Taco Play Augmented
Collection
2 items
•
Updated
Datasets:
Dataset Viewer
observation.widowX.joints
listlengths 7
7
| observation.widowX.ee_pose
listlengths 7
7
| observation.widowX.base_position
listlengths 3
3
| observation.widowX.base_orientation
float32 0
0
| observation.widowX.ee_error
listlengths 7
7
| observation.sawyer.joints
listlengths 8
8
| observation.sawyer.ee_pose
listlengths 7
7
| observation.sawyer.base_position
listlengths 3
3
| observation.sawyer.base_orientation
float32 0
0
| observation.sawyer.ee_error
listlengths 7
7
| observation.ur5e.joints
listlengths 7
7
| observation.ur5e.ee_pose
listlengths 7
7
| observation.ur5e.base_position
listlengths 3
3
| observation.ur5e.base_orientation
float32 0
0
| observation.ur5e.ee_error
listlengths 7
7
| observation.google_robot.joints
listlengths 8
8
| observation.google_robot.ee_pose
listlengths 7
7
| observation.google_robot.base_position
listlengths 3
3
| observation.google_robot.base_orientation
float32 0
0
| observation.google_robot.ee_error
listlengths 7
7
| observation.jaco.joints
listlengths 7
7
| observation.jaco.ee_pose
listlengths 7
7
| observation.jaco.base_position
listlengths 3
3
| observation.jaco.base_orientation
float32 0
0
| observation.jaco.ee_error
listlengths 7
7
| observation.kinova3.joints
listlengths 8
8
| observation.kinova3.ee_pose
listlengths 7
7
| observation.kinova3.base_position
listlengths 3
3
| observation.kinova3.base_orientation
float32 0
0
| observation.kinova3.ee_error
listlengths 7
7
| observation.kuka_iiwa.joints
listlengths 8
8
| observation.kuka_iiwa.ee_pose
listlengths 7
7
| observation.kuka_iiwa.base_position
listlengths 3
3
| observation.kuka_iiwa.base_orientation
float32 0
0
| observation.kuka_iiwa.ee_error
listlengths 7
7
| observation.xarm7.joints
listlengths 8
8
| observation.xarm7.ee_pose
listlengths 7
7
| observation.xarm7.base_position
listlengths 3
3
| observation.xarm7.base_orientation
float32 0
0
| observation.xarm7.ee_error
listlengths 7
7
| natural_language_instruction
stringclasses 205
values | observation.state
listlengths 15
15
| observation.joints
listlengths 8
8
| observation.ee_pose
listlengths 7
7
| timestamp
float64 0
4.33
| frame_index
int64 0
65
| episode_index
int64 0
360
| index
int64 0
23.8k
| task_index
int64 0
204
|
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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put the grasped yellow object inside the box
|
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put the grasped yellow object inside the box
|
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1
] |
[
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[
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|
[
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[
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[
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[
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[
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[
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[
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0,
0
] | 0
|
[
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[
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[
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[
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] |
put the grasped yellow object inside the box
|
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[
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[
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| 2
| 0
| 2
| 0
|
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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[
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[
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[
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] |
[
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[
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|
[
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[
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] |
[
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[
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|
[
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[
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[
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[
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] | 0
|
[
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[
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[
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[
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|
[
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] |
put the grasped yellow object inside the box
|
[
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[
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] |
[
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] | 0.2
| 3
| 0
| 3
| 0
|
[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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] |
[
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[
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|
[
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[
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[
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[
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|
[
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] |
[
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] |
[
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[
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] | 0
|
[
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[
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[
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] |
[
0,
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] | 0
|
[
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] |
[
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] |
[
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[
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] | 0
|
[
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] |
put the grasped yellow object inside the box
|
[
0.34440135955810547,
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-2.4749693870544434,
0.00918516330420971,
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1
] |
[
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0
] |
[
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] | 0.266667
| 4
| 0
| 4
| 0
|
[
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0
] |
[
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[
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] | 0
|
[
0.0000012069940567016602,
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0.00007665157318115234,
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] |
[
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] |
[
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0.9175906181335449,
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] |
[
0,
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0
] | 0
|
[
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] |
[
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0
] |
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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|
[
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[
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[
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[
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put the grasped yellow object inside the box
|
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[
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| 5
| 0
| 5
| 0
|
[
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[
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[
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|
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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put the grasped yellow object inside the box
|
[
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1
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[
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[
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] | 0.4
| 6
| 0
| 6
| 0
|
[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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] |
[
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[
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] | 0
|
[
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[
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[
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[
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] | 0
|
[
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[
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] |
[
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[
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] | 0
|
[
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[
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[
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] |
[
0,
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] | 0
|
[
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] |
[
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] |
[
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[
0,
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] | 0
|
[
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] |
put the grasped yellow object inside the box
|
[
0.35745254158973694,
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-2.41828989982605,
0.0859595462679863,
2.5664989948272705,
0.5956055521965027,
1
] |
[
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2.5729362964630127,
0.6709279417991638,
0
] |
[
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0.9175583124160767,
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0.01750422827899456
] | 0.466667
| 7
| 0
| 7
| 0
|
[
-1.3810395002365112,
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0
] |
[
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0.9175598621368408,
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0.1515958309173584
] |
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
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|
[
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] |
put the grasped yellow object inside the box
|
[
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[
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[
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| 8
| 0
| 8
| 0
|
[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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] |
[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
0,
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] | 0
|
[
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] |
put the grasped yellow object inside the box
|
[
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1
] |
[
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] |
[
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] | 0.6
| 9
| 0
| 9
| 0
|
[
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[
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[
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|
[
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[
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[
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[
0,
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] | 0
|
[
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[
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0
] |
[
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] |
[
0,
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] | 0
|
[
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] |
[
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0
] |
[
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] |
[
0.22499999403953552,
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] | 0
|
[
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] |
[
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
0.0000032782554626464844,
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0.00013653840869665146,
0.000006854534149169922,
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] |
[
0.7181507349014282,
0.3210924565792084,
0.2314697504043579,
1.5448877811431885,
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1.0171016454696655,
0.2699744999408722,
0
] |
[
0.3405322730541229,
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0.013922171667218208,
0.9178767800331116,
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] |
[
0,
0,
0
] | 0
|
[
-0.0000037550926208496094,
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0.000021976418793201447,
-0.00001519918441772461,
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0.00013546645641326904
] |
[
-0.7951427102088928,
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0.2995326519012451,
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0
] |
[
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0.2935955822467804,
0.014006095938384533,
0.9178590178489685,
-0.36605462431907654,
0.15278321504592896
] |
[
0,
0,
0
] | 0
|
[
-0.0000019669532775878906,
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0.000002562999725341797,
0.000029265880584716797,
0.00006033480167388916
] |
[
0.8007046580314636,
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1.187256932258606,
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1.2149224281311035,
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0
] |
[
0.34052518010139465,
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0.29359501600265503,
0.014020929113030434,
0.9177961945533752,
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0.15291519463062286
] |
[
0,
0,
0
] | 0
|
[
0.000003337860107421875,
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-0.0000767810270190239,
0.00006538629531860352,
0.0001310408115386963,
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] |
put the grasped yellow object inside the box
|
[
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[
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| 10
| 0
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[
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[
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[
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[
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[
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[
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[
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[
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[
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put the grasped yellow object inside the box
|
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| 11
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[
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[
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|
[
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[
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[
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|
[
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put the grasped yellow object inside the box
|
[
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[
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[
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| 12
| 0
| 12
| 0
|
[
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[
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|
[
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[
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[
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[
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[
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[
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[
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|
[
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[
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[
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[
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[
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|
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[
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[
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[
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[
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[
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|
[
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[
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[
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put the grasped yellow object inside the box
|
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|
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[
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[
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[
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[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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put the grasped yellow object inside the box
|
[
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[
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[
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| 14
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| 14
| 0
|
[
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|
[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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put the grasped yellow object inside the box
|
[
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1
] |
[
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] |
[
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] | 1
| 15
| 0
| 15
| 0
|
[
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[
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[
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] | 0
|
[
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[
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[
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[
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] | 0
|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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put the grasped yellow object inside the box
|
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|
[
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[
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[
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|
[
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put the grasped yellow object inside the box
|
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[
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|
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[
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[
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|
[
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[
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|
[
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[
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[
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[
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[
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[
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|
[
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[
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[
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|
[
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put the grasped yellow object inside the box
|
[
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1
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[
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[
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] | 1.2
| 18
| 0
| 18
| 0
|
[
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[
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[
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|
[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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[
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[
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[
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[
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|
[
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[
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[
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put the grasped yellow object inside the box
|
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| 19
| 0
|
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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put the grasped yellow object inside the box
|
[
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[
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[
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| 20
| 0
| 20
| 0
|
[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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] | 0
|
[
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[
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] |
[
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[
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] | 0
|
[
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] |
put the grasped yellow object inside the box
|
[
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2.2344565391540527,
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1
] |
[
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] |
[
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] | 1.4
| 21
| 0
| 21
| 0
|
[
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0
] |
[
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[
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] | 0
|
[
0.0032160133123397827,
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[
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[
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[
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0,
0
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|
[
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[
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[
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[
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[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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0.00001194048672914505,
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
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|
[
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] |
put the grasped yellow object inside the box
|
[
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1
] |
[
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[
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] | 1.466667
| 22
| 0
| 22
| 0
|
[
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[
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[
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|
[
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[
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[
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[
0,
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|
[
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[
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[
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[
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|
[
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[
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] |
[
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[
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|
[
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[
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] |
[
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[
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|
[
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[
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] |
[
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[
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|
[
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[
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[
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[
0,
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0
] | 0
|
[
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[
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] |
[
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[
0,
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] | 0
|
[
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] |
put the grasped yellow object inside the box
|
[
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0.06726902723312378,
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1
] |
[
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] |
[
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] | 1.533333
| 23
| 0
| 23
| 0
|
[
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[
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[
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] | 0
|
[
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[
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] |
[
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] |
[
0,
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] | 0
|
[
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[
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] |
[
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] |
[
0,
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] | 0
|
[
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[
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0
] |
[
0.6013327836990356,
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[
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0,
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] | 0
|
[
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] |
[
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] |
[
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[
0,
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0
] | 0
|
[
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0.000022263266146183014,
0.00002390146255493164,
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] |
[
0.7890719175338745,
0.4030246138572693,
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1.16331946849823,
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1.3752588033676147,
0.4633414149284363,
0
] |
[
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[
0,
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] | 0
|
[
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0.000008908100426197052,
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] |
[
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] |
[
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0.9635136127471924,
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0.13861794769763947
] |
[
0,
0,
0
] | 0
|
[
-0.0000013709068298339844,
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0,
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0.0000030994415283203125,
0.00003701448440551758,
0.00003485381603240967
] |
[
1.1038811206817627,
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1.5696455240249634,
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1.5299384593963623,
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0
] |
[
0.376324862241745,
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0.36964449286460876,
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0.9634587168693542,
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] |
[
0,
0,
0
] | 0
|
[
0.000006973743438720703,
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0.000004112720489501953,
-0.00008590985089540482,
0.00005799531936645508,
0.00015310943126678467,
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] |
put the grasped yellow object inside the box
|
[
0.39580702781677246,
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0.36968180537223816,
-3.109881639480591,
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0.08066164702177048,
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1
] |
[
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[
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] | 1.6
| 24
| 0
| 24
| 0
|
[
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[
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[
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[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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0.000007146969437599182,
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
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|
[
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] |
put the grasped yellow object inside the box
|
[
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] |
[
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] |
[
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] | 1.666667
| 25
| 0
| 25
| 0
|
[
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[
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[
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|
[
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[
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[
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[
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] | 0
|
[
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[
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[
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[
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|
[
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[
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] |
[
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[
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|
[
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[
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] |
[
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[
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|
[
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[
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] |
[
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[
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|
[
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[
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[
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] |
[
0,
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] | 0
|
[
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] |
[
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] |
[
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[
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] | 0
|
[
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] |
put the grasped yellow object inside the box
|
[
0.3980397880077362,
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0.006522247567772865,
2.083698272705078,
0.2983514666557312,
1
] |
[
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2.194145679473877,
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0
] |
[
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] | 1.733333
| 26
| 0
| 26
| 0
|
[
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] |
[
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[
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] | 0
|
[
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[
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] |
[
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] |
[
0,
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] | 0
|
[
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[
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] |
[
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] |
[
0,
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] | 0
|
[
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[
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] |
[
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[
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] | 0
|
[
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[
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] |
[
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[
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] | 0
|
[
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[
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] |
[
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[
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] | 0
|
[
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[
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] |
[
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] |
[
0,
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] | 0
|
[
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[
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[
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[
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put the grasped yellow object inside the box
|
[
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[
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[
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| 0
| 27
| 0
|
[
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[
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|
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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|
[
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[
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[
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[
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[
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[
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[
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[
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|
[
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[
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[
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|
[
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put the grasped yellow object inside the box
|
[
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[
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[
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| 28
| 0
| 28
| 0
|
[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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] | 0
|
[
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[
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] |
[
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[
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|
[
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] |
put the grasped yellow object inside the box
|
[
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1
] |
[
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] |
[
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] | 1.933333
| 29
| 0
| 29
| 0
|
[
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[
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[
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] | 0
|
[
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[
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[
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] |
[
0,
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] | 0
|
[
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[
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[
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] |
[
0,
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] | 0
|
[
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[
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] |
[
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[
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|
[
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[
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] |
[
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[
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|
[
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[
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0.9667250514030457,
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1.5957151651382446,
0.5240944623947144,
0
] |
[
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0.429545521736145,
0.010097509250044823,
0.9858940839767456,
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0.10925412178039551
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[
0,
0,
0
] | 0
|
[
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0,
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[
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[
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] |
[
0,
0,
0
] | 0
|
[
-8.940696716308594e-7,
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-0.00006447639316320419,
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0.00003737211227416992,
0.000012978911399841309
] |
[
1.2532354593276978,
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1.7653837203979492,
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1.7294434309005737,
-3.1139578819274902,
0
] |
[
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[
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0
] | 0
|
[
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-0.00011082645505666733,
0.0000489354133605957,
0.0001614391803741455,
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] |
put the grasped yellow object inside the box
|
[
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1
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| 0
| 30
| 0
|
[
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[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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[
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[
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[
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|
[
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[
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0
] |
[
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[
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|
[
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0.00004863739013671875,
0.00016127526760101318,
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] |
put the grasped yellow object inside the box
|
[
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2.071824312210083,
0.29997894167900085,
1
] |
[
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2.075575828552246,
0.2996499538421631,
0
] |
[
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0.4326554238796234,
0.9866331219673157,
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0.10764341056346893,
0.012275795452296734
] | 2.066667
| 31
| 0
| 31
| 0
|
[
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0
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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] | 0
|
[
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] |
[
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0
] |
[
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[
0.22499999403953552,
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] | 0
|
[
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[
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[
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[
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] | 0
|
[
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] |
[
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] |
[
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[
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|
[
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[
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0
] |
[
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] |
[
0,
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0
] | 0
|
[
-8.344650268554688e-7,
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0.000004172325134277344,
0.00003701448440551758,
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] |
[
1.2647956609725952,
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1.7768224477767944,
-0.8284661173820496,
1.740883708000183,
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0
] |
[
0.3893251419067383,
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0.4340364933013916,
0.013861049897968769,
0.9870150685310364,
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[
0,
0,
0
] | 0
|
[
0.000011444091796875,
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0.000010639429092407227,
-0.0001130811870098114,
0.0000483393669128418,
0.0001611560583114624,
-0.00025226175785064697
] |
put the grasped yellow object inside the box
|
[
0.4002477526664734,
-0.3552231192588806,
0.38711369037628174,
3.136685371398926,
-0.21384106576442719,
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0.08066164702177048,
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-0.2494387924671173,
-0.4309861361980438,
-2.106633186340332,
-0.008804315701127052,
2.070892572402954,
0.2999349534511566,
1
] |
[
-0.2946113348007202,
-0.2484995573759079,
-0.4341534376144409,
-2.1066431999206543,
-0.005341599229723215,
2.0726277828216553,
0.2999623119831085,
0
] |
[
0.38933658599853516,
-0.3543338179588318,
0.434047132730484,
0.9870634078979492,
-0.11873219907283783,
0.1068621277809143,
0.013747968710958958
] | 2.133333
| 32
| 0
| 32
| 0
|
End of preview. Expand
in Data Studio
taco_play_test_augmented
Overview
- Codebase version:
v3.0 - Robots: google_robot, images, jaco, kinova3, kuka_iiwa, sawyer, ur5e, widowX, xarm7
- FPS: 15
- Episodes: 361
- Frames: 23,826
- Splits:
train:0:361
Data Layout
data_path : data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
video_path: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
Features
| Feature | dtype | shape | description |
|---|---|---|---|
observation.images.google_robot |
video |
150×200×3 |
Augmented image for google_robot robot |
observation.images.image |
video |
150×200×3 |
Source robot's image from original dataset |
observation.images.jaco |
video |
150×200×3 |
Augmented image for jaco robot |
observation.images.kinova3 |
video |
150×200×3 |
Augmented image for kinova3 robot |
observation.images.kuka_iiwa |
video |
150×200×3 |
Augmented image for kuka_iiwa robot |
observation.images.sawyer |
video |
150×200×3 |
Augmented image for sawyer robot |
observation.images.ur5e |
video |
150×200×3 |
Augmented image for ur5e robot |
observation.images.widowX |
video |
150×200×3 |
Augmented image for widowX robot |
observation.images.xarm7 |
video |
150×200×3 |
Augmented image for xarm7 robot |
episode_index |
int64 |
1 |
Index of the current episode within the dataset. |
frame_index |
int64 |
1 |
Index of the current frame within its episode. |
index |
int64 |
1 |
Global frame index across the whole dataset. |
natural_language_instruction |
string |
1 |
Natural language command describing the task |
observation.ee_pose |
float32 |
7 |
Source robot's eef position |
observation.google_robot.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.google_robot.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.google_robot.ee_error |
float32 |
7 |
The eef difference between the augmented google_robot robot and the original robot |
observation.google_robot.ee_pose |
float32 |
7 |
The eef position of google_robot robot |
observation.google_robot.joints |
float32 |
8 |
The joint position of google_robot robot |
observation.jaco.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.jaco.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.jaco.ee_error |
float32 |
7 |
The eef difference between the augmented jaco robot and the original robot |
observation.jaco.ee_pose |
float32 |
7 |
The eef position of jaco robot |
observation.jaco.joints |
float32 |
7 |
The joint position of jaco robot |
observation.joints |
float32 |
8 |
Joint angle of source robot |
observation.kinova3.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.kinova3.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.kinova3.ee_error |
float32 |
7 |
The eef difference between the augmented kinova3 robot and the original robot |
observation.kinova3.ee_pose |
float32 |
7 |
The eef position of kinova3 robot |
observation.kinova3.joints |
float32 |
8 |
The joint position of kinova3 robot |
observation.kuka_iiwa.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.kuka_iiwa.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.kuka_iiwa.ee_error |
float32 |
7 |
The eef difference between the augmented kuka_iiwa robot and the original robot |
observation.kuka_iiwa.ee_pose |
float32 |
7 |
The eef position of kuka_iiwa robot |
observation.kuka_iiwa.joints |
float32 |
8 |
The joint position of kuka_iiwa robot |
observation.sawyer.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.sawyer.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.sawyer.ee_error |
float32 |
7 |
The eef difference between the augmented sawyer robot and the original robot |
observation.sawyer.ee_pose |
float32 |
7 |
The eef position of sawyer robot |
observation.sawyer.joints |
float32 |
8 |
The joint position of sawyer robot |
observation.state |
float32 |
15 |
Copy of the state field in source robot's RLDS dataset |
observation.ur5e.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.ur5e.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.ur5e.ee_error |
float32 |
7 |
The eef difference between the augmented ur5e robot and the original robot |
observation.ur5e.ee_pose |
float32 |
7 |
The eef position of ur5e robot |
observation.ur5e.joints |
float32 |
7 |
The joint position of ur5e robot |
observation.widowX.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.widowX.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.widowX.ee_error |
float32 |
7 |
The eef difference between the augmented widowX robot and the original robot |
observation.widowX.ee_pose |
float32 |
7 |
The eef position of widowX robot |
observation.widowX.joints |
float32 |
7 |
The joint position of widowX robot |
observation.xarm7.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.xarm7.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.xarm7.ee_error |
float32 |
7 |
The eef difference between the augmented xarm7 robot and the original robot |
observation.xarm7.ee_pose |
float32 |
7 |
The eef position of xarm7 robot |
observation.xarm7.joints |
float32 |
8 |
The joint position of xarm7 robot |
task_index |
int64 |
1 |
Integer ID of the high-level task this episode/frame belongs to. |
timestamp |
float32 |
1 |
Time stamp of the current frame within the episode (in second). |
Website
- Website page: https://oxe-auge.github.io/
- Project repository: https://github.com/GuanhuaJi/oxe-auge
Paper
- Not available.
Citation Policy
If you use OXE-AugE datasets, please cite both our dataset and the upstream datasets.
Upstream Dataset Citation (original dataset)
@inproceedings{rosete2022tacorl,
author = {Erick Rosete-Beas and Oier Mees and Gabriel Kalweit and Joschka Boedecker and Wolfram Burgard},
title = {Latent Plans for Task Agnostic Offline Reinforcement Learning},
journal = {Proceedings of the 6th Conference on Robot Learning (CoRL)},
year = {2022}
}
@inproceedings{mees23hulc2,
title={Grounding Language with Visual Affordances over Unstructured Data},
author={Oier Mees and Jessica Borja-Diaz and Wolfram Burgard},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year={2023},
address = {London, UK}
}
OXE-AugE Dataset Citation (ours)
@misc{
ji2025oxeaug,
title = {OXE-AugE: A Large-Scale Robot Augmentation of OXE for Scaling Cross-Embodiment Policy Learning},
author = {Ji, Guanhua and Polavaram, Harsha and Chen, Lawrence Yunliang and Bajamahal, Sandeep and Ma, Zehan and Adebola, Simeon and Xu, Chenfeng and Goldberg, Ken},
year = {2025},
note = {Manuscript}
}
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