image imagewidth (px) 1.28k 1.28k | lang_goal stringlengths 48 49 | trajectory_2d sequencelengths 1 245 | trajectory_3d sequencelengths 1 245 | camera_params stringclasses 1
value | horizon int64 1 245 |
|---|---|---|---|---|---|
Navigate to <point x="58.0" y="50.8">goal</point> | [
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Navigate to <point x="58.2" y="50.4">goal</point> | [
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... | [
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-0.0173989... | {"resolution": {"width": 1280, "height": 720}, "camera_matrix": {"data": [608.116, 0.0, 639.186, 0.0, 607.871, 363.069, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9981348, 0.0, 0.0610485, 0.33, 0.0, 1.0, 0.0, 0.0, -0.0610485, 0.0, 0.9981348, 0.65, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.5, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.5, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 160 | |
Navigate to <point x="58.2" y="50.3">goal</point> | [
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[
... | [
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-0.01466... | {"resolution": {"width": 1280, "height": 720}, "camera_matrix": {"data": [608.116, 0.0, 639.186, 0.0, 607.871, 363.069, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9981348, 0.0, 0.0610485, 0.33, 0.0, 1.0, 0.0, 0.0, -0.0610485, 0.0, 0.9981348, 0.65, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.5, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.5, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 155 | |
Navigate to <point x="58.2" y="50.3">goal</point> | [
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[
... | [
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-0.01466... | {"resolution": {"width": 1280, "height": 720}, "camera_matrix": {"data": [608.116, 0.0, 639.186, 0.0, 607.871, 363.069, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9981348, 0.0, 0.0610485, 0.33, 0.0, 1.0, 0.0, 0.0, -0.0610485, 0.0, 0.9981348, 0.65, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.5, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.5, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 155 | |
Navigate to <point x="58.2" y="50.6">goal</point> | [
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[
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[
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[
... | [
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[
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-0.0210... | {"resolution": {"width": 1280, "height": 720}, "camera_matrix": {"data": [608.116, 0.0, 639.186, 0.0, 607.871, 363.069, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9981348, 0.0, 0.0610485, 0.33, 0.0, 1.0, 0.0, 0.0, -0.0610485, 0.0, 0.9981348, 0.65, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.5, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.5, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 156 | |
Navigate to <point x="58.0" y="50.6">goal</point> | [
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[
... | [
[
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[
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-0.01368124365... | {"resolution": {"width": 1280, "height": 720}, "camera_matrix": {"data": [608.116, 0.0, 639.186, 0.0, 607.871, 363.069, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9981348, 0.0, 0.0610485, 0.33, 0.0, 1.0, 0.0, 0.0, -0.0610485, 0.0, 0.9981348, 0.65, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.5, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.5, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 157 | |
Navigate to <point x="58.0" y="50.6">goal</point> | [
[
685,
704
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[
683,
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[
683,
668
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[
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[
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[
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[
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[
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[
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[
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[
... | [
[
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[
2.91791351573994,
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-0.01368124365... | {"resolution": {"width": 1280, "height": 720}, "camera_matrix": {"data": [608.116, 0.0, 639.186, 0.0, 607.871, 363.069, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9981348, 0.0, 0.0610485, 0.33, 0.0, 1.0, 0.0, 0.0, -0.0610485, 0.0, 0.9981348, 0.65, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.5, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.5, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 157 | |
Navigate to <point x="58.0" y="50.1">goal</point> | [
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[
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[
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[
... | [
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[
2.884012132435153,
-0.20281956326797612,
-0.001... | {"resolution": {"width": 1280, "height": 720}, "camera_matrix": {"data": [608.116, 0.0, 639.186, 0.0, 607.871, 363.069, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9981348, 0.0, 0.0610485, 0.33, 0.0, 1.0, 0.0, 0.0, -0.0610485, 0.0, 0.9981348, 0.65, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.5, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.5, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 158 | |
Navigate to <point x="58.0" y="50.1">goal</point> | [
[
680,
708
],
[
679,
689
],
[
679,
671
],
[
678,
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[
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[
676,
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[
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[
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[
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598
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[
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[
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[
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573
],
[
... | [
[
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],
[
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[
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],
[
2.884012132435153,
-0.20281956326797612,
-0.001... | {"resolution": {"width": 1280, "height": 720}, "camera_matrix": {"data": [608.116, 0.0, 639.186, 0.0, 607.871, 363.069, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9981348, 0.0, 0.0610485, 0.33, 0.0, 1.0, 0.0, 0.0, -0.0610485, 0.0, 0.9981348, 0.65, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.5, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.5, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 158 | |
Navigate to <point x="58.1" y="50.1">goal</point> | [
[
680,
708
],
[
679,
689
],
[
679,
671
],
[
678,
656
],
[
677,
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[
676,
633
],
[
681,
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],
[
682,
611
],
[
683,
598
],
[
685,
590
],
[
686,
581
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[
686,
573
],
[
... | [
[
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],
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],
[
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],
[
2.884012132435153,
-0.20281956326797612,
-0.001... | {"resolution": {"width": 1280, "height": 720}, "camera_matrix": {"data": [608.116, 0.0, 639.186, 0.0, 607.871, 363.069, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9981348, 0.0, 0.0610485, 0.33, 0.0, 1.0, 0.0, 0.0, -0.0610485, 0.0, 0.9981348, 0.65, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.5, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.5, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 159 | |
Navigate to <point x="58.0" y="50.0">goal</point> | [
[
677,
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],
[
676,
696
],
[
675,
677
],
[
675,
662
],
[
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[
674,
638
],
[
678,
624
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[
680,
615
],
[
681,
602
],
[
683,
594
],
[
683,
584
],
[
684,
576
],
[
... | [
[
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],
[
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],
[
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[
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0.002... | {"resolution": {"width": 1280, "height": 720}, "camera_matrix": {"data": [608.116, 0.0, 639.186, 0.0, 607.871, 363.069, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9981348, 0.0, 0.0610485, 0.33, 0.0, 1.0, 0.0, 0.0, -0.0610485, 0.0, 0.9981348, 0.65, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.5, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.5, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 160 | |
Navigate to <point x="58.0" y="50.3">goal</point> | [
[
675,
707
],
[
675,
688
],
[
675,
672
],
[
674,
660
],
[
673,
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[
678,
633
],
[
679,
623
],
[
680,
610
],
[
682,
601
],
[
683,
591
],
[
683,
583
],
[
684,
574
],
[
... | [
[
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],
[
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],
[
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-0.0147708... | {"resolution": {"width": 1280, "height": 720}, "camera_matrix": {"data": [608.116, 0.0, 639.186, 0.0, 607.871, 363.069, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9981348, 0.0, 0.0610485, 0.33, 0.0, 1.0, 0.0, 0.0, -0.0610485, 0.0, 0.9981348, 0.65, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.5, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.5, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 156 | |
Navigate to <point x="58.0" y="50.3">goal</point> | [
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... | [
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Navigate to <point x="58.1" y="51.1">goal</point> | [
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... | [
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-0.0447510825... | {"resolution": {"width": 1280, "height": 720}, "camera_matrix": {"data": [608.116, 0.0, 639.186, 0.0, 607.871, 363.069, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9981348, 0.0, 0.0610485, 0.33, 0.0, 1.0, 0.0, 0.0, -0.0610485, 0.0, 0.9981348, 0.65, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.5, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.5, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 156 | |
Navigate to <point x="58.1" y="51.5">goal</point> | [
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... | [
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-0.05127165732... | {"resolution": {"width": 1280, "height": 720}, "camera_matrix": {"data": [608.116, 0.0, 639.186, 0.0, 607.871, 363.069, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9981348, 0.0, 0.0610485, 0.33, 0.0, 1.0, 0.0, 0.0, -0.0610485, 0.0, 0.9981348, 0.65, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.5, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.5, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 158 | |
Navigate to <point x="58.1" y="51.5">goal</point> | [
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674,
716
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674,
698
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[
673,
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[
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],
[
683,
601
],
[
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[
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[
... | [
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-0.05127165732... | {"resolution": {"width": 1280, "height": 720}, "camera_matrix": {"data": [608.116, 0.0, 639.186, 0.0, 607.871, 363.069, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9981348, 0.0, 0.0610485, 0.33, 0.0, 1.0, 0.0, 0.0, -0.0610485, 0.0, 0.9981348, 0.65, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.5, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.5, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 158 |
End of preview. Expand in Data Studio
SCAND Navigation Dataset
This dataset contains navigation trajectory data for robotic navigation tasks. Each example includes an RGB image, a language goal describing the desired navigation target, and 2D/3D trajectories showing the path to the goal.
Dataset Structure
- image: RGB image from the robot's viewpoint
- lang_goal: Natural language instruction describing the navigation goal
- trajectory_2d: 2D trajectory coordinates (pixel space)
- trajectory_3d: 3D trajectory coordinates (world space)
- camera_params: Camera parameters including intrinsics and extrinsics
- horizon: Number of steps in the trajectory
Dataset Statistics
- Total examples: 702252
- Training examples: 562990
- Validation examples: 139262
- Total size: 150.52 GB
- Number of files: 71
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