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Upload synthetic YOLO-Seg training dataset (part 9)

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  1. dataset/truth/train/000100548.json +8 -0
  2. dataset/truth/train/000100549.json +140 -0
  3. dataset/truth/train/000100550.json +235 -0
  4. dataset/truth/train/000100551.json +108 -0
  5. dataset/truth/train/000100552.json +8 -0
  6. dataset/truth/train/000100553.json +116 -0
  7. dataset/truth/train/000100554.json +247 -0
  8. dataset/truth/train/000100555.json +104 -0
  9. dataset/truth/train/000100556.json +8 -0
  10. dataset/truth/train/000100557.json +124 -0
  11. dataset/truth/train/000100558.json +283 -0
  12. dataset/truth/train/000100559.json +92 -0
  13. dataset/truth/train/000100560.json +8 -0
  14. dataset/truth/train/000100561.json +136 -0
  15. dataset/truth/train/000100562.json +279 -0
  16. dataset/truth/train/000100563.json +108 -0
  17. dataset/truth/train/000100564.json +8 -0
  18. dataset/truth/train/000100565.json +116 -0
  19. dataset/truth/train/000100566.json +247 -0
  20. dataset/truth/train/000100567.json +104 -0
  21. dataset/truth/train/000100568.json +8 -0
  22. dataset/truth/train/000100569.json +144 -0
  23. dataset/truth/train/000100570.json +259 -0
  24. dataset/truth/train/000100571.json +96 -0
  25. dataset/truth/train/000100572.json +8 -0
  26. dataset/truth/train/000100573.json +144 -0
  27. dataset/truth/train/000100574.json +243 -0
  28. dataset/truth/train/000100575.json +112 -0
  29. dataset/truth/train/000100576.json +8 -0
  30. dataset/truth/train/000100577.json +144 -0
  31. dataset/truth/train/000100578.json +227 -0
  32. dataset/truth/train/000100579.json +104 -0
  33. dataset/truth/train/000100580.json +8 -0
  34. dataset/truth/train/000100581.json +140 -0
  35. dataset/truth/train/000100582.json +251 -0
  36. dataset/truth/train/000100583.json +108 -0
  37. dataset/truth/train/000100584.json +8 -0
  38. dataset/truth/train/000100585.json +132 -0
  39. dataset/truth/train/000100586.json +247 -0
  40. dataset/truth/train/000100587.json +100 -0
  41. dataset/truth/train/000100588.json +8 -0
  42. dataset/truth/train/000100589.json +132 -0
  43. dataset/truth/train/000100590.json +259 -0
  44. dataset/truth/train/000100591.json +100 -0
  45. dataset/truth/train/000100592.json +8 -0
  46. dataset/truth/train/000100593.json +148 -0
  47. dataset/truth/train/000100594.json +239 -0
  48. dataset/truth/train/000100595.json +108 -0
  49. dataset/truth/train/000100596.json +8 -0
  50. dataset/truth/train/000100597.json +140 -0
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