Datasets:
image imagewidth (px) 1.02k 1.92k | lang_goal stringlengths 47 49 | trajectory_2d sequencelengths 1 469 | trajectory_3d sequencelengths 1 469 | camera_params stringclasses 4
values | horizon int64 1 469 | shorter_trajectory_2d sequencelengths 1 334 | shorter_trajectory_3d sequencelengths 1 334 | subsampled_trajectory_2d sequencelengths 5 5 | goal_2d sequencelengths 2 2 | text stringlengths 36 36 | label stringlengths 90 90 | label_list sequencelengths 5 5 | curvature float64 1 54.6 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Navigate to <point x="79.1" y="39.3">goal</point> | [
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] | Navigate to x=<loc0809>, y=<loc0402> | <loc0595><loc0554><loc0674><loc0454><loc0741><loc0434><loc0795><loc0422><loc0809><loc0402> | [
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[
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] | 1.432547 | |
Navigate to <point x="99.7" y="13.7">goal</point> | [
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... | [
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0.44743392499746... | {"resolution": {"width": 1920, "height": 1080}, "camera_matrix": {"data": [1397.9546, 0.0, 964.4991, 0.0, 1397.9546, 510.13168, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_groun... | 188 | [
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0.44743392499746... | [
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] | Navigate to x=<loc1021>, y=<loc0140> | <loc0594><loc0400><loc0745><loc0255><loc0850><loc0198><loc0921><loc0162><loc1021><loc0140> | [
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[
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Navigate to <point x="54.7" y="26.6">goal</point> | [
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0.3191213579085750... | {"resolution": {"width": 1920, "height": 1080}, "camera_matrix": {"data": [1397.9546, 0.0, 964.4991, 0.0, 1397.9546, 510.13168, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_groun... | 247 | [
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0.3191213579085750... | [
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] | Navigate to x=<loc0560>, y=<loc0272> | <loc0640><loc0558><loc0606><loc0386><loc0584><loc0316><loc0572><loc0270><loc0560><loc0272> | [
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[
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[
"<loc0560>",
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] | 1.297997 | |
Navigate to <point x="41.1" y="16.5">goal</point> | [
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[... | [
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... | {"resolution": {"width": 1920, "height": 1080}, "camera_matrix": {"data": [1397.9546, 0.0, 964.4991, 0.0, 1397.9546, 510.13168, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_groun... | 130 | [
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[... | [
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] | [
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] | Navigate to x=<loc0420>, y=<loc0168> | <loc0436><loc0551><loc0443><loc0343><loc0434><loc0225><loc0423><loc0165><loc0420><loc0168> | [
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[
"<loc0423>",
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[
"<loc0420>",
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]
] | 1.258021 | |
Navigate to <point x="79.9" y="36.7">goal</point> | [
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81... | [
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0.25908956437... | {"resolution": {"width": 1920, "height": 1080}, "camera_matrix": {"data": [1397.9546, 0.0, 964.4991, 0.0, 1397.9546, 510.13168, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_groun... | 181 | [
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81... | [
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0.25908956437... | [
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] | [
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] | Navigate to x=<loc0818>, y=<loc0375> | <loc0587><loc0572><loc0638><loc0453><loc0721><loc0406><loc0785><loc0397><loc0818><loc0375> | [
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[
"<loc0785>",
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[
"<loc0818>",
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] | 1.310833 | |
Navigate to <point x="66.2" y="34.7">goal</point> | [
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... | [
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]... | {"resolution": {"width": 1920, "height": 1080}, "camera_matrix": {"data": [1397.9546, 0.0, 964.4991, 0.0, 1397.9546, 510.13168, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_groun... | 270 | [
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... | [
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[
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] | [
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375
] | Navigate to x=<loc0677>, y=<loc0355> | <loc0267><loc0560><loc0360><loc0444><loc0493><loc0375><loc0600><loc0353><loc0677><loc0355> | [
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[
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[
"<loc0600>",
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[
"<loc0677>",
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] | 1.251697 | |
Navigate to <point x="61.1" y="53.6">goal</point> | [
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[
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8... | [
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... | {"resolution": {"width": 1920, "height": 1080}, "camera_matrix": {"data": [1397.9546, 0.0, 964.4991, 0.0, 1397.9546, 510.13168, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_groun... | 62 | [
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8... | [
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... | [
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] | [
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] | Navigate to x=<loc0626>, y=<loc0548> | <loc0656><loc0745><loc0653><loc0641><loc0647><loc0591><loc0624><loc0562><loc0626><loc0548> | [
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[
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[
"<loc0624>",
"<loc0562>"
],
[
"<loc0626>",
"<loc0548>"
]
] | 1.23403 | |
Navigate to <point x="24.3" y="33.9">goal</point> | [[739,1067],[737,1049],[737,1035],[740,1024],[743,1015],[740,1007],[738,997],[743,986],[731,973],[72(...TRUNCATED) | [[3.2443611804638737,0.48870994170669807,0.2923533200668199],[3.306648818176832,0.4965809374520235,0(...TRUNCATED) | "{\"resolution\": {\"width\": 1920, \"height\": 1080}, \"camera_matrix\": {\"data\": [1397.9546, 0.0(...TRUNCATED) | 262 | [[739,1067],[737,1049],[737,1035],[740,1024],[743,1015],[740,1007],[738,997],[743,986],[731,973],[72(...TRUNCATED) | [[3.2443611804638737,0.48870994170669807,0.2923533200668199],[3.306648818176832,0.4965809374520235,0(...TRUNCATED) | [
[
678,
730
],
[
587,
573
],
[
547,
466
],
[
505,
395
],
[
466,
366
]
] | [
466,
366
] | Navigate to x=<loc0248>, y=<loc0347> | <loc0361><loc0692><loc0313><loc0543><loc0291><loc0441><loc0269><loc0374><loc0248><loc0347> | [["<loc0361>","<loc0692>"],["<loc0313>","<loc0543>"],["<loc0291>","<loc0441>"],["<loc0269>","<loc037(...TRUNCATED) | 1.286739 | |
Navigate to <point x="36.4" y="30.1">goal</point> | [[975,1072],[974,1047],[963,1019],[954,993],[946,973],[936,959],[932,949],[927,939],[924,929],[928,9(...TRUNCATED) | [[2.2838754608700667,0.030731587493300516,0.16726814563353715],[2.3508829461937872,0.035535562306225(...TRUNCATED) | "{\"resolution\": {\"width\": 1920, \"height\": 1080}, \"camera_matrix\": {\"data\": [1397.9546, 0.0(...TRUNCATED) | 272 | [[975,1072],[974,1047],[963,1019],[954,993],[946,973],[936,959],[932,949],[927,939],[924,929],[928,9(...TRUNCATED) | [[2.2838754608700667,0.030731587493300516,0.16726814563353715],[2.3508829461937872,0.035535562306225(...TRUNCATED) | [
[
901,
647
],
[
805,
481
],
[
748,
394
],
[
714,
316
],
[
699,
325
]
] | [
699,
325
] | Navigate to x=<loc0372>, y=<loc0308> | <loc0480><loc0613><loc0429><loc0456><loc0398><loc0373><loc0380><loc0299><loc0372><loc0308> | [["<loc0480>","<loc0613>"],["<loc0429>","<loc0456>"],["<loc0398>","<loc0373>"],["<loc0380>","<loc029(...TRUNCATED) | 1.374946 | |
Navigate to <point x="23.8" y="31.7">goal</point> | [[970,1068],[968,1043],[960,1023],[948,1005],[933,990],[924,976],[915,961],[910,945],[905,927],[900,(...TRUNCATED) | [[2.7426297282634193,0.11624799683366194,0.4990775641189253],[2.802560959264746,0.1369020623869539,0(...TRUNCATED) | "{\"resolution\": {\"width\": 1920, \"height\": 1080}, \"camera_matrix\": {\"data\": [1397.9546, 0.0(...TRUNCATED) | 189 | [[970,1068],[968,1043],[960,1023],[948,1005],[933,990],[924,976],[915,961],[910,945],[905,927],[900,(...TRUNCATED) | [[2.7426297282634193,0.11624799683366194,0.4990775641189253],[2.802560959264746,0.1369020623869539,0(...TRUNCATED) | [
[
614,
660
],
[
399,
492
],
[
272,
407
],
[
285,
355
],
[
457,
342
]
] | [
457,
342
] | Navigate to x=<loc0243>, y=<loc0324> | <loc0327><loc0625><loc0212><loc0466><loc0145><loc0385><loc0152><loc0336><loc0243><loc0324> | [["<loc0327>","<loc0625>"],["<loc0212>","<loc0466>"],["<loc0145>","<loc0385>"],["<loc0152>","<loc033(...TRUNCATED) | 1.481977 |
End of preview. Expand in Data Studio
vlmn_iphone100_tartandrive100_scand50_coda25_spot100_insta360100_sub5
Description
VLN Navigation dataset with 100% of iphone data, 100% of tartandrive data, 50% of scand data, 25% of coda data, 100% of in-domain spot data, and 100% of insta360 data. Whenever daatsets aren't 100%, they are ranked by curvature and output of length 5.
Processing Parameters
{}
Dataset Configuration
Train dataset:
mixer: mateoguaman/coda_every1_25pct_sub5: 1.0
mateoguaman/insta360_every1_sub5: 1.0
mateoguaman/iphone_stairs_ramps: 1.0
mateoguaman/scand_every1_50pct_sub5: 1.0
mateoguaman/spot_every1_sub5: 1.0
mateoguaman/tartandrive_every1_100pct_sub5: 1.0
split: train
Validation dataset:
mixer: mateoguaman/coda_every1_25pct_sub5: 1.0
mateoguaman/insta360_every1_sub5: 1.0
mateoguaman/iphone_stairs_ramps: 1.0
mateoguaman/scand_every1_50pct_sub5: 1.0
mateoguaman/spot_every1_sub5: 1.0
mateoguaman/tartandrive_every1_100pct_sub5: 1.0
split: validation
Additional Information
This dataset was created by consolidating cached processed datasets from the VLM Navigation project.
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