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  1. .gitattributes +249 -0
  2. train/FloorPlan_Val1_1/12/0.json +1785 -0
  3. train/FloorPlan_Val1_1/12/0_depth_npy.npy +3 -0
  4. train/FloorPlan_Val1_1/12/0_semantic_sensor_npy.npy +3 -0
  5. train/FloorPlan_Val1_1/12/1.json +1562 -0
  6. train/FloorPlan_Val1_1/12/1_depth_npy.npy +3 -0
  7. train/FloorPlan_Val1_1/12/1_semantic_sensor_npy.npy +3 -0
  8. train/FloorPlan_Val1_1/12/depth_0.png +0 -0
  9. train/FloorPlan_Val1_1/12/depth_1.png +0 -0
  10. train/FloorPlan_Val1_1/12/mask_questions.jsonl +0 -0
  11. train/FloorPlan_Val1_1/12/rgb_0.png +3 -0
  12. train/FloorPlan_Val1_1/12/rgb_1.png +3 -0
  13. train/FloorPlan_Val1_1/12/semantic_0.png +0 -0
  14. train/FloorPlan_Val1_1/12/semantic_1.png +0 -0
  15. train/FloorPlan_Val1_1/18/1.json +1991 -0
  16. train/FloorPlan_Val1_1/18/mask_questions.jsonl +2 -0
  17. train/FloorPlan_Val1_1/18/rgb_0_mask_Chair|+05.62|+00.00|-03.20.png +3 -0
  18. train/FloorPlan_Val1_1/18/rgb_1_mask_Chair|+05.62|+00.00|-03.20.png +3 -0
  19. train/FloorPlan_Val1_1/18/semantic_0.png +0 -0
  20. train/FloorPlan_Val1_1/19/0.json +1877 -0
  21. train/FloorPlan_Val1_1/19/0_depth_npy.npy +3 -0
  22. train/FloorPlan_Val1_1/19/0_semantic_sensor_npy.npy +3 -0
  23. train/FloorPlan_Val1_1/19/1.json +2256 -0
  24. train/FloorPlan_Val1_1/19/1_depth_npy.npy +3 -0
  25. train/FloorPlan_Val1_1/19/1_semantic_sensor_npy.npy +3 -0
  26. train/FloorPlan_Val1_1/19/depth_0.png +0 -0
  27. train/FloorPlan_Val1_1/19/depth_1.png +0 -0
  28. train/FloorPlan_Val1_1/19/mask_questions.jsonl +0 -0
  29. train/FloorPlan_Val1_1/19/questions_distance.jsonl +1 -0
  30. train/FloorPlan_Val1_1/19/rgb_0.png +3 -0
  31. train/FloorPlan_Val1_1/19/rgb_1.png +3 -0
  32. train/FloorPlan_Val1_1/19/semantic_0.png +0 -0
  33. train/FloorPlan_Val1_1/19/semantic_1.png +0 -0
  34. train/FloorPlan_Val1_1/2/0.json +2527 -0
  35. train/FloorPlan_Val1_1/2/0_depth_npy.npy +3 -0
  36. train/FloorPlan_Val1_1/2/0_semantic_sensor_npy.npy +3 -0
  37. train/FloorPlan_Val1_1/2/1.json +1923 -0
  38. train/FloorPlan_Val1_1/2/1_depth_npy.npy +3 -0
  39. train/FloorPlan_Val1_1/2/1_semantic_sensor_npy.npy +3 -0
  40. train/FloorPlan_Val1_1/2/depth_0.png +0 -0
  41. train/FloorPlan_Val1_1/2/depth_1.png +0 -0
  42. train/FloorPlan_Val1_1/2/mask_questions.jsonl +0 -0
  43. train/FloorPlan_Val1_1/2/rgb_0.png +3 -0
  44. train/FloorPlan_Val1_1/2/rgb_1.png +3 -0
  45. train/FloorPlan_Val1_1/2/semantic_0.png +0 -0
  46. train/FloorPlan_Val1_1/2/semantic_1.png +0 -0
  47. train/FloorPlan_Val1_1/24/0.json +2307 -0
  48. train/FloorPlan_Val1_1/24/0_depth_npy.npy +3 -0
  49. train/FloorPlan_Val1_1/24/0_semantic_sensor_npy.npy +3 -0
  50. train/FloorPlan_Val1_1/24/1.json +0 -0
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