
+    {
+      "index": 10,
+      "frame_id": "000458"
+    },
+    {
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+      "frame_id": "000503"
+    },
+    {
+      "index": 12,
+      "frame_id": "000549"
+    },
+    {
+      "index": 13,
+      "frame_id": "000595"
+    },
+    {
+      "index": 14,
+      "frame_id": "000641"
+    },
+    {
+      "index": 15,
+      "frame_id": "000687"
+    },
+    {
+      "index": 16,
+      "frame_id": "000732"
+    },
+    {
+      "index": 17,
+      "frame_id": "000778"
+    },
+    {
+      "index": 19,
+      "frame_id": "000870"
+    },
+    {
+      "index": 20,
+      "frame_id": "000916"
+    },
+    {
+      "index": 21,
+      "frame_id": "000961"
+    },
+    {
+      "index": 22,
+      "frame_id": "001007"
+    },
+    {
+      "index": 23,
+      "frame_id": "001053"
+    },
+    {
+      "index": 24,
+      "frame_id": "001099"
+    },
+    {
+      "index": 25,
+      "frame_id": "001145"
+    },
+    {
+      "index": 26,
+      "frame_id": "001190"
+    },
+    {
+      "index": 27,
+      "frame_id": "001236"
+    },
+    {
+      "index": 28,
+      "frame_id": "001282"
+    },
+    {
+      "index": 29,
+      "frame_id": "001328"
+    },
+    {
+      "index": 30,
+      "frame_id": "001374"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 18,
+      "frame_id": "000824",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 31,
+      "frame_id": "001420",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
+    "000000",
+    "000045",
+    "000091",
+    "000137",
+    "000183",
+    "000229",
+    "000274",
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+    "000503",
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+    "001190",
+    "001236",
+    "001282",
+    "001328",
+    "001374"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0421_01_metadata.json b/metadata/train/scene0421_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1d6c69c98f9b6a52d1c396ac40c1c4e807c272c
--- /dev/null
+++ b/metadata/train/scene0421_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0421_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": "scene0421_01.pt",
+  "indices_file": "scene0421_01_indices.pt",
+  "transform_to_world_file": "scene0421_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": "000070"
+    },
+    {
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+      "frame_id": "000141"
+    },
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+      "frame_id": "000211"
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+      "frame_id": "000282"
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+      "frame_id": "000352"
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+      "frame_id": "000423"
+    },
+    {
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+      "frame_id": "000493"
+    },
+    {
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+      "frame_id": "000564"
+    },
+    {
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+      "frame_id": "000634"
+    },
+    {
+      "index": 10,
+      "frame_id": "000705"
+    },
+    {
+      "index": 11,
+      "frame_id": "000775"
+    },
+    {
+      "index": 12,
+      "frame_id": "000846"
+    },
+    {
+      "index": 13,
+      "frame_id": "000916"
+    },
+    {
+      "index": 14,
+      "frame_id": "000987"
+    },
+    {
+      "index": 15,
+      "frame_id": "001057"
+    },
+    {
+      "index": 16,
+      "frame_id": "001128"
+    },
+    {
+      "index": 17,
+      "frame_id": "001198"
+    },
+    {
+      "index": 18,
+      "frame_id": "001269"
+    },
+    {
+      "index": 19,
+      "frame_id": "001339"
+    },
+    {
+      "index": 20,
+      "frame_id": "001410"
+    },
+    {
+      "index": 21,
+      "frame_id": "001480"
+    },
+    {
+      "index": 22,
+      "frame_id": "001551"
+    },
+    {
+      "index": 23,
+      "frame_id": "001621"
+    },
+    {
+      "index": 24,
+      "frame_id": "001692"
+    },
+    {
+      "index": 25,
+      "frame_id": "001762"
+    },
+    {
+      "index": 26,
+      "frame_id": "001833"
+    },
+    {
+      "index": 27,
+      "frame_id": "001903"
+    },
+    {
+      "index": 28,
+      "frame_id": "001974"
+    },
+    {
+      "index": 29,
+      "frame_id": "002044"
+    },
+    {
+      "index": 30,
+      "frame_id": "002115"
+    },
+    {
+      "index": 31,
+      "frame_id": "002186"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000070",
+    "000141",
+    "000211",
+    "000282",
+    "000352",
+    "000423",
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+    "001762",
+    "001833",
+    "001903",
+    "001974",
+    "002044",
+    "002115",
+    "002186"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0424_01_metadata.json b/metadata/train/scene0424_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b419aa6dd80147bfe0fe6b47d07294dad5c3329
--- /dev/null
+++ b/metadata/train/scene0424_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0424_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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+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0424_01.pt",
+  "indices_file": "scene0424_01_indices.pt",
+  "transform_to_world_file": "scene0424_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/scene0428_00_metadata.json b/metadata/train/scene0428_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c591d7438079f06b68acf794438e439d0755eb2
--- /dev/null
+++ b/metadata/train/scene0428_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0428_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 30,
+  "invalid_frames_count": 2,
+  "output_shape": [
+    30,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    30
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0428_00.pt",
+  "indices_file": "scene0428_00_indices.pt",
+  "transform_to_world_file": "scene0428_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": "000050"
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+      "frame_id": "000101"
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+      "frame_id": "000151"
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+    {
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+      "frame_id": "000202"
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+      "frame_id": "000252"
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+      "frame_id": "000303"
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+      "frame_id": "000353"
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+      "frame_id": "000556"
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+      "frame_id": "000606"
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+      "frame_id": "000657"
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+      "frame_id": "000707"
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+      "frame_id": "000758"
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+      "frame_id": "000808"
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+      "frame_id": "000859"
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+      "frame_id": "001213"
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+    },
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+      "frame_id": "001465"
+    },
+    {
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+      "frame_id": "001516"
+    },
+    {
+      "index": 31,
+      "frame_id": "001567"
+    }
+  ],
+  "invalid_views": [
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+      "frame_id": "001061",
+      "reason": "invalid_pose"
+    },
+    {
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+      "frame_id": "001112",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "001314",
+    "001364",
+    "001415",
+    "001465",
+    "001516",
+    "001567"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0429_00_metadata.json b/metadata/train/scene0429_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d033c59b105fbe446ce37de2b1c9993a4f96cbfc
--- /dev/null
+++ b/metadata/train/scene0429_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0429_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": "scene0429_00.pt",
+  "indices_file": "scene0429_00_indices.pt",
+  "transform_to_world_file": "scene0429_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": "000066"
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+      "frame_id": "000099"
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+      "frame_id": "000132"
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+      "frame_id": "000166"
+    },
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+      "frame_id": "000199"
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+    {
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+      "frame_id": "000232"
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+      "frame_id": "000265"
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+      "frame_id": "000299"
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+      "frame_id": "000332"
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+      "frame_id": "000365"
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+      "frame_id": "000398"
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+      "frame_id": "000431"
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+    {
+      "index": 14,
+      "frame_id": "000465"
+    },
+    {
+      "index": 15,
+      "frame_id": "000498"
+    },
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+      "index": 16,
+      "frame_id": "000531"
+    },
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+      "frame_id": "000564"
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+      "frame_id": "000598"
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+      "frame_id": "000631"
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+      "frame_id": "000730"
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+      "frame_id": "000797"
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+      "frame_id": "000830"
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+      "frame_id": "000863"
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+      "frame_id": "000897"
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+      "frame_id": "000930"
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+    {
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+      "frame_id": "000963"
+    },
+    {
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+      "frame_id": "000996"
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+  ],
+  "invalid_views": [
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+      "frame_id": "001030",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "000797",
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+    "000930",
+    "000963",
+    "000996"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0451_00_metadata.json b/metadata/train/scene0451_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d74401d07dc59805b2619565bd13ee7d246f83d
--- /dev/null
+++ b/metadata/train/scene0451_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0451_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": "scene0451_00.pt",
+  "indices_file": "scene0451_00_indices.pt",
+  "transform_to_world_file": "scene0451_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": "000087"
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+      "frame_id": "000174"
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+      "frame_id": "000261"
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+      "frame_id": "000348"
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+      "frame_id": "000436"
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+      "frame_id": "000523"
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+      "frame_id": "000610"
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+    {
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+      "frame_id": "000697"
+    },
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+      "frame_id": "000785"
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+      "frame_id": "000872"
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+      "frame_id": "000959"
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+    {
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+      "frame_id": "001046"
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+    {
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+      "frame_id": "001133"
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+    {
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+      "frame_id": "001221"
+    },
+    {
+      "index": 15,
+      "frame_id": "001308"
+    },
+    {
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+      "frame_id": "001395"
+    },
+    {
+      "index": 17,
+      "frame_id": "001482"
+    },
+    {
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+      "frame_id": "001570"
+    },
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+      "frame_id": "001657"
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+    {
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+      "frame_id": "001744"
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+      "frame_id": "001831"
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+      "frame_id": "001918"
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+      "frame_id": "002006"
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+      "frame_id": "002093"
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+      "frame_id": "002180"
+    },
+    {
+      "index": 26,
+      "frame_id": "002267"
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+      "frame_id": "002355"
+    },
+    {
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+      "frame_id": "002442"
+    },
+    {
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+      "frame_id": "002529"
+    },
+    {
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+      "frame_id": "002616"
+    },
+    {
+      "index": 31,
+      "frame_id": "002704"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000348",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0471_02_metadata.json b/metadata/train/scene0471_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..625000b986b75e17070cfe1037af96e1e72a0e60
--- /dev/null
+++ b/metadata/train/scene0471_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0471_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": "scene0471_02.pt",
+  "indices_file": "scene0471_02_indices.pt",
+  "transform_to_world_file": "scene0471_02_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
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+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
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+      "frame_id": "000000"
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+    {
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+      "frame_id": "000252"
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+      "frame_id": "000273"
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+    {
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+      "frame_id": "000315"
+    },
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+      "frame_id": "000337"
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+    {
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+      "frame_id": "000358"
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+      "frame_id": "000379"
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+    {
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+      "frame_id": "000421"
+    },
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+      "frame_id": "000463"
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+    {
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+      "frame_id": "000484"
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+      "frame_id": "000505"
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+    {
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+      "frame_id": "000526"
+    },
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0475_02_metadata.json b/metadata/train/scene0475_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3b3751236f0eb00b184197783cbb2c7b67c0f8f
--- /dev/null
+++ b/metadata/train/scene0475_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0475_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": "scene0475_02.pt",
+  "indices_file": "scene0475_02_indices.pt",
+  "transform_to_world_file": "scene0475_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": "000869"
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+      "frame_id": "000899"
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+  "frame_order": [
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0478_00_metadata.json b/metadata/train/scene0478_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..46610e75b7ff97d0d22d5aa82db2e2140f41391c
--- /dev/null
+++ b/metadata/train/scene0478_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0478_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": "scene0478_00.pt",
+  "indices_file": "scene0478_00_indices.pt",
+  "transform_to_world_file": "scene0478_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": "000067"
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+      "frame_id": "000135"
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+      "frame_id": "000847"
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+      "frame_id": "000949"
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+      "frame_id": "000983"
+    },
+    {
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+      "frame_id": "001017"
+    },
+    {
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+      "frame_id": "001051"
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+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000881",
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+    "000983",
+    "001017",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0484_00_metadata.json b/metadata/train/scene0484_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3491f9f86236cce4a40be419d627db408856fbef
--- /dev/null
+++ b/metadata/train/scene0484_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0484_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": "scene0484_00.pt",
+  "indices_file": "scene0484_00_indices.pt",
+  "transform_to_world_file": "scene0484_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": "000310"
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+      "frame_id": "000434"
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+      "frame_id": "000465"
+    },
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+      "frame_id": "000496"
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+      "frame_id": "000527"
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+      "frame_id": "000558"
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+      "frame_id": "000899"
+    },
+    {
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+      "frame_id": "000930"
+    },
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+      "frame_id": "000961"
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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/scene0484_01_metadata.json b/metadata/train/scene0484_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f81253f87bc212bb78f2ce92e431b520805b82ae
--- /dev/null
+++ b/metadata/train/scene0484_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0484_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": "scene0484_01.pt",
+  "indices_file": "scene0484_01_indices.pt",
+  "transform_to_world_file": "scene0484_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
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+  "valid_view_mapping": [
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+      "frame_id": "000000"
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+      "frame_id": "000332"
+    },
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+      "frame_id": "000356"
+    },
+    {
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+      "frame_id": "000380"
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+      "frame_id": "000404"
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+      "frame_id": "000427"
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+      "frame_id": "000641"
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+    },
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+      "frame_id": "000689"
+    },
+    {
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+      "frame_id": "000713"
+    },
+    {
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+      "frame_id": "000737"
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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/scene0502_00_metadata.json b/metadata/train/scene0502_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..709f02e5788c3a65bba68452a73a05271048b184
--- /dev/null
+++ b/metadata/train/scene0502_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0502_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": "scene0502_00.pt",
+  "indices_file": "scene0502_00_indices.pt",
+  "transform_to_world_file": "scene0502_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": "000025"
+    },
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+      "frame_id": "000050"
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+      "frame_id": "000076"
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+    {
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+      "frame_id": "000101"
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+    "000713",
+    "000739",
+    "000764"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0520_00_metadata.json b/metadata/train/scene0520_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0c03d72eccdbbb348312665c24517dbbfac0335
--- /dev/null
+++ b/metadata/train/scene0520_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0520_00",
+  "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": "scene0520_00.pt",
+  "indices_file": "scene0520_00_indices.pt",
+  "transform_to_world_file": "scene0520_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
+      "index": 1,
+      "frame_id": "000035"
+    },
+    {
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+      "frame_id": "000070"
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+      "frame_id": "000105"
+    },
+    {
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+      "frame_id": "000141"
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+    {
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+      "frame_id": "000176"
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+      "frame_id": "000211"
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+      "frame_id": "000282"
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+      "frame_id": "000423"
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+      "frame_id": "000458"
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+      "frame_id": "000494"
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+      "frame_id": "000529"
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+      "frame_id": "000564"
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+      "frame_id": "000635"
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+      "frame_id": "000670"
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+      "frame_id": "000846"
+    },
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+      "frame_id": "000882"
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+      "frame_id": "000917"
+    },
+    {
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+      "frame_id": "000952"
+    },
+    {
+      "index": 28,
+      "frame_id": "000988"
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+  ],
+  "invalid_views": [
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+      "frame_id": "000352",
+      "reason": "invalid_pose"
+    },
+    {
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+      "frame_id": "000388",
+      "reason": "invalid_pose"
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+      "frame_id": "001023",
+      "reason": "invalid_pose"
+    },
+    {
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+      "frame_id": "001058",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 31,
+      "frame_id": "001094",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
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+    "000035",
+    "000070",
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+    "000811",
+    "000846",
+    "000882",
+    "000917",
+    "000952",
+    "000988"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0526_00_metadata.json b/metadata/train/scene0526_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7999926a7bb89beec624b6324e60979df62b6e5
--- /dev/null
+++ b/metadata/train/scene0526_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0526_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 23,
+  "invalid_frames_count": 9,
+  "output_shape": [
+    23,
+    432,
+    432,
+    3
+  ],
+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
+    23
+  ],
+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "scene0526_00.pt",
+  "indices_file": "scene0526_00_indices.pt",
+  "transform_to_world_file": "scene0526_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": "000030"
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+      "frame_id": "000060"
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+      "frame_id": "000106"
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+      "frame_id": "000121"
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+      "frame_id": "000181"
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+      "frame_id": "000197"
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+      "frame_id": "000212"
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+      "frame_id": "000227"
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+      "frame_id": "000242"
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+      "frame_id": "000257"
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+    },
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+      "frame_id": "000333"
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+      "frame_id": "000348",
+      "reason": "invalid_pose"
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+      "frame_id": "000379",
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+    {
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+      "frame_id": "000424",
+      "reason": "invalid_pose"
+    },
+    {
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+      "frame_id": "000439",
+      "reason": "invalid_pose"
+    },
+    {
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+      "frame_id": "000454",
+      "reason": "invalid_pose"
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+    {
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+      "frame_id": "000470",
+      "reason": "invalid_pose"
+    }
+  ],
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0532_00_metadata.json b/metadata/train/scene0532_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d2e760b5afd689ef5fc3837bff7b0410c3843d9
--- /dev/null
+++ b/metadata/train/scene0532_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0532_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": "scene0532_00.pt",
+  "indices_file": "scene0532_00_indices.pt",
+  "transform_to_world_file": "scene0532_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": "000019"
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+      "frame_id": "000038"
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+      "frame_id": "000057"
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+      "frame_id": "000077"
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+    },
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+      "frame_id": "000115"
+    },
+    {
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+      "frame_id": "000134"
+    },
+    {
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+      "frame_id": "000154"
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+      "frame_id": "000173"
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+      "frame_id": "000192"
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+      "frame_id": "000211"
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+    {
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+      "frame_id": "000231"
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+      "frame_id": "000250"
+    },
+    {
+      "index": 14,
+      "frame_id": "000269"
+    },
+    {
+      "index": 15,
+      "frame_id": "000288"
+    },
+    {
+      "index": 16,
+      "frame_id": "000308"
+    },
+    {
+      "index": 17,
+      "frame_id": "000327"
+    },
+    {
+      "index": 18,
+      "frame_id": "000346"
+    },
+    {
+      "index": 19,
+      "frame_id": "000365"
+    },
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+      "frame_id": "000404"
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+      "frame_id": "000423"
+    },
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+      "frame_id": "000442"
+    },
+    {
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+      "frame_id": "000462"
+    },
+    {
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+      "frame_id": "000481"
+    },
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+      "frame_id": "000500"
+    },
+    {
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+      "frame_id": "000519"
+    },
+    {
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+      "frame_id": "000539"
+    },
+    {
+      "index": 29,
+      "frame_id": "000558"
+    },
+    {
+      "index": 30,
+      "frame_id": "000577"
+    },
+    {
+      "index": 31,
+      "frame_id": "000597"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000038",
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+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0541_02_metadata.json b/metadata/train/scene0541_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..673366b9a86834fada17432515372598102bdb89
--- /dev/null
+++ b/metadata/train/scene0541_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0541_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": "scene0541_02.pt",
+  "indices_file": "scene0541_02_indices.pt",
+  "transform_to_world_file": "scene0541_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": "000047"
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+      "frame_id": "000094"
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+      "frame_id": "000142"
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+      "frame_id": "000189"
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+      "frame_id": "000237"
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+      "frame_id": "000284"
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+    {
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+      "frame_id": "000332"
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+    },
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+      "frame_id": "000427"
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+      "frame_id": "000474"
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+      "frame_id": "000522"
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+      "frame_id": "000569"
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+      "frame_id": "000617"
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+    {
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+      "frame_id": "000664"
+    },
+    {
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+      "frame_id": "000712"
+    },
+    {
+      "index": 16,
+      "frame_id": "000759"
+    },
+    {
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+      "frame_id": "000807"
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+      "frame_id": "000854"
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+      "frame_id": "000902"
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+    {
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+      "frame_id": "001044"
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+      "frame_id": "001092"
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+      "frame_id": "001139"
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+    {
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+      "frame_id": "001187"
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+      "frame_id": "001234"
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+    {
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+      "frame_id": "001282"
+    },
+    {
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+      "frame_id": "001329"
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+    {
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+      "frame_id": "001377"
+    },
+    {
+      "index": 30,
+      "frame_id": "001424"
+    },
+    {
+      "index": 31,
+      "frame_id": "001472"
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+  ],
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+  "frame_order": [
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+    "001282",
+    "001329",
+    "001377",
+    "001424",
+    "001472"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0557_01_metadata.json b/metadata/train/scene0557_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..508c901e01d32f1fd19deaa36923a372248893d7
--- /dev/null
+++ b/metadata/train/scene0557_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0557_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": "scene0557_01.pt",
+  "indices_file": "scene0557_01_indices.pt",
+  "transform_to_world_file": "scene0557_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
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+      "frame_id": "000040"
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+      "frame_id": "000080"
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+      "frame_id": "000120"
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+      "frame_id": "000161"
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+      "frame_id": "000241"
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+      "frame_id": "000282"
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+      "frame_id": "000322"
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+      "frame_id": "000362"
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+      "frame_id": "000402"
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+      "frame_id": "000443"
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+      "frame_id": "000483"
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+      "frame_id": "000523"
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+      "frame_id": "000564"
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+      "frame_id": "000604"
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+      "frame_id": "000644"
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+      "frame_id": "000684"
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+      "frame_id": "000725"
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+      "frame_id": "000765"
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+      "frame_id": "000846"
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+      "frame_id": "000886"
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+      "frame_id": "000926"
+    },
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+      "frame_id": "000966"
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+      "frame_id": "001007"
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+      "frame_id": "001047"
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+      "frame_id": "001087"
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+      "frame_id": "001128"
+    },
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+      "index": 29,
+      "frame_id": "001168"
+    },
+    {
+      "index": 30,
+      "frame_id": "001208"
+    },
+    {
+      "index": 31,
+      "frame_id": "001249"
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+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000040",
+    "000080",
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+    "000765",
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+    "000926",
+    "000966",
+    "001007",
+    "001047",
+    "001087",
+    "001128",
+    "001168",
+    "001208",
+    "001249"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0572_02_metadata.json b/metadata/train/scene0572_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbd59348d9ed1770673bad2e3c3dedded962c0f7
--- /dev/null
+++ b/metadata/train/scene0572_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0572_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": "scene0572_02.pt",
+  "indices_file": "scene0572_02_indices.pt",
+  "transform_to_world_file": "scene0572_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": "000041"
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+    {
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+      "frame_id": "000082"
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+      "frame_id": "000123"
+    },
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+      "index": 4,
+      "frame_id": "000165"
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+      "frame_id": "000206"
+    },
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+      "frame_id": "000247"
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+      "frame_id": "000289"
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+      "frame_id": "000330"
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+      "frame_id": "000371"
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+      "index": 10,
+      "frame_id": "000413"
+    },
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+      "frame_id": "000454"
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+    {
+      "index": 12,
+      "frame_id": "000495"
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+    {
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+      "frame_id": "000537"
+    },
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+      "index": 14,
+      "frame_id": "000578"
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+    {
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+      "frame_id": "000619"
+    },
+    {
+      "index": 16,
+      "frame_id": "000661"
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+      "frame_id": "000702"
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+      "frame_id": "000743"
+    },
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+      "index": 19,
+      "frame_id": "000785"
+    },
+    {
+      "index": 20,
+      "frame_id": "000826"
+    },
+    {
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+      "frame_id": "000867"
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+      "frame_id": "000909"
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+    {
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+      "frame_id": "000950"
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+      "index": 24,
+      "frame_id": "000991"
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+      "index": 25,
+      "frame_id": "001033"
+    },
+    {
+      "index": 26,
+      "frame_id": "001074"
+    },
+    {
+      "index": 27,
+      "frame_id": "001115"
+    },
+    {
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+      "frame_id": "001157"
+    },
+    {
+      "index": 29,
+      "frame_id": "001198"
+    },
+    {
+      "index": 30,
+      "frame_id": "001239"
+    },
+    {
+      "index": 31,
+      "frame_id": "001281"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000041",
+    "000082",
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+    "000165",
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+    "001074",
+    "001115",
+    "001157",
+    "001198",
+    "001239",
+    "001281"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0586_00_metadata.json b/metadata/train/scene0586_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..26f3e962c0e714803b9f211f56aa892cb2187b10
--- /dev/null
+++ b/metadata/train/scene0586_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0586_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": "scene0586_00.pt",
+  "indices_file": "scene0586_00_indices.pt",
+  "transform_to_world_file": "scene0586_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": "000033"
+    },
+    {
+      "index": 2,
+      "frame_id": "000066"
+    },
+    {
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+      "frame_id": "000099"
+    },
+    {
+      "index": 4,
+      "frame_id": "000132"
+    },
+    {
+      "index": 5,
+      "frame_id": "000165"
+    },
+    {
+      "index": 6,
+      "frame_id": "000198"
+    },
+    {
+      "index": 7,
+      "frame_id": "000231"
+    },
+    {
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+      "frame_id": "000264"
+    },
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+      "frame_id": "000297"
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+    {
+      "index": 10,
+      "frame_id": "000330"
+    },
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+      "index": 11,
+      "frame_id": "000363"
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+    {
+      "index": 12,
+      "frame_id": "000396"
+    },
+    {
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+      "frame_id": "000429"
+    },
+    {
+      "index": 14,
+      "frame_id": "000462"
+    },
+    {
+      "index": 15,
+      "frame_id": "000495"
+    },
+    {
+      "index": 16,
+      "frame_id": "000529"
+    },
+    {
+      "index": 17,
+      "frame_id": "000562"
+    },
+    {
+      "index": 18,
+      "frame_id": "000595"
+    },
+    {
+      "index": 19,
+      "frame_id": "000628"
+    },
+    {
+      "index": 20,
+      "frame_id": "000661"
+    },
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+      "frame_id": "000694"
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+      "frame_id": "000727"
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+      "frame_id": "000760"
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+      "frame_id": "000793"
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+      "frame_id": "000826"
+    },
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+      "index": 26,
+      "frame_id": "000859"
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+      "frame_id": "000892"
+    },
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+      "frame_id": "000925"
+    },
+    {
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+      "frame_id": "000958"
+    },
+    {
+      "index": 30,
+      "frame_id": "000991"
+    },
+    {
+      "index": 31,
+      "frame_id": "001025"
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+  ],
+  "invalid_views": [],
+  "frame_order": [
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0586_02_metadata.json b/metadata/train/scene0586_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..786405ba485051e2190c34e1f6f8c8cbcd4604ca
--- /dev/null
+++ b/metadata/train/scene0586_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0586_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": "scene0586_02.pt",
+  "indices_file": "scene0586_02_indices.pt",
+  "transform_to_world_file": "scene0586_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": "000078"
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+    {
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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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+    {
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+      "frame_id": "000195"
+    },
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+      "index": 11,
+      "frame_id": "000215"
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+    {
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+      "frame_id": "000234"
+    },
+    {
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+      "frame_id": "000254"
+    },
+    {
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+      "frame_id": "000273"
+    },
+    {
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+      "frame_id": "000293"
+    },
+    {
+      "index": 16,
+      "frame_id": "000312"
+    },
+    {
+      "index": 17,
+      "frame_id": "000332"
+    },
+    {
+      "index": 18,
+      "frame_id": "000351"
+    },
+    {
+      "index": 19,
+      "frame_id": "000371"
+    },
+    {
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+      "frame_id": "000390"
+    },
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+      "frame_id": "000410"
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+      "frame_id": "000430"
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+      "frame_id": "000449"
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+      "frame_id": "000469"
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+      "index": 25,
+      "frame_id": "000488"
+    },
+    {
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+      "frame_id": "000508"
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+    {
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+      "frame_id": "000527"
+    },
+    {
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+      "frame_id": "000547"
+    },
+    {
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+      "frame_id": "000566"
+    },
+    {
+      "index": 30,
+      "frame_id": "000586"
+    },
+    {
+      "index": 31,
+      "frame_id": "000606"
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+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000586",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0588_02_metadata.json b/metadata/train/scene0588_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..01f20cccd812b998eb10f472765a27c032ab244b
--- /dev/null
+++ b/metadata/train/scene0588_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0588_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": "scene0588_02.pt",
+  "indices_file": "scene0588_02_indices.pt",
+  "transform_to_world_file": "scene0588_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": "000090"
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+      "frame_id": "000181"
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+      "frame_id": "000362"
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+      "frame_id": "000815"
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+      "frame_id": "000996"
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+      "frame_id": "001086"
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+    {
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+      "frame_id": "001177"
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+    {
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+      "frame_id": "001268"
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+    {
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+      "frame_id": "001358"
+    },
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+  "frame_order": [
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+    "002626",
+    "002717",
+    "002808"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0594_00_metadata.json b/metadata/train/scene0594_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..65df3d992023305230a7ce903d8a8feaff8daba3
--- /dev/null
+++ b/metadata/train/scene0594_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0594_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": "scene0594_00.pt",
+  "indices_file": "scene0594_00_indices.pt",
+  "transform_to_world_file": "scene0594_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": "000024"
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+      "frame_id": "000049"
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+      "frame_id": "000074"
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+      "frame_id": "000099"
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+      "frame_id": "000148"
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+      "frame_id": "000247"
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+      "frame_id": "000272"
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+      "frame_id": "000297"
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+      "frame_id": "000322"
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+      "frame_id": "000346"
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+    {
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+      "frame_id": "000371"
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+      "frame_id": "000396"
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+      "frame_id": "000421"
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+      "frame_id": "000445"
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+      "frame_id": "000545"
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+      "frame_id": "000569"
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+      "frame_id": "000594"
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+      "frame_id": "000619"
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+      "frame_id": "000644"
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+      "frame_id": "000668"
+    },
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+      "frame_id": "000693"
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+      "frame_id": "000718"
+    },
+    {
+      "index": 30,
+      "frame_id": "000743"
+    },
+    {
+      "index": 31,
+      "frame_id": "000768"
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+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000049",
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+    "000272",
+    "000297",
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+    "000371",
+    "000396",
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+    "000569",
+    "000594",
+    "000619",
+    "000644",
+    "000668",
+    "000693",
+    "000718",
+    "000743",
+    "000768"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0605_00_metadata.json b/metadata/train/scene0605_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6797e75d9d58ed43f950cad36ce438c096782df4
--- /dev/null
+++ b/metadata/train/scene0605_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0605_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": "scene0605_00.pt",
+  "indices_file": "scene0605_00_indices.pt",
+  "transform_to_world_file": "scene0605_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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+    {
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+      "frame_id": "000020"
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+    {
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+      "frame_id": "000041"
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+      "frame_id": "000061"
+    },
+    {
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+      "frame_id": "000082"
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+      "frame_id": "000102"
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+      "frame_id": "000123"
+    },
+    {
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+      "frame_id": "000144"
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+    {
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+      "frame_id": "000164"
+    },
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+      "index": 9,
+      "frame_id": "000185"
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+      "frame_id": "000205"
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+      "frame_id": "000226"
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+    {
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+      "frame_id": "000246"
+    },
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+      "index": 13,
+      "frame_id": "000267"
+    },
+    {
+      "index": 14,
+      "frame_id": "000288"
+    },
+    {
+      "index": 15,
+      "frame_id": "000308"
+    },
+    {
+      "index": 16,
+      "frame_id": "000329"
+    },
+    {
+      "index": 17,
+      "frame_id": "000349"
+    },
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+      "frame_id": "000370"
+    },
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+      "frame_id": "000391"
+    },
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+      "frame_id": "000411"
+    },
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+      "index": 21,
+      "frame_id": "000432"
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+      "frame_id": "000452"
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+      "frame_id": "000473"
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+      "frame_id": "000493"
+    },
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+      "frame_id": "000514"
+    },
+    {
+      "index": 26,
+      "frame_id": "000535"
+    },
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+      "frame_id": "000555"
+    },
+    {
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+      "frame_id": "000576"
+    },
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+      "index": 29,
+      "frame_id": "000596"
+    },
+    {
+      "index": 30,
+      "frame_id": "000617"
+    },
+    {
+      "index": 31,
+      "frame_id": "000638"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000020",
+    "000041",
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+    "000082",
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+    "000535",
+    "000555",
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+    "000596",
+    "000617",
+    "000638"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0610_00_metadata.json b/metadata/train/scene0610_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a66d94ce3897cb4d38c9607448d7f3b5cc503b3f
--- /dev/null
+++ b/metadata/train/scene0610_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0610_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": "scene0610_00.pt",
+  "indices_file": "scene0610_00_indices.pt",
+  "transform_to_world_file": "scene0610_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": "000084"
+    },
+    {
+      "index": 2,
+      "frame_id": "000169"
+    },
+    {
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+      "frame_id": "000254"
+    },
+    {
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+      "frame_id": "000339"
+    },
+    {
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+      "frame_id": "000424"
+    },
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+    },
+    {
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+      "frame_id": "000934"
+    },
+    {
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+      "frame_id": "001019"
+    },
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+      "index": 13,
+      "frame_id": "001104"
+    },
+    {
+      "index": 14,
+      "frame_id": "001189"
+    },
+    {
+      "index": 15,
+      "frame_id": "001274"
+    },
+    {
+      "index": 16,
+      "frame_id": "001358"
+    },
+    {
+      "index": 17,
+      "frame_id": "001443"
+    },
+    {
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+      "frame_id": "001528"
+    },
+    {
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+      "frame_id": "001613"
+    },
+    {
+      "index": 20,
+      "frame_id": "001698"
+    },
+    {
+      "index": 21,
+      "frame_id": "001783"
+    },
+    {
+      "index": 22,
+      "frame_id": "001868"
+    },
+    {
+      "index": 23,
+      "frame_id": "001953"
+    },
+    {
+      "index": 24,
+      "frame_id": "002038"
+    },
+    {
+      "index": 25,
+      "frame_id": "002123"
+    },
+    {
+      "index": 26,
+      "frame_id": "002208"
+    },
+    {
+      "index": 27,
+      "frame_id": "002293"
+    },
+    {
+      "index": 28,
+      "frame_id": "002378"
+    },
+    {
+      "index": 29,
+      "frame_id": "002463"
+    },
+    {
+      "index": 30,
+      "frame_id": "002548"
+    },
+    {
+      "index": 31,
+      "frame_id": "002633"
+    }
+  ],
+  "invalid_views": [
+    {
+      "index": 7,
+      "frame_id": "000594",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 8,
+      "frame_id": "000679",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 9,
+      "frame_id": "000764",
+      "reason": "invalid_pose"
+    },
+    {
+      "index": 10,
+      "frame_id": "000849",
+      "reason": "invalid_pose"
+    }
+  ],
+  "frame_order": [
+    "000000",
+    "000084",
+    "000169",
+    "000254",
+    "000339",
+    "000424",
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+    "002208",
+    "002293",
+    "002378",
+    "002463",
+    "002548",
+    "002633"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0628_01_metadata.json b/metadata/train/scene0628_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7ba765ba3f93f7f683d84c047e369600e2e24d2
--- /dev/null
+++ b/metadata/train/scene0628_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0628_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": "scene0628_01.pt",
+  "indices_file": "scene0628_01_indices.pt",
+  "transform_to_world_file": "scene0628_01_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
+  ],
+  "valid_view_mapping": [
+    {
+      "index": 0,
+      "frame_id": "000000"
+    },
+    {
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+      "frame_id": "000034"
+    },
+    {
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+      "frame_id": "000069"
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+      "frame_id": "000103"
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+      "frame_id": "000138"
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+      "frame_id": "000173"
+    },
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+      "frame_id": "000207"
+    },
+    {
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+      "frame_id": "000242"
+    },
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+      "frame_id": "000276"
+    },
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+      "frame_id": "000311"
+    },
+    {
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+      "frame_id": "000346"
+    },
+    {
+      "index": 11,
+      "frame_id": "000380"
+    },
+    {
+      "index": 12,
+      "frame_id": "000415"
+    },
+    {
+      "index": 13,
+      "frame_id": "000449"
+    },
+    {
+      "index": 14,
+      "frame_id": "000484"
+    },
+    {
+      "index": 15,
+      "frame_id": "000519"
+    },
+    {
+      "index": 16,
+      "frame_id": "000553"
+    },
+    {
+      "index": 17,
+      "frame_id": "000588"
+    },
+    {
+      "index": 18,
+      "frame_id": "000623"
+    },
+    {
+      "index": 19,
+      "frame_id": "000657"
+    },
+    {
+      "index": 20,
+      "frame_id": "000692"
+    },
+    {
+      "index": 21,
+      "frame_id": "000726"
+    },
+    {
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+      "frame_id": "000761"
+    },
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+      "frame_id": "000796"
+    },
+    {
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+      "frame_id": "000830"
+    },
+    {
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+      "frame_id": "000865"
+    },
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+      "frame_id": "000899"
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+    {
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+      "frame_id": "000934"
+    },
+    {
+      "index": 28,
+      "frame_id": "000969"
+    },
+    {
+      "index": 29,
+      "frame_id": "001003"
+    },
+    {
+      "index": 30,
+      "frame_id": "001038"
+    },
+    {
+      "index": 31,
+      "frame_id": "001073"
+    }
+  ],
+  "invalid_views": [],
+  "frame_order": [
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+    "000034",
+    "000069",
+    "000103",
+    "000138",
+    "000173",
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+    "000415",
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+    "000934",
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+    "001003",
+    "001038",
+    "001073"
+  ]
+}
\ No newline at end of file
diff --git a/metadata/train/scene0630_02_metadata.json b/metadata/train/scene0630_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcfb4f9063ff287a72cf15fe1ce120dbf3cdd48b
--- /dev/null
+++ b/metadata/train/scene0630_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0630_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",
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0662_02_metadata.json b/metadata/train/scene0662_02_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc03ff5e24f007f641cc3312a039687ffec1a308
--- /dev/null
+++ b/metadata/train/scene0662_02_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0662_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": "scene0662_02.pt",
+  "indices_file": "scene0662_02_indices.pt",
+  "transform_to_world_file": "scene0662_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
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+  "valid_view_mapping": [
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+      "frame_id": "000000"
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+      "frame_id": "001642"
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+    {
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+      "frame_id": "001699"
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+      "frame_id": "001756"
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0669_00_metadata.json b/metadata/train/scene0669_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad8214dde8158875ad105557659e6eb21f3d12be
--- /dev/null
+++ b/metadata/train/scene0669_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0669_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": "scene0669_00.pt",
+  "indices_file": "scene0669_00_indices.pt",
+  "transform_to_world_file": "scene0669_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
+    432,
+    432
+  ],
+  "original_image_size": [
+    640,
+    480
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+  "valid_view_mapping": [
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+      "frame_id": "000000"
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+    {
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+      "frame_id": "000488"
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+      "frame_id": "000528"
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+      "frame_id": "000569"
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+      "frame_id": "000610"
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+      "frame_id": "000650"
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+    {
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+      "frame_id": "001220"
+    },
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+  "frame_order": [
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+}
\ No newline at end of file
diff --git a/metadata/train/scene0674_00_metadata.json b/metadata/train/scene0674_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd130e8917a34841228c979ea376fb8ea1842c4c
--- /dev/null
+++ b/metadata/train/scene0674_00_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0674_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": "scene0674_00.pt",
+  "indices_file": "scene0674_00_indices.pt",
+  "transform_to_world_file": "scene0674_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
+    "index": 0,
+    "frame_id": "000000"
+  },
+  "image_size": [
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+    432
+  ],
+  "original_image_size": [
+    640,
+    480
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+  "valid_view_mapping": [
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+      "frame_id": "000000"
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+      "frame_id": "000643"
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+      "frame_id": "000715"
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+      "frame_id": "000787"
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+      "frame_id": "000858"
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+      "frame_id": "000930"
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+      "frame_id": "001001"
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+    {
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+      "frame_id": "001073"
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+      "frame_id": "001144"
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+      "frame_id": "001216"
+    },
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+      "frame_id": "001287"
+    },
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+      "frame_id": "001359"
+    },
+    {
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+    },
+    {
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+      "frame_id": "001788"
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+      "frame_id": "001931"
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+      "frame_id": "002003"
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+      "frame_id": "002074"
+    },
+    {
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+      "frame_id": "002146"
+    },
+    {
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+      "frame_id": "002218"
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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/scene0675_01_metadata.json b/metadata/train/scene0675_01_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..18eba91aac86744b46f8be79bcd62c0f0d506b91
--- /dev/null
+++ b/metadata/train/scene0675_01_metadata.json
@@ -0,0 +1,198 @@
+{
+  "scene_name": "scene0675_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": "scene0675_01.pt",
+  "indices_file": "scene0675_01_indices.pt",
+  "transform_to_world_file": "scene0675_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": "000260"
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+      "frame_id": "000416"
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+      "frame_id": "000520"
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+    {
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+      "frame_id": "000702"
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diff --git a/metadata/train/scene0706_00_metadata.json b/metadata/train/scene0706_00_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7886fb328ab55ec8c0eef105e945b3d1e9e1432
--- /dev/null
+++ b/metadata/train/scene0706_00_metadata.json
@@ -0,0 +1,199 @@
+{
+  "scene_name": "scene0706_00",
+  "total_frames_in_dataset": 32,
+  "valid_frames_count": 31,
+  "invalid_frames_count": 1,
+  "output_shape": [
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+    432,
+    432,
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+  "pointcloud_file": "scene0706_00.pt",
+  "indices_file": "scene0706_00_indices.pt",
+  "transform_to_world_file": "scene0706_00_to_world.npy",
+  "coordinate_system": "first_camera_frame",
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+    "frame_id": "000000"
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\ No newline at end of file
diff --git a/pointclouds/train/scene0396_00.pt b/pointclouds/train/scene0396_00.pt
new file mode 100644
index 0000000000000000000000000000000000000000..b8121a6bbb0dea58b1eaab7f46e0ae16226075dd
--- /dev/null
+++ b/pointclouds/train/scene0396_00.pt
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