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  1. .gitattributes +251 -0
  2. train/train1144/0/0.json +0 -0
  3. train/train1144/0/0_depth_npy.npy +3 -0
  4. train/train1144/0/0_semantic_sensor_npy.npy +3 -0
  5. train/train1144/0/1.json +1063 -0
  6. train/train1144/0/1_depth_npy.npy +3 -0
  7. train/train1144/0/1_semantic_sensor_npy.npy +3 -0
  8. train/train1144/0/depth_0.png +0 -0
  9. train/train1144/0/depth_1.png +0 -0
  10. train/train1144/0/mask_questions.jsonl +5 -0
  11. train/train1144/0/questions_distance.jsonl +2 -0
  12. train/train1144/0/rgb_0.png +3 -0
  13. train/train1144/0/rgb_0_mask_Chair|4|1|1.png +3 -0
  14. train/train1144/0/rgb_0_mask_Fridge|2|1.png +3 -0
  15. train/train1144/0/rgb_1.png +3 -0
  16. train/train1144/0/rgb_1_mask_Chair|4|1|1.png +3 -0
  17. train/train1144/0/rgb_1_mask_DiningTable|4|1|0.png +3 -0
  18. train/train1144/0/rgb_1_mask_Fridge|2|1.png +3 -0
  19. train/train1144/0/semantic_0.png +0 -0
  20. train/train1144/0/semantic_1.png +0 -0
  21. train/train1144/1/0.json +683 -0
  22. train/train1144/1/0_depth_npy.npy +3 -0
  23. train/train1144/1/0_semantic_sensor_npy.npy +3 -0
  24. train/train1144/1/1.json +522 -0
  25. train/train1144/1/1_depth_npy.npy +3 -0
  26. train/train1144/1/1_semantic_sensor_npy.npy +3 -0
  27. train/train1144/1/depth_0.png +0 -0
  28. train/train1144/1/depth_1.png +0 -0
  29. train/train1144/1/mask_questions.jsonl +0 -0
  30. train/train1144/1/rgb_0.png +3 -0
  31. train/train1144/1/rgb_1.png +3 -0
  32. train/train1144/1/semantic_0.png +0 -0
  33. train/train1144/1/semantic_1.png +0 -0
  34. train/train1144/2/0.json +909 -0
  35. train/train1144/2/0_depth_npy.npy +3 -0
  36. train/train1144/2/0_semantic_sensor_npy.npy +3 -0
  37. train/train1144/2/1.json +683 -0
  38. train/train1144/2/1_depth_npy.npy +3 -0
  39. train/train1144/2/1_semantic_sensor_npy.npy +3 -0
  40. train/train1144/2/depth_0.png +0 -0
  41. train/train1144/2/depth_1.png +0 -0
  42. train/train1144/2/mask_questions.jsonl +0 -0
  43. train/train1144/2/questions_distance.jsonl +1 -0
  44. train/train1144/2/rgb_0.png +3 -0
  45. train/train1144/2/rgb_1.png +3 -0
  46. train/train1144/2/semantic_0.png +0 -0
  47. train/train1144/2/semantic_1.png +0 -0
  48. train/train1144/3/0.json +634 -0
  49. train/train1144/3/0_depth_npy.npy +3 -0
  50. train/train1144/3/0_semantic_sensor_npy.npy +3 -0
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