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  1. config.yaml +180 -0
  2. model.pth +3 -0
  3. trunk.pth +3 -0
config.yaml ADDED
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+ seed: 0
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+ output_dir: output/03_05_2024_10_13_45_323746
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+ domains: austin_sailor_dataset_converted_externally_to_rlds, stanford_hydra_dataset_converted_externally_to_rlds,
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+ austin_buds_dataset_converted_externally_to_rlds, austin_sirius_dataset_converted_externally_to_rlds,
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+ berkeley_mvp_converted_externally_to_rlds, berkeley_rpt_converted_externally_to_rlds,
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+ iamlab_cmu_pickup_insert_converted_externally_to_rlds, utaustin_mutex, imperialcollege_sawyer_wrist_cam,
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+ stanford_mask_vit_converted_externally_to_rlds, language_table, kuka, bc_z, robo_net,
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+ dlr_sara_pour_converted_externally_to_rlds, stanford_robocook_converted_externally_to_rlds,
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+ cmu_play_fusion, bridge, furniture_bench_dataset_converted_externally_to_rlds, ucsd_pick_and_place_dataset_converted_externally_to_rlds,
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+ usc_cloth_sim_converted_externally_to_rlds, stanford_kuka_multimodal_dataset_converted_externally_to_rlds,
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+ roboturk, kaist_nonprehensile_converted_externally_to_rlds, asu_table_top_converted_externally_to_rlds,
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+ utokyo_xarm_pick_and_place_converted_externally_to_rlds, berkeley_cable_routing,
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+ droid, uiuc_d3field, robo_set, qut_dexterous_manpulation, nyu_door_opening_surprising_effectiveness,
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+ nyu_franka_play_dataset_converted_externally_to_rlds, mimic_play, maniskill_dataset_converted_externally_to_rlds,
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+ columbia_cairlab_pusht_real, conq_hose_manipulation, dlr_edan_shared_control_converted_externally_to_rlds,
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+ berkeley_gnm_sac_son, berkeley_autolab_ur5, aloha_mobile, agent_aware_affordances
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+ log_dir: output/03_05_2024_10_13_45_323746
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+ debug_distributed: false
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+ wb_tag: default
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+ wb_cont_run: yel8colx
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+ log_interval: 10
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+ script_name: run_resnet_30dataset_traj100000_embed1024_batch2048_800k
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+ save_wb_checkpoint: true
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+ slurm_job_id: '27051970'
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+ effective_total_epochs: 100
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+ effective_batch_size: 256
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+ epoch_size: 10
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+ total_num_traj: 0
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+ total_num_sample: 0
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+ rank: 0
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+ gpu: 0
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+ task_per_gpu: 1
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+ world_size: 64
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+ debug_submitit: false
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+ ngpus: 8
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+ nodes: 8
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+ timeout: 4320
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+ job_dir: logs/
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+ partition: learnlab
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+ use_volta32: true
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+ comment: ''
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+ resume: logs/
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+ dist_url: file:///checkpoint/xinleic/experiments/0171e314ce394a9d944eefc802a1747c_init
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+ dist_on_itp: false
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+ local_rank: 1
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+ distributed: true
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+ dist_backend: nccl
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+ dset_w_temperature: 2.0
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+ dataset_shuffle: true
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+ dataset_groups: ''
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+ nodelist: learnlab,learnfair,scavenge
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+ fsdp: false
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+ count_flops: false
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+ accumuate_gradient_steps: 1
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+ trunk_acc_gradient_step: 1
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+ submitit_autoresume: true
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+ customized_dataset_mixture_file: ''
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+ trunk_separate_opt: false
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+ dataset:
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+ _target_: hpt_pretrain.dataset.traj_dataset.TrajDataset
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+ horizon: 5
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+ val_ratio: 0.1
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+ pad_after: 0
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+ precompute_feat: true
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+ image_encoder: resnet
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+ episode_cnt: 100000
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+ step_cnt: 10000000
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+ data_augmentation: false
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+ use_disk: true
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+ pad_before: 0
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+ data_ratio: 1
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+ action_horizon: 8
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+ observation_horizon: 4
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+ dataset_postfix: _traj100000
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+ dataset_encoder_postfix: _resnet
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+ use_multiview: false
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+ normalize_state: true
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+ use_heldout_dataset: true
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+ heldout_dataset: false
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+ regenerate: false
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+ continue_generate: false
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+ network:
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+ _target_: hpt_pretrain.models.policy.Policy
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+ embed_dim: 1024
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+ num_blocks: 16
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+ num_heads: 8
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+ use_modality_embedding: true
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+ use_domain_embedding: false
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+ token_postprocessing: mean
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+ weight_init_style: pytorch
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+ drop_path: 0.1
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+ mae_loss_scale: 0.0
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+ masked_autoencoding: false
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+ action_horizon: ${dataset.action_horizon}
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+ stem:
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+ modalities:
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+ - image
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+ - state
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+ modality_embed_dim: 1024
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+ normalize_state: ${dataset.normalize_state}
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+ state_embedding_dim: 1
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+ image_encoder: ${dataset.image_encoder}
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+ crossattn_dim_head: 64
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+ crossattn_heads: 8
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+ crossattn_modality_dropout: 0.1
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+ observation_horizon: ${dataset.observation_horizon}
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+ random_horizon_masking: true
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+ add_pos_embedding_to_state: false
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+ num_blocks: 1
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+ crossattn_latent:
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+ image: 16
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+ state: 16
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+ image:
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+ _target_: hpt_pretrain.models.policy_stem.MLP
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+ input_dim: 512
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+ output_dim: 1024
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+ widths:
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+ - 128
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+ num_of_copy: 1
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+ state:
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+ _target_: hpt_pretrain.models.policy_stem.MLP
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+ input_dim: 8
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+ output_dim: 1024
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+ widths:
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+ - 128
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+ head:
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+ _target_: hpt_pretrain.models.policy_head.MLP
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+ input_dim: 1024
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+ tanh_end: true
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+ output_dim: 48
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+ dropout: true
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+ widths:
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+ - 256
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+ - 128
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+ dataloader:
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+ batch_size: 32
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+ num_workers: 1
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+ pin_memory: false
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+ persistent_workers: false
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+ drop_last: true
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+ val_dataloader:
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+ num_workers: 1
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+ pin_memory: false
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+ persistent_workers: false
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+ ddp_dataloader:
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+ num_workers: 8
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+ pin_memory: false
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+ persistent_workers: false
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+ drop_last: false
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+ prefetch_factor: 6
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+ ddp_val_dataloader:
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+ num_workers: 8
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+ pin_memory: false
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+ persistent_workers: false
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+ drop_last: false
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+ prefetch_factor: 2
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+ optimizer:
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+ _target_: torch.optim.AdamW
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+ lr: 0.001
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+ eps: 1.0e-06
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+ weight_decay: 0.05
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+ optimizer_misc:
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+ nontrunk_lr_scale: 0.5
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+ warmup_lr:
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+ lr: 1.0e-10
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+ step: 1000
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+ train:
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+ total_epochs: 30000
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+ total_iters: 80000
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+ epoch_iters: 1000
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+ validation_iters: 100
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+ use_accumulation: false
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+ pretrained_dir: ''
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+ max_validation_size: 10
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+ load_pretrain_trunk_only: false
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+ freeze_trunk: false
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+ lr_scheduler:
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+ _target_: torch.optim.lr_scheduler.CosineAnnealingLR
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+ T_max: 80000
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+ eta_min: 1.0e-06
model.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ size 1624182299
trunk.pth ADDED
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+ oid sha256:14d82dcf8287f1a2ad49480cfcdf01d190feff14a290e5e2292d909f7484580d
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+ size 806354858