Claude: über nacht arbeiten. Pipeline verbessern
This commit is contained in:
593
data/evaluations/Scene11/render_a_camera_pose.json
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593
data/evaluations/Scene11/render_a_camera_pose.json
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{
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{
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{
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||||
]
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||||
},
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||||
"qa": {
|
||||
"sanity_notes": []
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user