Upload primary S2V step3000 checkpoint
Browse files- apple_S2_tactile_regularized_residual_full_vision_300_best_step3000/config.json +89 -0
- apple_S2_tactile_regularized_residual_full_vision_300_best_step3000/model.safetensors +3 -0
- apple_S2_tactile_regularized_residual_full_vision_300_best_step3000/selection.json +4 -0
- apple_S2_tactile_regularized_residual_full_vision_300_best_step3000/training_manifest.json +1923 -0
apple_S2_tactile_regularized_residual_full_vision_300_best_step3000/config.json
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{
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"type": "smolvla",
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"n_obs_steps": 1,
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"normalization_mapping": {
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"VISUAL": "IDENTITY",
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"STATE": "MEAN_STD",
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"ACTION": "MEAN_STD"
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| 8 |
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},
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"input_features": {
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"observation.image": {
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| 11 |
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"type": "VISUAL",
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| 12 |
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"shape": [
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3,
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| 14 |
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256,
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| 15 |
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256
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| 16 |
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]
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| 17 |
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},
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| 18 |
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"observation.wrist_image": {
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"type": "VISUAL",
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| 20 |
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"shape": [
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3,
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| 22 |
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256,
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| 23 |
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256
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| 24 |
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]
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| 25 |
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},
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| 26 |
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"observation.state": {
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| 27 |
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"type": "STATE",
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| 28 |
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"shape": [
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| 29 |
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22
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| 30 |
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]
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| 31 |
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},
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| 32 |
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"observation.tactile": {
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| 33 |
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"type": "STATE",
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| 34 |
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"shape": [
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| 35 |
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20
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| 36 |
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]
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| 37 |
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}
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| 38 |
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},
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| 39 |
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"output_features": {
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| 40 |
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"action": {
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| 41 |
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"type": "ACTION",
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| 42 |
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"shape": [
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| 43 |
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22
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| 44 |
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]
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| 45 |
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}
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| 46 |
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},
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| 47 |
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"device": "cuda",
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| 48 |
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"use_amp": true,
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| 49 |
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"chunk_size": 20,
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| 50 |
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"n_action_steps": 10,
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| 51 |
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"max_state_dim": 32,
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| 52 |
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"max_action_dim": 32,
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| 53 |
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"resize_imgs_with_padding": [
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512,
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| 55 |
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512
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],
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| 57 |
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"empty_cameras": 0,
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| 58 |
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"adapt_to_pi_aloha": false,
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| 59 |
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"use_delta_joint_actions_aloha": false,
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| 60 |
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"tokenizer_max_length": 48,
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| 61 |
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"num_steps": 10,
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| 62 |
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"use_cache": true,
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| 63 |
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"freeze_vision_encoder": true,
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| 64 |
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"train_expert_only": true,
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| 65 |
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"train_state_proj": true,
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| 66 |
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"optimizer_lr": 5e-05,
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| 67 |
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"optimizer_betas": [
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0.9,
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| 69 |
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0.95
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| 70 |
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],
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| 71 |
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"optimizer_eps": 1e-08,
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| 72 |
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"optimizer_weight_decay": 1e-10,
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| 73 |
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"optimizer_grad_clip_norm": 10,
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| 74 |
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"scheduler_warmup_steps": 1000,
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| 75 |
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"scheduler_decay_steps": 30000,
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| 76 |
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"scheduler_decay_lr": 2.5e-06,
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| 77 |
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"vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
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| 78 |
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"load_vlm_weights": false,
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| 79 |
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"add_image_special_tokens": false,
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| 80 |
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"attention_mode": "cross_attn",
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| 81 |
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"prefix_length": 0,
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| 82 |
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"pad_language_to": "max_length",
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| 83 |
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"num_expert_layers": 0,
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| 84 |
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"num_vlm_layers": 16,
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| 85 |
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"self_attn_every_n_layers": 2,
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| 86 |
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"expert_width_multiplier": 0.75,
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| 87 |
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"min_period": 0.004,
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| 88 |
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"max_period": 4.0
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| 89 |
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}
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apple_S2_tactile_regularized_residual_full_vision_300_best_step3000/model.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:3a33426fed1f05a7675629ef51c54e64c459f541053a95960839f9a064484ac7
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size 1199033664
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apple_S2_tactile_regularized_residual_full_vision_300_best_step3000/selection.json
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{
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"step": 3000,
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"val_loss": 0.05272998786050467
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}
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apple_S2_tactile_regularized_residual_full_vision_300_best_step3000/training_manifest.json
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|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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| 25 |
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| 26 |
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| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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|
| 38 |
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|
| 39 |
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| 40 |
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| 41 |
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|
| 42 |
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| 43 |
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|
| 44 |
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| 45 |
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| 46 |
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| 47 |
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|
| 48 |
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| 49 |
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|
| 50 |
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| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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| 62 |
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|
| 63 |
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| 64 |
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|
| 65 |
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| 69 |
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| 70 |
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|
| 71 |
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| 72 |
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|
| 73 |
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|
| 74 |
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| 75 |
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|
| 76 |
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| 77 |
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| 78 |
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| 80 |
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| 81 |
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