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Upload dataset files (batch 328/552)

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  1. .gitattributes +252 -0
  2. train/FloorPlan_Train5_5/0/0.json +0 -0
  3. train/FloorPlan_Train5_5/0/0_depth_npy.npy +3 -0
  4. train/FloorPlan_Train5_5/0/0_semantic_sensor_npy.npy +3 -0
  5. train/FloorPlan_Train5_5/0/1.json +2298 -0
  6. train/FloorPlan_Train5_5/0/1_depth_npy.npy +3 -0
  7. train/FloorPlan_Train5_5/0/1_semantic_sensor_npy.npy +3 -0
  8. train/FloorPlan_Train5_5/0/depth_0.png +0 -0
  9. train/FloorPlan_Train5_5/0/depth_1.png +0 -0
  10. train/FloorPlan_Train5_5/0/mask_questions.jsonl +1 -0
  11. train/FloorPlan_Train5_5/0/questions_distance.jsonl +1 -0
  12. train/FloorPlan_Train5_5/0/rgb_0.png +3 -0
  13. train/FloorPlan_Train5_5/0/rgb_1.png +3 -0
  14. train/FloorPlan_Train5_5/0/rgb_1_mask_Chair|+07.89|+00.01|-02.24.png +3 -0
  15. train/FloorPlan_Train5_5/0/semantic_0.png +0 -0
  16. train/FloorPlan_Train5_5/0/semantic_1.png +0 -0
  17. train/FloorPlan_Train5_5/1/0.json +1607 -0
  18. train/FloorPlan_Train5_5/1/0_depth_npy.npy +3 -0
  19. train/FloorPlan_Train5_5/1/0_semantic_sensor_npy.npy +3 -0
  20. train/FloorPlan_Train5_5/1/1.json +2298 -0
  21. train/FloorPlan_Train5_5/1/1_depth_npy.npy +3 -0
  22. train/FloorPlan_Train5_5/1/1_semantic_sensor_npy.npy +3 -0
  23. train/FloorPlan_Train5_5/1/depth_0.png +0 -0
  24. train/FloorPlan_Train5_5/1/depth_1.png +0 -0
  25. train/FloorPlan_Train5_5/1/mask_questions.jsonl +2 -0
  26. train/FloorPlan_Train5_5/1/questions_distance.jsonl +1 -0
  27. train/FloorPlan_Train5_5/1/rgb_0.png +3 -0
  28. train/FloorPlan_Train5_5/1/rgb_0_mask_Chair|+08.71|+00.01|-02.61.png +3 -0
  29. train/FloorPlan_Train5_5/1/rgb_1.png +3 -0
  30. train/FloorPlan_Train5_5/1/rgb_1_mask_Chair|+07.89|+00.01|-02.24.png +3 -0
  31. train/FloorPlan_Train5_5/1/semantic_0.png +0 -0
  32. train/FloorPlan_Train5_5/1/semantic_1.png +0 -0
  33. train/FloorPlan_Train5_5/10/0.json +1563 -0
  34. train/FloorPlan_Train5_5/10/0_depth_npy.npy +3 -0
  35. train/FloorPlan_Train5_5/10/0_semantic_sensor_npy.npy +3 -0
  36. train/FloorPlan_Train5_5/10/1.json +0 -0
  37. train/FloorPlan_Train5_5/10/1_depth_npy.npy +3 -0
  38. train/FloorPlan_Train5_5/10/1_semantic_sensor_npy.npy +3 -0
  39. train/FloorPlan_Train5_5/10/depth_0.png +0 -0
  40. train/FloorPlan_Train5_5/10/depth_1.png +0 -0
  41. train/FloorPlan_Train5_5/10/mask_questions.jsonl +0 -0
  42. train/FloorPlan_Train5_5/10/rgb_0.png +3 -0
  43. train/FloorPlan_Train5_5/10/rgb_1.png +3 -0
  44. train/FloorPlan_Train5_5/10/semantic_0.png +0 -0
  45. train/FloorPlan_Train5_5/10/semantic_1.png +0 -0
  46. train/FloorPlan_Train5_5/11/0.json +1829 -0
  47. train/FloorPlan_Train5_5/11/0_depth_npy.npy +3 -0
  48. train/FloorPlan_Train5_5/11/0_semantic_sensor_npy.npy +3 -0
  49. train/FloorPlan_Train5_5/11/1.json +1287 -0
  50. train/FloorPlan_Train5_5/11/1_depth_npy.npy +3 -0
.gitattributes CHANGED
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