image imagewidth (px) 1.02k 1.28k | lang_goal stringlengths 47 49 | trajectory_2d sequencelengths 1 490 | trajectory_3d sequencelengths 1 490 | camera_params stringclasses 2
values | horizon int64 1 490 | shorter_trajectory_2d sequencelengths 1 300 | shorter_trajectory_3d sequencelengths 1 300 | subsampled_trajectory_2d sequencelengths 5 5 | goal_2d sequencelengths 2 2 | text stringlengths 36 212 | label stringlengths 90 90 | label_list sequencelengths 5 5 | curvature float64 1 34.8 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Navigate to <point x="19.4" y="27.4">goal</point> | [
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[
... | [
[
4.7568055868830115,
1.2750749420658316,
0.13635098095534204
],
[
5.1869207074170625,
1.4033444514024502,
0.17551258213750032
],
[
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1.5480018474807338,
0.19028946130299573
],
[
6.064424724240119,
1.683116533600181,
0.1925138698239124
]... | {"resolution": {"width": 1024, "height": 544}, "camera_matrix": {"data": [477.6049499511719, 0.0, 499.5, 0.0, 477.6049499511719, 252.0, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.96917189, -0.04204002, 0.24277247, 0.38786055, 0.04768227, 0.99871085, -0.01740936, 0.00734094, -0.24172764, 0.028... | 210 | [
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[
... | [
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],
[
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1.4033444514024502,
0.17551258213750032
],
[
5.623830834698619,
1.5480018474807338,
0.19028946130299573
],
[
6.064424724240119,
1.683116533600181,
0.1925138698239124
]... | [
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244,
160
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] | [
244,
160
] | Navigate to x=<loc0244>, y=<loc0301>. Navigate over the dry, uneven dirt field avoiding the dense forest on the right. | <loc0381><loc0417><loc0318><loc0352><loc0275><loc0327><loc0266><loc0304><loc0244><loc0301> | [
[
"<loc0381>",
"<loc0417>"
],
[
"<loc0318>",
"<loc0352>"
],
[
"<loc0275>",
"<loc0327>"
],
[
"<loc0266>",
"<loc0304>"
],
[
"<loc0244>",
"<loc0301>"
]
] | 1.176089 | |
Navigate to <point x="3.3" y="31.1">goal</point> | [
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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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0.0625800000544956,
0.19926737832718633
],
[
5.56415965168523,
0.07655234443390668,
0.22551809800046652
],
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0.07171264558573398,
0.2642478222139708
],
[
7.1293260537217975,
0.08105990332180113,
0.3134952284790078
... | {"resolution": {"width": 1024, "height": 544}, "camera_matrix": {"data": [477.6049499511719, 0.0, 499.5, 0.0, 477.6049499511719, 252.0, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.96917189, -0.04204002, 0.24277247, 0.38786055, 0.04768227, 0.99871085, -0.01740936, 0.00734094, -0.24172764, 0.028... | 417 | [
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[
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[
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[
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[
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[
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[
516,
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[
516,
226
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[
516,
220
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[
516,
214
],
[
... | [
[
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0.0625800000544956,
0.19926737832718633
],
[
5.56415965168523,
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],
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],
[
7.1293260537217975,
0.08105990332180113,
0.3134952284790078
... | [
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[
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[
294,
147
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[
236,
150
]
] | [
236,
150
] | Navigate to x=<loc0236>, y=<loc0282>. Travel on the gravel road then cut left across the grassy edge to the goal. | <loc0526><loc0252><loc0468><loc0250><loc0378><loc0265><loc0294><loc0276><loc0236><loc0282> | [
[
"<loc0526>",
"<loc0252>"
],
[
"<loc0468>",
"<loc0250>"
],
[
"<loc0378>",
"<loc0265>"
],
[
"<loc0294>",
"<loc0276>"
],
[
"<loc0236>",
"<loc0282>"
]
] | 1.512279 | |
Navigate to <point x="0.0" y="28.5">goal</point> | [
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[
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[
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[
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[
511,
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[
510,
321
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[
509,
305
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[
508,
292
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[
507,
280
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[
506,
270
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[
506,
259
],
[
... | [
[
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],
[
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],
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0.15497976695743887,
0.09912271419790386
],
[
6.209642854912481,
0.1838951233137891,
0.11504988136294969
... | {"resolution": {"width": 1024, "height": 544}, "camera_matrix": {"data": [477.6049499511719, 0.0, 499.5, 0.0, 477.6049499511719, 252.0, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.96917189, -0.04204002, 0.24277247, 0.38786055, 0.04768227, 0.99871085, -0.01740936, 0.00734094, -0.24172764, 0.028... | 361 | [
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[
515,
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[
513,
419
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[
512,
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[
511,
361
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[
511,
339
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[
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[
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[
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292
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[
507,
280
],
[
506,
270
],
[
506,
259
],
[
... | [
[
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],
[
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],
[
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0.09912271419790386
],
[
6.209642854912481,
0.1838951233137891,
0.11504988136294969
... | [
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[
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179
],
[
475,
169
],
[
454,
170
],
[
436,
170
]
] | [
436,
170
] | Navigate to x=<loc0436>, y=<loc0320>. Navigate over rough gravel terrain, avoiding the right-side wire fence. | <loc0500><loc0406><loc0491><loc0336><loc0475><loc0318><loc0454><loc0320><loc0436><loc0320> | [
[
"<loc0500>",
"<loc0406>"
],
[
"<loc0491>",
"<loc0336>"
],
[
"<loc0475>",
"<loc0318>"
],
[
"<loc0454>",
"<loc0320>"
],
[
"<loc0436>",
"<loc0320>"
]
] | 1.144129 | |
Navigate to <point x="99.7" y="25.7">goal</point> | [
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[
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],
[
573,
438
],
[
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[
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[
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[
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[
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[
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315
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[
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302
],
[
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[
588,
282
],
[
... | [
[
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-0.10742743525753085
],
[
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-0.6224513206971096,
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],
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],
[
6.17723266841341,
-0.796817528889278,
-0.103928462945372... | {"resolution": {"width": 1024, "height": 544}, "camera_matrix": {"data": [477.6049499511719, 0.0, 499.5, 0.0, 477.6049499511719, 252.0, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.96917189, -0.04204002, 0.24277247, 0.38786055, 0.04768227, 0.99871085, -0.01740936, 0.00734094, -0.24172764, 0.028... | 381 | [
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[
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[
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[
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],
[
577,
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[
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[
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[
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[
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315
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[
584,
302
],
[
586,
292
],
[
588,
282
],
[
... | [
[
4.843692704974799,
-0.5376815524298308,
-0.10742743525753085
],
[
5.290126139630402,
-0.6224513206971096,
-0.11931444871065189
],
[
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-0.7140888567219577,
-0.11412200918391058
],
[
6.17723266841341,
-0.796817528889278,
-0.103928462945372... | [
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[
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180
],
[
729,
149
],
[
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129
],
[
849,
113
]
] | [
849,
113
] | Navigate to x=<loc0849>, y=<loc0212>. Navigate over the rocky dirt path, avoiding the dense bushes on both sides. | <loc0611><loc0442><loc0668><loc0338><loc0729><loc0280><loc0789><loc0242><loc0849><loc0212> | [
[
"<loc0611>",
"<loc0442>"
],
[
"<loc0668>",
"<loc0338>"
],
[
"<loc0729>",
"<loc0280>"
],
[
"<loc0789>",
"<loc0242>"
],
[
"<loc0849>",
"<loc0212>"
]
] | 1.151195 | |
Navigate to <point x="34.6" y="19.3">goal</point> | [
[
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[
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[
511,
421
],
[
511,
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[
510,
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[
511,
337
],
[
509,
318
],
[
508,
301
],
[
510,
287
],
[
508,
277
],
[
509,
268
],
[
510,
259
],
[
... | [
[
4.707768841776594,
0.19190923411846939,
-0.03971744047988679
],
[
5.255369196195549,
0.21128661923133762,
-0.009690199667307553
],
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0.22407085379865777,
0.006325626805381734
],
[
6.429748741926229,
0.25147463194770125,
0.001969456754... | {"resolution": {"width": 1024, "height": 544}, "camera_matrix": {"data": [477.6049499511719, 0.0, 499.5, 0.0, 477.6049499511719, 252.0, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.96917189, -0.04204002, 0.24277247, 0.38786055, 0.04768227, 0.99871085, -0.01740936, 0.00734094, -0.24172764, 0.028... | 226 | [
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[
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],
[
511,
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],
[
511,
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],
[
510,
360
],
[
511,
337
],
[
509,
318
],
[
508,
301
],
[
510,
287
],
[
508,
277
],
[
509,
268
],
[
510,
259
],
[
... | [
[
4.707768841776594,
0.19190923411846939,
-0.03971744047988679
],
[
5.255369196195549,
0.21128661923133762,
-0.009690199667307553
],
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0.22407085379865777,
0.006325626805381734
],
[
6.429748741926229,
0.25147463194770125,
0.001969456754... | [
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],
[
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124
],
[
392,
108
],
[
354,
105
]
] | [
354,
105
] | Navigate to x=<loc0354>, y=<loc0197>. Follow the dirt road, then veer left into dense grass and shrubs. | <loc0516><loc0314><loc0481><loc0259><loc0431><loc0233><loc0392><loc0203><loc0354><loc0197> | [
[
"<loc0516>",
"<loc0314>"
],
[
"<loc0481>",
"<loc0259>"
],
[
"<loc0431>",
"<loc0233>"
],
[
"<loc0392>",
"<loc0203>"
],
[
"<loc0354>",
"<loc0197>"
]
] | 1.269081 | |
Navigate to <point x="99.8" y="13.1">goal</point> | [[452,533],[445,482],[436,443],[427,415],[417,392],[410,373],[400,358],[392,344],[381,332],[368,321](...TRUNCATED) | [[4.5263185864924935,0.8820933519673844,0.06313580076963632],[4.93140172052631,1.0565370795895177,0.(...TRUNCATED) | "{\"resolution\": {\"width\": 1024, \"height\": 544}, \"camera_matrix\": {\"data\": [477.60494995117(...TRUNCATED) | 376 | [[452,533],[445,482],[436,443],[427,415],[417,392],[410,373],[400,358],[392,344],[381,332],[368,321](...TRUNCATED) | [[4.5263185864924935,0.8820933519673844,0.06313580076963632],[4.93140172052631,1.0565370795895177,0.(...TRUNCATED) | [
[
394,
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],
[
526,
139
],
[
586,
126
],
[
717,
108
],
[
840,
93
]
] | [
840,
93
] | "Navigate to x=<loc0840>, y=<loc0175>. Move off the dirt road onto the grassy terrain to avoid the r(...TRUNCATED) | <loc0394><loc0353><loc0526><loc0261><loc0586><loc0237><loc0717><loc0203><loc0840><loc0175> | [["<loc0394>","<loc0353>"],["<loc0526>","<loc0261>"],["<loc0586>","<loc0237>"],["<loc0717>","<loc020(...TRUNCATED) | 1.803188 | |
Navigate to <point x="39.9" y="25.2">goal</point> | [[554,514],[557,472],[559,438],[561,409],[563,385],[564,365],[565,350],[566,335],[567,321],[567,307](...TRUNCATED) | [[4.736942982464512,-0.33975544253911494,0.049473743385390456],[5.094805441545276,-0.387584328483782(...TRUNCATED) | "{\"resolution\": {\"width\": 1024, \"height\": 544}, \"camera_matrix\": {\"data\": [477.60494995117(...TRUNCATED) | 193 | [[554,514],[557,472],[559,438],[561,409],[563,385],[564,365],[565,350],[566,335],[567,321],[567,307](...TRUNCATED) | [[4.736942982464512,-0.33975544253911494,0.049473743385390456],[5.094805441545276,-0.387584328483782(...TRUNCATED) | [
[
568,
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],
[
524,
145
],
[
485,
139
],
[
447,
137
],
[
409,
137
]
] | [
409,
137
] | "Navigate to x=<loc0409>, y=<loc0257>. Navigate over gravel terrain, avoid larger rocks on the left (...TRUNCATED) | <loc0568><loc0320><loc0524><loc0272><loc0485><loc0261><loc0447><loc0257><loc0409><loc0257> | [["<loc0568>","<loc0320>"],["<loc0524>","<loc0272>"],["<loc0485>","<loc0261>"],["<loc0447>","<loc025(...TRUNCATED) | 1.296439 | |
Navigate to <point x="95.0" y="17.1">goal</point> | [[679,542],[681,528],[682,514],[683,501],[685,490],[688,478],[691,468],[694,457],[696,444],[702,434](...TRUNCATED) | [[4.347251886205685,-1.439787620461054,0.13799860876268077],[4.453127857575492,-1.5167113791365878,0(...TRUNCATED) | "{\"resolution\": {\"width\": 1024, \"height\": 544}, \"camera_matrix\": {\"data\": [477.60494995117(...TRUNCATED) | 289 | [[679,542],[681,528],[682,514],[683,501],[685,490],[688,478],[691,468],[694,457],[696,444],[702,434](...TRUNCATED) | [[4.347251886205685,-1.439787620461054,0.13799860876268077],[4.453127857575492,-1.5167113791365878,0(...TRUNCATED) | [
[
725,
357
],
[
762,
266
],
[
793,
221
],
[
826,
190
],
[
845,
172
]
] | [
845,
172
] | "Navigate to x=<loc0845>, y=<loc0323>. Cross the rocky slope heading right, avoiding the dense bushe(...TRUNCATED) | <loc0725><loc0672><loc0762><loc0500><loc0793><loc0416><loc0826><loc0357><loc0845><loc0323> | [["<loc0725>","<loc0672>"],["<loc0762>","<loc0500>"],["<loc0793>","<loc0416>"],["<loc0826>","<loc035(...TRUNCATED) | 1.052866 | |
Navigate to <point x="52.3" y="59.6">goal</point> | [[552,541],[551,516],[549,496],[548,479],[548,462],[546,448],[546,435],[545,425],[544,415],[544,405](...TRUNCATED) | [[4.622938107758614,-0.04955809379703169,-0.03390071044636045],[4.812050048412061,-0.040282525700604(...TRUNCATED) | "{\"resolution\": {\"width\": 1024, \"height\": 544}, \"camera_matrix\": {\"data\": [477.60494995117(...TRUNCATED) | 40 | [[552,541],[551,516],[549,496],[548,479],[548,462],[546,448],[546,435],[545,425],[544,415],[544,405](...TRUNCATED) | [[4.622938107758614,-0.04955809379703169,-0.03390071044636045],[4.812050048412061,-0.040282525700604(...TRUNCATED) | [
[
545,
425
],
[
538,
366
],
[
536,
340
],
[
536,
329
],
[
536,
324
]
] | [
536,
324
] | "Navigate to x=<loc0536>, y=<loc0609>. Navigate over the rocky gravel terrain avoiding the bushes on(...TRUNCATED) | <loc0545><loc0800><loc0538><loc0688><loc0536><loc0640><loc0536><loc0619><loc0536><loc0609> | [["<loc0545>","<loc0800>"],["<loc0538>","<loc0688>"],["<loc0536>","<loc0640>"],["<loc0536>","<loc061(...TRUNCATED) | 1.024616 | |
Navigate to <point x="99.9" y="13.1">goal</point> | [[547,518],[547,474],[544,434],[542,401],[541,374],[539,350],[537,329],[537,313],[537,305],[539,297](...TRUNCATED) | [[4.340653299265114,-0.027831020273367812,0.3771055543927133],[4.743220651979755,0.00008081237524493(...TRUNCATED) | "{\"resolution\": {\"width\": 1024, \"height\": 544}, \"camera_matrix\": {\"data\": [477.60494995117(...TRUNCATED) | 301 | [[547,518],[547,474],[544,434],[542,401],[541,374],[539,350],[537,329],[537,313],[537,305],[539,297](...TRUNCATED) | [[4.340653299265114,-0.027831020273367812,0.3771055543927133],[4.743220651979755,0.00008081237524493(...TRUNCATED) | [
[
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145
],
[
697,
120
],
[
775,
105
],
[
908,
89
],
[
1022,
72
]
] | [
1022,
72
] | "Navigate to x=<loc1022>, y=<loc0135>. Ascend the rocky incline, then traverse the dry grassy hillto(...TRUNCATED) | <loc0752><loc0272><loc0697><loc0225><loc0775><loc0197><loc0908><loc0167><loc1022><loc0135> | [["<loc0752>","<loc0272>"],["<loc0697>","<loc0225>"],["<loc0775>","<loc0197>"],["<loc0908>","<loc016(...TRUNCATED) | 1.460793 |
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