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train · 1.17M rows

trajectory stringclasses 239 values	start_ts int64 1,720B 1,738B ⌀	end_ts int64 1,720B 1,738B ⌀	start_frame int64 0 21.3k ⌀	end_frame int64 0 21.3k ⌀	caption stringlengths 1 325 ⌀	brief stringlengths 3 32 ⌀
2024_07_02__15_27_22	1,719,934,044,321	1,719,934,054,714	0	52	A light-colored cobblestone crosswalk area	cobblestone crosswalk
2024_07_02__15_27_22	1,719,934,044,321	1,719,934,054,714	0	52	A textured pedestrian crossing path	pedestrian crossing
2024_07_02__15_27_22	1,719,934,044,321	1,719,934,053,714	0	47	Tree in a small grass island	island tree
2024_07_02__15_27_22	1,719,934,064,314	1,719,934,074,513	100	151	A tall white monument in the distance	white monument
2024_07_02__15_27_22	1,719,934,064,314	1,719,934,074,513	100	151	The paved pathway through the park	paved pathway
2024_07_02__15_27_22	1,719,934,064,314	1,719,934,074,513	100	151	A cluster of tall green trees	green trees
2024_07_02__15_27_22	1,719,934,084,313	1,719,934,094,413	200	250	A small stone building ahead on left	stone building
2024_07_02__15_27_22	1,719,934,084,313	1,719,934,094,413	200	250	Small kiosk with white facade on the left	white kiosk
2024_07_02__15_27_22	1,719,934,084,313	1,719,934,094,413	200	250	A light-colored stone pavilion near the path	stone pavilion
2024_07_02__15_27_22	1,719,934,104,412	1,719,934,115,412	300	355	A tall white decorative lighting pole	lighting pole
2024_07_02__15_27_22	1,719,934,104,412	1,719,934,115,412	300	355	Tall white pillar with stacked spheres	decorative pillar
2024_07_02__15_27_22	1,719,934,104,412	1,719,934,115,412	300	355	A white pavilion building in the distance	white building
2024_07_02__15_27_22	1,719,934,124,411	1,719,934,135,411	400	455	White single-story building with a brown roof	white building
2024_07_02__15_27_22	1,719,934,124,411	1,719,934,135,411	400	455	A small white shop at the path end	white shop
2024_07_02__15_27_22	1,719,934,124,411	1,719,934,135,411	400	455	White kiosk with yellow window frames	white kiosk
2024_07_02__15_27_22	1,719,934,144,410	1,719,934,151,410	500	535	A small white ornate pavilion building	white pavilion
2024_07_02__15_27_22	1,719,934,144,410	1,719,934,152,410	500	540	An ornate kiosk with small windows	ornate kiosk
2024_07_02__15_27_22	1,719,934,144,410	1,719,934,155,410	500	555	A tall blue rectangular advertising banner	blue banner
2024_07_02__15_27_22	1,719,934,164,409	1,719,934,173,409	600	645	A large blue rectangular monument on the right	blue monument
2024_07_02__15_27_22	1,719,934,164,409	1,719,934,175,409	600	655	A white building with decorative arches on left	white building
2024_07_02__15_27_22	1,719,934,164,409	1,719,934,175,409	600	655	A white arch structure at the path's end	distant archway
2024_07_02__15_27_22	1,719,934,184,409	1,719,934,194,608	700	751	Large stone monumental archway in the center	stone archway
2024_07_02__15_27_22	1,719,934,184,409	1,719,934,189,608	700	726	A tall white monument tower	white tower
2024_07_02__15_27_22	1,719,934,184,409	1,719,934,194,608	700	751	Low-rise white building on the left side	white building
2024_07_02__15_27_22	1,719,934,204,408	1,719,934,214,607	800	851	A stone pillar of the large archway	stone pillar
2024_07_02__15_27_22	1,719,934,204,408	1,719,934,209,607	800	826	A person standing by the arch pillar	standing person
2024_07_02__15_27_22	1,719,934,204,408	1,719,934,214,607	800	851	The open space under the large archway	archway space
2024_07_02__15_27_22	1,719,934,244,406	1,719,934,254,805	1,000	1,052	Greek style building with white columns	white building
2024_07_02__15_27_22	1,719,934,244,406	1,719,934,254,805	1,000	1,052	Small building with several white columns	columned building
2024_07_02__15_27_22	1,719,934,244,406	1,719,934,254,805	1,000	1,052	Classic white stone building at the end	stone building
2024_07_02__15_27_22	1,719,934,264,405	1,719,934,274,604	1,100	1,151	A light colored stone archway entrance	stone archway
2024_07_02__15_27_22	1,719,934,264,405	1,719,934,274,604	1,100	1,151	A classic architectural pavilion structure ahead	architectural pavilion
2024_07_02__15_27_22	1,719,934,264,405	1,719,934,274,604	1,100	1,151	Tall white columns of the gate building	white columns
2024_07_02__15_27_22	1,719,934,284,404	1,719,934,295,404	1,200	1,255	White building with columns on the right	white building
2024_07_02__15_27_22	1,719,934,284,404	1,719,934,295,404	1,200	1,255	The columned entrance of the large building	building entrance
2024_07_02__15_27_22	1,719,934,284,404	1,719,934,295,404	1,200	1,255	Paved walkway leading towards the buildings	paved walkway
2024_07_02__15_27_22	1,719,934,304,403	1,719,934,315,403	1,300	1,355	A group of people standing near a lamp post	standing people
2024_07_02__15_27_22	1,719,934,304,403	1,719,934,315,403	1,300	1,355	Tall ornate street lamp pole on the square	street lamp
2024_07_02__15_27_22	1,719,934,304,403	1,719,934,315,403	1,300	1,355	Red temporary barrier fence in the distance	red barrier
2024_07_02__15_27_22	1,719,934,324,402	1,719,934,335,402	1,400	1,455	White information sign in the distance center	white sign
2024_07_02__15_27_22	1,719,934,324,402	1,719,934,335,402	1,400	1,455	A rectangular white information board on the walkway	white board
2024_07_02__15_27_22	1,719,934,344,401	1,719,934,355,401	1,500	1,555	A light-colored overpass bridge in the distance	light overpass
2024_07_02__15_27_22	1,719,934,344,401	1,719,934,355,401	1,500	1,555	White bridge structure crossing over the walkway	white bridge
2024_07_02__15_27_22	1,719,934,344,401	1,719,934,355,401	1,500	1,555	A metal overpass reaching across the path	metal overpass
2024_07_02__15_27_22	1,719,934,364,400	1,719,934,375,400	1,600	1,655	A large rectangular advertising billboard on the sidewalk	advertising billboard
2024_07_02__15_27_22	1,719,934,364,400	1,719,934,375,400	1,600	1,655	A gray trash bin near the path	gray bin
2024_07_02__15_27_22	1,719,934,384,399	1,719,934,395,399	1,700	1,755	White monorail support pillar on the right	white pillar
2024_07_02__15_27_22	1,719,934,384,399	1,719,934,395,399	1,700	1,755	Elevated monorail track structure over the road	monorail track
2024_07_02__15_27_22	1,719,934,384,399	1,719,934,395,399	1,700	1,755	Large advertisement banner on the left walkway	advertisement banner
2024_07_02__15_27_22	1,719,934,404,399	1,719,934,411,598	1,800	1,836	A modern white tram at the station	white tram
2024_07_02__15_27_22	1,719,934,404,399	1,719,934,411,598	1,800	1,836	Public transit vehicle on the rails	transit vehicle
2024_07_02__15_27_22	1,719,934,404,399	1,719,934,414,598	1,800	1,851	A group of people waiting for a tram	person group
2024_07_02__15_27_22	1,719,934,424,398	1,719,934,434,597	1,900	1,951	A person in a light beige shirt and shorts	person in beige
2024_07_02__15_27_22	1,719,934,424,398	1,719,934,434,597	1,900	1,951	Pedestrians waiting at the crosswalk on the street	waiting pedestrians
2024_07_02__15_27_22	1,719,934,424,398	1,719,934,434,597	1,900	1,951	A person wearing a long white tiered dress	person in white
2024_07_02__15_27_22	1,719,934,424,398	1,719,934,434,597	1,900	1,951	A dark haired woman in a black t-shirt	woman in black
2024_07_02__15_27_22	1,719,934,444,397	1,719,934,448,397	2,000	2,020	A white tram with a wavy pattern	white tram
2024_07_02__15_27_22	1,719,934,444,397	1,719,934,454,596	2,000	2,051	A blue city bus in the distance	blue bus
2024_07_02__15_27_22	1,719,934,464,396	1,719,934,473,595	2,100	2,146	Blue city bus driving across the street	blue bus
2024_07_02__15_27_22	1,719,934,464,396	1,719,934,473,595	2,100	2,146	The blue electric bus crossing reaching intersection	electric bus
2024_07_02__15_27_22	1,719,934,464,396	1,719,934,473,595	2,100	2,146	Blue bus stopping at the crosswalk	blue bus
2024_07_02__15_27_22	1,719,934,484,395	1,719,934,494,395	2,200	2,250	A light-colored building in the distance	light-colored building
2024_07_02__15_27_22	1,719,934,484,395	1,719,934,494,395	2,200	2,250	Pedestrians walking across the street intersection	walking pedestrians
2024_07_02__15_27_22	1,719,934,484,395	1,719,934,491,395	2,200	2,235	A blue and white pedestrian sign	pedestrian sign
2024_07_02__15_27_22	1,719,934,504,394	1,719,934,511,394	2,300	2,335	A gray information board on the right side	gray information board
2024_07_02__15_27_22	1,719,934,504,394	1,719,934,515,394	2,300	2,355	A metal fence on the right side	metal fence
2024_07_02__15_27_22	1,719,934,524,393	1,719,934,535,393	2,400	2,455	A tall pointed gray monument spire	monument spire
2024_07_02__15_27_22	1,719,934,524,393	1,719,934,535,393	2,400	2,455	Tapered gray obelisk in the distance	gray monument
2024_07_02__15_27_22	1,719,934,524,393	1,719,934,535,393	2,400	2,455	Metal fence barricade near the monument	metal fence
2024_07_02__15_27_22	1,719,934,544,392	1,719,934,555,392	2,500	2,555	A man wearing a white shirt and backpack	man in shirt
2024_07_02__15_27_22	1,719,934,544,392	1,719,934,553,392	2,500	2,545	A wooden bench on the right side	wooden bench
2024_07_02__15_27_22	1,719,934,224,407	1,719,934,234,606	900	951	Tall white stone pillar on the left	white pillar
2024_07_02__15_27_22	1,719,934,224,407	1,719,934,234,606	900	951	Large monumental archway structure in the center	monumental archway
2024_07_02__15_27_22	1,719,934,224,407	1,719,934,234,606	900	951	Group of three people walking ahead centrally	walking people
2024_07_02__15_27_22	1,719,934,224,407	1,719,934,231,606	900	936	Stone column of the arch on the right	arch column
2024_07_02__15_27_22	1,719,934,564,391	1,719,934,575,391	2,600	2,655	Tall pointed metal monument in background	tall monument
2024_07_02__15_27_22	1,719,934,564,391	1,719,934,575,391	2,600	2,655	A metal fence separating the sidewalk	metal fence
2024_07_02__15_27_22	1,719,934,564,391	1,719,934,575,391	2,600	2,655	Crowd of people walking on path	walking crowd
2024_07_03__09_58_27	1,720,000,710,248	1,720,000,720,441	0	51	A white SUV parked on the right	white SUV
2024_07_03__09_58_27	1,720,000,710,248	1,720,000,720,441	0	51	The white car parked along the sidewalk	white car
2024_07_03__09_58_27	1,720,000,710,248	1,720,000,720,441	0	51	The path leading towards the green buildings	walking path
2024_07_03__09_58_27	1,720,000,730,241	1,720,000,733,440	100	116	Red hatchback car parked on the right	red car
2024_07_03__09_58_27	1,720,000,730,241	1,720,000,733,440	100	116	Large red rectangular cargo container on pavement	red container
2024_07_03__09_58_27	1,720,000,730,241	1,720,000,736,440	100	131	Tall industrial chimney stack in the distance	industrial stack
2024_07_03__09_58_27	1,720,000,750,240	1,720,000,760,639	200	252	A tall street light pole with two lamps	street light
2024_07_03__09_58_27	1,720,000,750,240	1,720,000,760,639	200	252	A large dark green building on the right	green building
2024_07_03__09_58_27	1,720,000,750,240	1,720,000,760,639	200	252	Modern apartment building with brown and white facade	apartment building
2024_07_03__09_58_27	1,720,000,750,240	1,720,000,760,639	200	252	A grey metal fence along the sidewalk	metal fence
2024_07_03__09_58_27	1,720,000,770,239	1,720,000,779,438	300	346	A round grey traffic sign on left	grey sign
2024_07_03__09_58_27	1,720,000,770,239	1,720,000,780,438	300	351	Tall street lamp post beside the road	street lamp
2024_07_03__09_58_27	1,720,000,770,239	1,720,000,780,438	300	351	Blue circular traffic sign on the right	blue sign
2024_07_03__09_58_27	1,720,000,790,238	1,720,000,800,437	400	451	Tall white residential building with brown sections	white building
2024_07_03__09_58_27	1,720,000,790,238	1,720,000,800,437	400	451	A metal street light pole on sidewalk	metal pole
2024_07_03__09_58_27	1,720,000,790,238	1,720,000,800,437	400	451	Large green industrial building on the right	green building
2024_07_03__09_58_27	1,720,000,830,236	1,720,000,841,236	600	655	A round red road sign on a pole	red road sign
2024_07_03__09_58_27	1,720,000,830,236	1,720,000,841,236	600	655	A metal pole with navigation signs on top	sign pole
2024_07_03__09_58_27	1,720,000,830,236	1,720,000,841,236	600	655	The paved sidewalk extending straight ahead	paved sidewalk
2024_07_03__09_58_27	1,720,000,850,235	1,720,000,861,235	700	755	Tall white apartment building on the left	white building
2024_07_03__09_58_27	1,720,000,850,235	1,720,000,861,235	700	755	Long metal guardrail along the walkway	metal guardrail
2024_07_03__09_58_27	1,720,000,850,235	1,720,000,861,235	700	755	A gray utility box on a pole	utility box

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EgoWalk Trajectories

This is the extracted version of the EgoWalk dataset, obtained from the raw one. Please check the API for this dataset for the basic usage.

News

[2026/04/17] Language annotations have been significantly revised for the upcoming paper update. We now provide two distinct sets of annotations: goal_boxes (generated using an algorithm similar to the initial publication) and end2end (generated using end-to-end VLM prompting). Compared to the original version, these new annotations are much cleaner and more informative. Further details will be shared in the forthcoming publication update. The original annotations have been moved to the legacy directory and are no longer recommended for use.

Data format

The data is mainly organized in following directories:

data: includes csv with the main per-frame annotations - video name, frame index, UTC timestamp, camera pose (may be null due to odometry failures, see next sections)
video: includes video files that are referenced in data. Lossy encoding is used for RGB channel, lossless - is for Depth channel.
annotations: includes language goal annotations for the selected frames. We release to versions of annotations: normal - the main version, and brief - the version with slightly more brief sentences.
meta: includes additional metadata, namely, approximate camera heights, camera params, list of trajectories, etc.

Notes on the odometry

ZED SDK was used to calculate the odometry from the raw data. This odometry is still imperfect, and sometimes may result in odometry failures of two kinds:

nulls: odometry method failed to compute the pose at this particular timestamp
Reinitialization: due two large amount of sequential failures odometry was re-initialized in the middle of trajectory, and re-initialized pose starts in zero. API includes some mechanisms to process such cases, such as cutters.

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