| --- |
| license: cc-by-nc-sa-4.0 |
| language: |
| - en |
| tags: |
| - iros 2025 |
| - navigation challenge |
| - visual-language navigation (vln) |
| - robotics dataset |
| - matterport3d |
| - interiornav |
| - r2r dataset |
| --- |
| <div id="top" align="center"> |
| <img src="https://github.com/InternRobotics/InternNav/raw/main/challenge/demo.gif" width=60% > |
| </div> |
| |
| # IROS-2025-Challenge-Nav Dataset |
|
|
| ## Dataset Summary 📖 |
|
|
| This dataset includes the R2R dataset and the InteriorNav dataset, constructed from Matterport3D scanned environments and InteriorNav(kujiale) high-quality modeled environments, respectively, with corresponding navigation trajectories and language instructions. |
|
|
| ### Trajectory Statistics by Subset |
|
|
| | Dataset | Train | Val Seen | Val Unseen | Test Unseen | |
| |------------------|------------------------|-------------------|---------------------|------------------------| |
| | VLN-PE-R2R | 8,679 (stair-filtered) | 778 | 1,839 | 3,408 | |
| | InteriorNav | 649 | 44 | 99 | 165 | |
| | **Total** | **9,328** | **822** | **1,938** | **3,573** | |
|
|
|
|
| # Get started 🔥 |
| ## Download the Dataset |
| ``` |
| # Make sure git-lfs is installed (https://git-lfs.com) |
| git lfs install |
| |
| git clone https://huggingface.co/datasets/InternRobotics/IROS-2025-Challenge-Nav |
| |
| # If you want to clone without large files - just their pointers |
| GIT_LFS_SKIP_SMUDGE=1 git clone https://huggingface.co/datasets/InternRobotics/IROS-2025-Challenge-Nav |
| ``` |
|
|
|
|
| ## Dataset Structure 📁 |
|
|
| ``` |
| vln_pe |
| ├── raw_data/ # JSON files defining tasks, navigation goals, and dataset splits |
| │ └── r2r/ |
| │ ├── train/ |
| │ ├── train/ |
| │ ├── val_seen/ |
| │ │ └── val_seen.json.gz |
| │ ├── val_unseen/ |
| │ │ └── val_unseen.json.gz |
| │ └── embeddings.json.gz |
| └── traj_data # training sample data for two types of scenes |
| ├── interiornav/ |
| │ ├── kujiale_xxxx.tar.gz |
| │ └── ... |
| └── r2r/ |
| ├── traj_index/ |
| │ ├── data/ |
| │ ├── meta/ |
| │ └── videos/ |
| └── ... |
| ``` |
| |
| |
| # License and Citation |
| All the data and code within this repo are under [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/). Please consider citing our project if it helps your research. |
|
|
| ```BibTeX |
| @misc{contributors2025internroboticsrepo, |
| title={IROS-2025-Challenge-Nav Colosseum}, |
| author={IROS-2025-Challenge-Nav Colosseum contributors}, |
| howpublished={\url{https://github.com/InternRobotics/InternNav/tree/main/challenge}}, |
| year={2025} |
| } |
| ``` |
