DuHeng0128/Enhanced-UrbanVideo-lite · Datasets at Hugging Face

Question_id int64 19 5.35k	video_id stringlengths 16 49	question_category stringclasses 16 values	question stringlengths 213 1.24k	answer stringclasses 7 values
19	EmbodiedCity_14.mp4	Start/End Position	Question: Where do you start and end your journey? Choices: A. I start between two tall skyscrapers and end at the series of rooftops below. B. I start at the city skyline between skyscrapers and end at the tall conical roof. C. I start between two tall buildings in the cityscape and end at the side of a tall glass building. D. I start between two tall buildings in the cityscape and end at the balcony on the 19th floor. E. I start at the series of rooftops below and end at the facade of a cylindrical building.	D
20	EmbodiedCity_14.mp4	Object Recall	Question: What is near the facade of the cylindrical building? Choices: A. A large billboard. B. A series of rooftops below. C. A city skyline between skyscrapers. D. A tall conical roof in the foreground. E. A glass bridge.	D
86	EmbodiedCity_75.mp4	Duration	Question: Which takes longer, your descent to a lower altitude over a series of high-rise buildings or your navigation along the narrow path between two buildings? Choices: A. My descent to a lower altitude takes shorter than my navigation along the narrow path. B. My descent to a lower altitude takes the same time as my navigation along the narrow path. C. My descent to a lower altitude takes longer than my navigation along the narrow path.	C
92	EmbodiedCity_78.mp4	Causal	Question: Why did you adjust your position to hover over the courtyard between the buildings after descending to a lower altitude? Choices: A. To get a closer view of the rooftop. B. To ascend to a higher altitude again. C. To capture panoramic shots of the cityscape. D. To avoid the intersection with street lamps. E. To align more closely with the pathway to the back door.	E
93	EmbodiedCity_78.mp4	Counterfactual	Question: Instead of descending toward the building facade (Movement 5), if you choose to fly around the building, can you still locate the back door with the green trash can? Choices: A. I can complete the task because it provides a different vantage point, but the alternative takes longer. B. I cannot complete the task because the back door is not visible from that path. C. I can complete the task because I follow an open path, taking the same time.	B
104	EmbodiedCity_88.mp4	Duration	Question: Which takes longer, your alignment with the main boulevard or your descent to align with the middle floors? Choices: A. My alignment with the main boulevard takes longer than my descent to align with the middle floors. B. My alignment with the main boulevard takes the same time as my descent to align with the middle floors. C. My alignment with the main boulevard takes shorter than my descent to align with the middle floors.	C
108	EmbodiedCity_95.mp4	Object Recall	Question: What do you observe near the purple window sill on the highest floor? Choices: A. A rooftop garden next to the purple window sill. B. A blue shed adjacent to the purple window sill. C. A construction crane nearby the purple window sill. D. A wide boulevard visible near the purple window sill. E. A helipad close to the purple window sill.	B
121	EmbodiedCity_14.mp4	Duration	Question: Which takes longer, your turn to face the building or your descent from the 22nd to the 19th floor? Choices: A. My turn to face the building takes longer than my descent from the 22nd to the 19th floor. B. My turn to face the building takes the same time as my descent from the 22nd to the 19th floor. C. My descent from the 22nd to the 19th floor takes longer than my turn to face the building.	C
158	EmbodiedCity_75.mp4	Sequence Recall	Question: What is your next action after descending further, approaching the bottom of a residential complex? Choices: A. Fly closer to the facade of the high-rise buildings, aligning with the central courtyard. B. Ascend to fly over the connected high-rise buildings. C. Move forward over the wide avenue, maintaining altitude. D. Turn to align with the motorway leading to the entrance of the community. E. Remain hovering in place.	D
159	EmbodiedCity_75.mp4	Scene Recall	Question: What objects do you observe while flying close to the facade of the high-rise buildings? Choices: A. A series of connected high-rise buildings, a rooftop garden, and cars. B. A bridge, a pond, and pedestrians. C. The series of connected high-rise buildings, the central courtyard, and the narrow path. D. A narrow alleyway, the layout of shopfronts, and a line of trees. E. A rooftop, a river, and boats.	D
160	EmbodiedCity_75.mp4	Counterfactual	Question: Instead of descending to ground level, if you choose to move forward along the avenue, can you reach the entrance of the community next to the shop with a yellow sign displaying the text "乐购便利店"? Choices: A. If I move forward along the avenue, I cannot complete the task because the avenue does not lead to the entrance. B. If I move forward along the avenue, I can complete the task because it aligns perfectly, but it takes a longer time. C. If I move forward along the avenue without descending, I cannot complete the task because I am at the wrong height.	C
162	EmbodiedCity_78.mp4	Duration	Question: Which takes longer, your descent to a lower altitude directly above the rooftops or your movement forward along the building to fly above the path leading to the residential area? Choices: A. My descent to a lower altitude takes longer than my movement forward along the building. B. My descent to a lower altitude takes the same time as my movement forward along the building. C. My descent to a lower altitude takes shorter than my movement forward along the building.	C
168	EmbodiedCity_88.mp4	Scene Recall	Question: What objects do you observe during your descent to align with the middle floors of the buildings? Choices: A. A green park with a playground, a large grey rooftop, and a yellow window sill. B. Several tall buildings, a green park with a playground, and a grey rooftop area. C. The skyline view, rooftop gardens, and a yellow window sill. D. A yellow window sill, several tall buildings, and the skyline view. E. A yellow window sill, a large grey rooftop, and the rooftops of nearby buildings.	C
206	AerialVLN_7_31HQ4X3T318XW6SIB7P03IMUFFGLS7.mp4	Trajectory Captioning	Question: Which of the following options better summarizes your movement? Choice: A. I fly from the main street around the tall buildings with advertisements to the lake. B. I descend from above the city park close to the water, to the left side of the lake. C. I fly from above the city park over the lake and a row of trees on the other side to above the intersection. D. I fly over the treetops from the other side of the lake and reach the right side of the intersection. E. I pass through several buildings and move under the bridge to the intersection.	C
207	AerialVLN_7_31HQ4X3T318XW6SIB7P03IMUFFGLS7.mp4	Start/End Position	Question: Where are your starting and ending points on the journey? Choice: A. Start above a construction site and end near a bridge by a lake. B. Start over the lake and end in the middle of the street below the tall building. C. Start from the rooftop and end at the lake in the center of the park. D. Start over the city park and end on the lake, facing the tall buildings. E. Start above a city park and end at an intersection next to a tall building with an advertisement.	E
208	AerialVLN_7_31HQ4X3T318XW6SIB7P03IMUFFGLS7.mp4	Object Recall	Question: What is the front of the high-rise building by the lake? Choice: A. A bell tower. B. A large advertisement. C. Murals. D. A balcony. E. A flagpole.	B
209	AerialVLN_7_31HQ4X3T318XW6SIB7P03IMUFFGLS7.mp4	Sequence Recall	Question: What is the next step after you arrive at the lake? Choice: A. I descend to a lower altitude. B. I turn right to another intersection. C. I move upward to get a clearer view of the tall building. D. I hover in place above the lake. E. I continue forward, over a row of trees ahead.	E
210	AerialVLN_7_31HQ4X3T318XW6SIB7P03IMUFFGLS7.mp4	Scene Recall	Question: What objects did you observe while flying over a street and near a row of trees? Choice: A. Benches, street lights, and statues. B. Cars, bridges, and rivers. C. A playground, pavilion, and fountain. D. Sidewalks, street intersections, and a tall building. E. Markets, stalls, and clock towers.	D
211	AerialVLN_7_31HQ4X3T318XW6SIB7P03IMUFFGLS7.mp4	Proximity	Question: When you continue to move through the intersection, how does the distance between you and the advertising high-rise building change? Choice: A. Increase the distance between me and high-rise buildings. B. The distance between me and the high-rise building remains unchanged. C. The distance between me and high-rise buildings decreases.	C
212	AerialVLN_7_31HQ4X3T318XW6SIB7P03IMUFFGLS7.mp4	Duration	Question: Which takes longer, your movement over the lake or your movement over the main street? Choices: A. My movement over the lake takes longer than my movement over the main street. B. My movement over the lake takes shorter than my movement over the main street. C. My movement over the lake takes the same time as my movement over the main street.	A
213	AerialVLN_7_31HQ4X3T318XW6SIB7P03IMUFFGLS7.mp4	Causal	Question: Why did you hover above the intersection near the tall building with the advertisement at the end? Choices: A. To capture a clear view of the advertisement on the building facade to understand its content. B. Because you were running low on battery and needed to conserve energy. C. To wait for the strong winds to pass before descending. D. To align your sensors for data collection from the surrounding area. E. Because you reached your final destination.	E
214	AerialVLN_7_31HQ4X3T318XW6SIB7P03IMUFFGLS7.mp4	Counterfactual	Question: Instead of flying directly over the lake towards the main street, if you choose to take a detour around the lake, can you complete the task, and how is the alternative route? Choices: A. I can complete the task by taking a detour around the lake because it offers a clearer view, and the alternative takes less time. B. I cannot complete the task by taking a detour around the lake because it deviates from the intended path. C. I can complete the task by taking a detour around the lake because I can still avoid possible obstacles with enough height, but the alternative takes longer.	C
593	AerialVLN_80_3KB8R4ZV1N5ITSXFPU6P017MCZSGBQ.mp4	Start/End Position	Question: Where are your starting and ending points? Choice: A. I start from the top of a high-rise building and end above the deck of the red suspension bridge. B. I start from the river bank and end at the starting point of the red suspension bridge. C. I start from the road leading to the bridge and end at the center span of the bridge. D. I start from a series of rooftops and end at a river. E. I start from the river and end at the road leading to the red suspension bridge.	A
594	AerialVLN_80_3KB8R4ZV1N5ITSXFPU6P017MCZSGBQ.mp4	Sequence Recall	Question: After you are aimed at the road leading to the bridge, what is the next step? Choice: A. Turn left toward the park. B. Fly over the bridge and maintain a stable altitude. C. Move forward for a while, then descend to the river. D. Return to the cityscape. E. Rise again and gain a higher altitude.	C
595	AerialVLN_80_3KB8R4ZV1N5ITSXFPU6P017MCZSGBQ.mp4	Causal	Question: Why do you aim at the road leading to the red suspension bridge after approaching the river? Options: A. To align with the road and ensure a smooth approach to the bridge. B. I align with the road and quickly gain higher altitude. C. I align with the road and avoid surrounding buildings. D. I aim at the road, descend, and land near the riverbank. E. To align with the road and capture better city views.	A
690	AerialVLN_97_3OHYZ19UGL312V9L7ZJ1AZWIN8TOAX.mp4	Object Recall	Question: What can you see from behind the large advertisement, near the edge of the roof? Choice: A. A satellite dish near the edge of the roof. B. A water tank near the edge of the roof. C. A chimney near the edge of the roof. D. A flagpole near the edge of the roof. E. A man near the edge of the roof.	C
691	AerialVLN_97_3OHYZ19UGL312V9L7ZJ1AZWIN8TOAX.mp4	Sequence Recall	Question: After you fly forward over the roof of a building, gaining altitude to get a clearer view of the distant skyline, what is your next move? Choice: A. I descend to a rooftop closer to the large advertisement. B. I fly backward to avoid obstacles. C. I fly towards a larger building with a prominent advertisement on it. D. I turn around and return to my original position. E. I hover in place to get a better view.	C
692	AerialVLN_97_3OHYZ19UGL312V9L7ZJ1AZWIN8TOAX.mp4	Proximity	Question: How does the distance between you and the large advertisement change after you move to the edge of the roof? Choice: A. I increase the distance between myself and the large advertisement. B. I reduce the distance between myself and the large advertisement. C. The distance remains unchanged.	B
693	AerialVLN_97_3OHYZ19UGL312V9L7ZJ1AZWIN8TOAX.mp4	Duration	Question: Which takes longer, you moving forward on a building roof and gaining altitude to see the distant skyline, or approaching a larger building with prominent advertising? Choice: A. I take longer to move forward and gain altitude on the roof of the building than I do to approach the larger building with the advertisement. B. I take longer to approach a larger building with a prominent advertisement than I do to move forward on the roof of the building. C. It takes me the same amount of time to move forward and approach the larger building.	B
694	AerialVLN_97_3OHYZ19UGL312V9L7ZJ1AZWIN8TOAX.mp4	Causal	Question: Why do you rise vertically while maintaining your position relative to the building facade? Choice: A. To avoid the nearby crane. B. To get a better view of the cityscape. C. To shoot the advertisement at close range. D. To move away from congested airspace. E. To perform a pre-programmed aerial maneuver.	B
695	AerialVLN_97_3OHYZ19UGL312V9L7ZJ1AZWIN8TOAX.mp4	Counterfactual	Question: If you choose to move sideways to the left around the building, rather than hovering in front of the building and then rising up, can you still reach behind the large ad on the edge of the roof? Choice: A. I will not be able to complete the mission because I need to gain altitude before I can get over the roof. B. I can complete the task, but the hypothetical move will take longer because I have to navigate around obstacles. C. I will not be able to complete the mission because the destination cannot be reached from the ground.	A
740	AerialVLN_108_3T3IWE1XGFL923LASC2MU9HAR8YQTF.mp4	Start/End Position	Question: Where are your starting and ending points during the journey? Options: A. Start on the roof and end on the exterior wall of the adjacent building. B. Start from a location overlooking the cityscape and end at a window under the "DAVE'S CAR WASH" sign. C. Start from the edge of the current building and end at the center of the intersection. D. Start on the rooftop and end on top of the building with the "DAVE'S CAR WASH" sign. E. Start from the roof and end at the main entrance of the building.	B
741	AerialVLN_108_3T3IWE1XGFL923LASC2MU9HAR8YQTF.mp4	Proximity	Question: After you adjust your path, how does the distance to the building with the "DAVE'S CAR WASH" sign change? Option: A. The distance to the building decreases. B. The distance to the building increases. C. The distance to the building remains unchanged.	A
742	AerialVLN_108_3T3IWE1XGFL923LASC2MU9HAR8YQTF.mp4	Duration	Question: Which would take longer, you flying over a rooftop or aligning with a "DAVE'S CAR WASH" ad? Choice: A. I fly over the roof longer than I am aligned with the ad. B. I fly over the rooftop for less time than I am aligned with the ad. C. I fly over the roof for the same amount of time as I am aligned with the ad.	B
743	AerialVLN_108_3T3IWE1XGFL923LASC2MU9HAR8YQTF.mp4	Causal	Question: Why do you turn slightly right to face the neighboring building after continuing forward to approach the edge of the current building? Choices: A. To line up with the path of the window below the ad. B. I turned right to avoid colliding with another drone. C. I detect an obstacle on the left and turn right. D. To avoid losing altitude over the roof. E. I turned right due to sudden wind that affected navigation.	A
750	AerialVLN_110_3TE3O857396FU56XMC7QYCIPM7PR26.mp4	Trajectory Captioning	Question: Which of the following options better summarizes your movement? Choice: A. Fly directly from above the park canopy along the woods to the sidewalk at the seaside intersection. B. Move from the edge of the park along the treetops to the sidewalk by the sea. C. Gradually descend from city skyline view to building rooftops. D. Travel from the treetops to the horizon by flying at high altitudes. E. Travel from the tree canopy to the main street and back to the park by the sea.	A
751	AerialVLN_110_3TE3O857396FU56XMC7QYCIPM7PR26.mp4	Start/End Position	Question: Where are your starting and ending points during the journey? Choice: A. Start above the tree canopy in the park and end at street level aligned with the urban fabric. B. Start above the trees toward the city skyline and end on the sidewalk at the seaside intersection. C. Start from the tall building on the left and end at the edge of the park. D. Start from the main street with tall buildings and end in the tree canopy. E. Start from the sidewalk and end at the low-rise building.	B
752	AerialVLN_110_3TE3O857396FU56XMC7QYCIPM7PR26.mp4	Object Recall	Question: As you move forward over the treeline, what is at the edge of the park? Choice: A. There is a river. B. There is a playground. C. There is a tall building. D. There is a sidewalk. E. There is parking.	C
753	AerialVLN_110_3TE3O857396FU56XMC7QYCIPM7PR26.mp4	Sequence Recall	Question: After you move slightly to the left, what is your next move? Options: A. I descend to street level. B. I turn right to avoid the building. C. I continue to move forward, staying above the tree line. D. I make a circle around the tall building. E. I hover in place to capture the view.	C
754	AerialVLN_110_3TE3O857396FU56XMC7QYCIPM7PR26.mp4	Scene Recall	Question: What objects do you observe when you fly toward the seaside intersection sidewalk? Option: A. I observe high-rise buildings, low-rise buildings, and the horizon on the left. B. I observe tree canopies, playgrounds, and rivers while flying to my destination. C. I observe parked cars, vendors, and bridges while flying to my destination. D. I observe mountains, highways, and McDonald's billboards while flying to my destination. E. I observe lighthouses, boats, and beaches while flying to my destination.	A
755	AerialVLN_110_3TE3O857396FU56XMC7QYCIPM7PR26.mp4	Proximity	Question: After you descend to the same height as the street, how does the distance between you and the main street with tall buildings change? Choice: A. I increase my distance from the main street. B. My distance from the main street decreases. C. My distance from the main street remains constant.	B
756	AerialVLN_110_3TE3O857396FU56XMC7QYCIPM7PR26.mp4	Duration	Question: Does it take longer for you to move forward over the park or to descend down the street to the sidewalk by the ocean? Choice: A. I take longer to move forward over the park than to descend down the street. B. I move forward over the park in the same amount of time as I descend down the street. C. My forward movement time over the park is shorter than my descent down the street.	A
757	AerialVLN_110_3TE3O857396FU56XMC7QYCIPM7PR26.mp4	Causal	Question: Why do you move slightly to the left after maintaining altitude? Choice: A. To bring a tall building on the left into clearer view. B. To avoid obstacles in your path. C. To speed up your descent. D. To get a better view of the city skyline. E. To align yourself with the seaside walkway.	A
758	AerialVLN_110_3TE3O857396FU56XMC7QYCIPM7PR26.mp4	Counterfactual	Question: If you do not maintain an altitude above the park but descend to a low-rise building in advance, can you still reach the sidewalk on the seaside? Choice: A. If I choose to descend early, I can complete the mission because I align with street level more quickly, but the alternative takes longer. B. If I choose to descend early, I cannot complete the mission as I risk losing my direct route over the park. C. If I choose to descend early, I can complete the mission because I align with street level more quickly, whereas the alternative would require less time.	B
786	AerialVLN_117_3VAR3R6G1YZNJ7G6A1ZNE8QNU348ON.mp4	Sequence Recall	Question: After you progress over the street and gain altitude, what’s the next step? Choice: A. Turn to face the city skyline. B. Descend to the ground. C. After turning right, fly straight towards the tall building in the distance. D. Hover in place. E. Descend and enter the lower apartment building.	C
787	AerialVLN_117_3VAR3R6G1YZNJ7G6A1ZNE8QNU348ON.mp4	Scene Recall	Question: What objects do you observe while flying over low-rise apartment buildings? Choice: A. A tree, a playground, and a swimming pool. B. Multiple antennas, rooftops, and tall buildings. C. Park benches, statues, and pedestrians. D. A shopping mall, a parking lot, and a bicycle. E. A fountain, skate park, and cars.	B
788	AerialVLN_117_3VAR3R6G1YZNJ7G6A1ZNE8QNU348ON.mp4	Proximity	Question: After you move forward, how does the distance between you and the apartment building below change? Choice: A. I increase the distance from the lower apartment building. B. I decrease the distance from the lower apartment building. C. The distance between me and the apartment building below remains constant.	A
836	EmbodiedCity_0_1.mp4	Trajectory Captioning	Question: What is the correct summary of your trajectory from start to current position as you navigate to the center of the tarmac? Choice: A. I start from a high-rise building, descend to street level, and then move toward the helipad. B. I start directly above the helipad and descend directly to the center of the helipad. C. I depart from the highway, fly to a building with a helipad on its roof, and land on the building. D. I start above a highway intersection, descend, and move toward a building, finally positioning myself above a rooftop helipad. E. I depart from the park, cross the street, and rise to the roof level of the building, where I am now located above the helipad on that roof.	B
837	EmbodiedCity_0_1.mp4	Landmark Position	Question: At the initial position, you are asked to navigate to the center of the apron. When you reach your current location, what is the direction to the destination? choose: A. I am currently locating far north of the helipad. B. I am currently locating slightly northeast of the helipad. C. I am currently locating far southwest of the helipad. D. I am currently locating slightly west of the helipad. E. I am currently locating directly above the center of the helipad.	E
838	EmbodiedCity_0_1.mp4	Goal Detection	Question: At the initial position, you are asked to navigate to the center of the tarmac. When you reach the last frame of the video, is the destination within view at your current location? If yes, where is the destination in the view? choose: A. I see the center of the apron in the lower right corner of my field of view. B. I see the center of the apron in the upper left corner of my field of view. C. I see the center of the apron on the left side of my field of view. D. I do not see the center of the apron within my field of view. E. I see the center of the apron at the center of my field of view.	E
839	EmbodiedCity_0_1.mp4	Association Reasoning	Question: At the initial position, you are asked to navigate to the center of the tarmac. From your current location, is the center of the apron in view? If the center of the tarmac is not within your field of view, what is the most relevant object in the field of view? Where is the object? choose: A. The center of the apron cannot be seen, but there is a group of low-rise buildings on the upper right side of the field of view. B. The center of the apron is within my field of view. C. The center of the helipad is not visible in my field of view, but there is a helipad on the roof of the high-rise building in the center of the field of view. D. The center of the apron is not visible in my field of view, but there is a road intersection in the lower left corner of the field of view. E. The center of the apron cannot be seen, but there is a tall building in the background.	B
840	EmbodiedCity_0_1.mp4	Cognitive Map	Question: You are navigating to the center of the tarmac. Thinking back on past Action Generations and objects you've seen, what is the surrounding environment like at your current location? Choice: A. There are many high-rise buildings around me, and a large highway intersection can be seen in the distance. The helipad is directly below me. B. I am above the helipad on top of the curved building. Several high-rise buildings are visible in front, at my right and left, and a highway is visible on my right. C. There is a low-rise building directly in front of me. A large park is visible behind me. D. I am in an open space with no important buildings nearby. A small park is visible on my left. E. There are several low-rise buildings surrounding me, and a small road is visible in the distance. A large body of water can be seen to the north.	A
841	EmbodiedCity_0_1.mp4	Action Generation	Question: At the initial position, you are asked to navigate to the center of the tarmac. What is your next move, given the target location for your next move? choose: A. I rise. B. I rotate the camera downward. C. I fly forward. D. I turn left. E. I turn right. F. I rotate the camera upward. G. I descend.	G
935	EmbodiedCity_14.mp4	Goal Detection	Question: At the initial position, you are asked to navigate to the balcony on the 19th floor. Is the destination within sight at your current location? If yes, where is the destination in your view? choose: A. I currently see the balcony on the 19th floor in the lower left corner of my field of view. B. I currently see the balcony on the 19th floor on the right side of my field of view. C. I currently see the balcony on the 19th floor in the upper right corner of my field of view. D. The balcony on the 19th floor is not within my field of view. E. I currently see the balcony on the 19th floor in the center of my field of view.	E
936	EmbodiedCity_14.mp4	High-level Planning	Question: At the initial position, you are asked to navigate to the balcony on the 19th floor. Thinking back on past Action Generations and objects you have seen, what should you approach next in order to get from your current location to your destination? choose: A. I approach the foundation of a building. B. I approach the entrance to a building. C. I approach 19 stories high. D. I approach the height of the building’s roof. E. I approach the top of the nearest skyscraper.	C
937	EmbodiedCity_14.mp4	Action Generation	Question: At the initial position, you are asked to navigate to the 19th floor balcony. What is your next move, given the target location for your next move? choose: A. I rise. B. I rotate the camera downward. C. I fly forward. D. I turn left. E. I turn right. F. I rotate the camera upward. G. I turn left after descending.	G
943	EmbodiedCity_15_1.mp4	Goal Detection	Question: At the initial position, you are asked to navigate to the 18th floor balcony. Is the destination within sight at the current location? If yes, where is the destination in the view? choose: A. I see the balcony on the 18th floor below the center of my field of view. B. I see the balcony on the 18th floor on the left side of my field of view. C. I see the balcony on the 18th floor in the upper right corner of my field of view. D. I don’t see the balcony on the 18th floor within my field of view. E. I see the balcony on the 18th floor in the lower right corner of my field of view.	A
944	EmbodiedCity_15_1.mp4	Cognitive Map	Question: You are navigating to the 18th floor balcony. Thinking back on past Action Generations and objects you've seen, what is the surrounding environment like at your current location? Choice: A. There is a highway to your right. There are several low-rise buildings surrounding you. There is parking underneath you. B. There are many high-rise buildings around you. There is a large park behind you. There is a road underneath you. C. There is a large square in front of you. There is a river behind you. There is a highway below you. D. There are roads and trees next to you. There are many high-rise buildings around you. E. There is only one high-rise building in front of you. There is a residential area behind you. There is a small garden beneath you.	D
945	EmbodiedCity_15_1.mp4	High-level Planning	Question: At the initial position, you are asked to navigate to the 18th floor balcony. Thinking back on past Action Generations and objects you have seen, what should you approach next in order to get from your current location to your destination? choose: A. The center of a highway intersection. B. The ground floor of a building. C. Height of 18 floors. D. The height of the roof of a high-rise building. E. The top of the nearest skyscraper.	C
946	EmbodiedCity_15_1.mp4	Action Generation	Question: At the initial position, you are asked to navigate to the 18th floor balcony. What is your next move, given the target location for your next move? choose: A. I rise. B. I rotate the camera downward. C. I fly forward. D. I turn left. E. I turn right. F. I rotate the camera upward. G. I turn left after descending.	G
1,086	EmbodiedCity_22.mp4	Trajectory Captioning	Question: You are navigating to the balcony on the 11th floor. What is the correct summary of your trajectory from the beginning to the current location? Choice: A. Start from a high-rise building, descend to street level, and move towards the target building. B. Start from the left side of the building with a huge conical dome, turn right, descend to a certain height, and move forward to approach the balcony on the 11th floor. C. Start from above the city, descend to the height of the target building, and hover near the 11th floor. D. Start from the park, rise vertically, move horizontally, and reach the current position next to the target building. E. Start from a high-rise building, move horizontally over streets and parks, then descend and move vertically to the 11th-floor balcony.	B
1,087	EmbodiedCity_22.mp4	Landmark Position	Question: At the initial position, you are asked to navigate to the balcony on the 11th floor. When you reach the current location, what is the direction to the destination? choose: A. I am currently located on the roof of an adjacent building across the street. B. I am currently located directly above the target balcony, within the same building. C. I am currently located far away from the building and above the road. D. I am currently located on the lower floor of the same building, directly below the target balcony. E. I am currently located below and to the side of the target balcony, next to the same building.	E
1,088	EmbodiedCity_22.mp4	Goal Detection	Question: At the initial position, you are asked to navigate to the balcony on the 11th floor. Is the destination within sight at the current location? If yes, where is the destination in your view? Choose: A. The balcony on the 11th floor is currently located in the center of my field of view. B. The balcony on the 11th floor is currently located in the upper left corner of my field of view. C. The balcony on the 11th floor is currently located on the right side of my field of view. D. The balcony on the 11th floor is not within my field of view. E. The balcony on the 11th floor is currently located in the lower left corner of my field of view.	A
1,089	EmbodiedCity_22.mp4	Cognitive Map	Question: You are navigating to the 11th floor balcony. Thinking back on past Action Generations and objects you have seen, what is the surrounding environment like at your current location? Choice: A. There is a large park with a playground in front of me. There are several low-rise buildings on my right. There is a highway to my left. B. There are several low-rise buildings surrounding me. There is a small courtyard directly below me. C. There are no visible buildings in front of me. There is a large area of open water behind me. There is a large clearing directly below me. D. There are roads and trees next to me. There are many high-rise buildings around me. E. There is a very tall building directly in front of me, blocking most of the view. To my left is another high-rise building, with a highway winding past it to my right.	D
1,090	EmbodiedCity_22.mp4	Action Generation	Question: At the initial position, you are asked to navigate to the 11th-floor balcony. What is your next move, given the target location for your next move? choose: A. I rise. B. I descend. C. I fly forward. D. I turn left. E. I turn right. F. I rotate the camera upward. G. I rotate the camera downward.	A
1,249	EmbodiedCity_34_0.mp4	Trajectory Captioning	Question: You are navigating to a red billboard on the fifth floor (top floor), what is the correct summary of your trajectory from the start to the current location? Choice: A. Start from a low altitude above the street, move forward, then turn right to approach the building, and finally rise to your current location. B. Start from the park, fly directly towards the building, and rise to your current position next to the building. C. Start from a high altitude above the city and float in the sky. The camera keeps turning to the right, overlooking the entire city. D. Start from a low altitude above the street, move forward, and then rise to the height of the building, approaching the target location on the fifth floor. E. Start from the park, turn left to face the street, approach the building, and rise to your current position near the target billboard.	C
1,250	EmbodiedCity_34_0.mp4	Goal Detection	Question: At the initial position, you are asked to navigate to a red billboard on the fifth floor (top floor). Is the destination within sight at the current location? If yes, where is the destination in the view? choose: A. The red billboard is currently located in the lower left corner of my field of view. B. The red billboard is currently located in the center of my field of view. C. The red billboard is currently located in the upper right corner of my field of view. D. The red billboard is not within my field of view. E. The red billboard is currently located on the left side of my field of view.	D
1,251	EmbodiedCity_34_0.mp4	Association Reasoning	Question: At the initial position, you are asked to navigate to a red billboard on the fifth floor (top floor). At your current location, if the red billboard on the fifth floor (top floor) is not in view, what is the most relevant object in the view and where is this object? choose: A. I already see the red billboard on the fifth floor (top floor). B. I cannot see the red billboard on the fifth floor (top floor), but there is a bus stop in the lower right corner of my field of vision. C. I cannot see the red billboard on the fifth floor (top floor), but I see the door of a high-rise building across the street on the left side of my field of view. D. I cannot see the red billboard on the fifth floor (top floor), but I see low-rise buildings in my field of vision. E. I cannot see the red billboard on the fifth floor (top floor), but I see the lake area in the park in the lower left corner of my view.	D
1,252	EmbodiedCity_34_0.mp4	Cognitive Map	Question: You are navigating to a red billboard on the fifth floor (top floor). Thinking back on past Action Generations and objects you’ve seen, what is the surrounding environment like at your current location? Choice: A. There are several low-rise buildings around me, wide roads, an intersection, and many vehicles. B. There is a large park with green trees on my right, multi-story buildings of varying heights on my left, and a busy road with many vehicles ahead. C. I am surrounded by high-rise buildings with almost no open space. A narrow street is directly below. D. There are three buildings in a row across the street in front of me. The middle one is much taller than the other two. Behind me, there is a park with pedal paths and trees. A walkway is beneath me. E. I am located above a large square with a very tall building to the north and several smaller buildings scattered to the south.	A
1,253	EmbodiedCity_34_0.mp4	Action Generation	Question: At the initial position, you are asked to navigate to a red billboard on the fifth floor (top floor). What is your next move, given the target location for your next move? choose: A. I rise. B. I rotate the camera downward. C. I fly forward. D. I turn left. E. I turn right. F. I rotate the camera upward. G. I descend.	G
1,450	EmbodiedCity_46_0.mp4	Trajectory Captioning	Question: How do you navigate to a trash can in front of a coffee shop, and what is the correct summary of your trajectory from start to your current location? Choice: A. I start from a high-rise building, descend to street level, and move toward the coffee shop. B. I start from the park, fly across the street, and land near the trash can. C. I start from the street, fly over the buildings, and then descend to the coffee shop. D. I start from a high-rise building, move toward the street, descend to street level, and move toward the coffee shop. E. I start from a point above the intersection, move toward the building with the "Cheespeed" sign, and descend to street level in front of the store.	E
1,451	EmbodiedCity_46_0.mp4	Landmark Position	Question: At the initial position, you are asked to navigate to the trash can in front of the coffee shop. When you reach the current location, what is the direction to the destination? choose: A. I am currently on the ground next to a trash can. B. I am currently across the street from the coffee shop and above the park. C. I am currently directly above the trash can. D. I am currently far away from the coffee shop and above a tall building. E. I am currently on the left side of the coffee shop, slightly closer to the trash can.	E
1,452	EmbodiedCity_46_0.mp4	Goal Detection	Question: At the initial position, you are asked to navigate to the trash can in front of the coffee shop. Is the destination within sight at the current location? If yes, where is the destination in the view? choose: A. I see the trash can in the lower left corner of my field of view. B. I see the trash can in the center of my field of view. C. I see the trash can in the upper right corner of my field of view. D. The trash can is not within my field of view. E. I see the trash can in the upper left corner of my field of view.	D
1,453	EmbodiedCity_46_0.mp4	Action Generation	Question: At the initial position, you are asked to navigate to the trash can in front of the coffee shop. What is your next move, given the target location for your next move? choose: A. I rise. B. I descend. C. I fly forward. D. I turn left and fly forward. E. I turn right. F. I rotate the camera upward. G. I rotate the camera downward.	D
1,494	EmbodiedCity_50_0.mp4	Trajectory Captioning	Question: You are navigating to the main entrance, what is the correct summary of your trajectory from the start to the current location? Choice: A. I start from the roof of a high-rise building, descend to street level, and move toward the main entrance. B. I depart from the park, fly across the street, land on the roof of the building, and then move toward the main entrance. C. I start from a low altitude above the building, ascend to a higher altitude, and then descend to my current location near the main entrance. D. I launch from a low altitude above the building, ascend to a higher altitude, and then descend to my current location near the main entrance. E. I start from a point close to the ground, ascend to a high altitude above the building, and then descend to my current location near the main entrance.	A
1,495	EmbodiedCity_50_0.mp4	Landmark Position	```` """ Question: The drone is navigating to the main entrance. When it reaches its current location, what is the direction between the drone and its destination? choose: Answer: A. The drone is currently located above the main entrance, between two high-rise buildings. B. The drone is currently located far away from the main entrance, on the roof of a building across the street. C. The drone is currently located directly above the main entrance at a very low altitude. D. The drone is currently located behind the main entrance, obscured by another building. E. The drone is currently located to one side of the main entrance, but across a wide street. """ ````	A
1,496	EmbodiedCity_50_0.mp4	Goal Detection	Question: At the initial position, you are asked to navigate to the main entrance. Is the destination within sight at your current location? If yes, where is the destination in your view? choose: A. The main entrance is currently in the lower right corner of my field of view. B. The main entrance is currently in the upper left corner of my field of view. C. The main entrance is currently on the left side of my field of view. D. The main entrance is not within my field of view. E. The main entrance is currently in the center of my field of view.	E
1,497	EmbodiedCity_50_0.mp4	Cognitive Map	Question: What is the surrounding environment like at your current location, thinking back on past Action Generations and objects you’ve seen? Choose: A. There are two tall buildings on each side of me, with a small park and a road in the middle. I am located above the roof. B. There are three high-rise buildings in front of me, and the middle building is slightly taller than the others. There is a small square with some trees behind and on both sides of me. I am located above the roof. C. There is a large open space in front of me and a high-rise building on the left. I am on the ground. D. There are several low-rise buildings around me, and there is a small parking lot directly below. I am located at street level. E. I am surrounded by high-rise buildings, with a small park visible below and on both sides. I am located above the roof.	E
1,498	EmbodiedCity_50_0.mp4	High-level Planning	Question: At the initial position, you are asked to navigate to the main entrance. Thinking back on past Action Generations and objects you have seen, what should you approach next in order to get from your current location to your destination? choose: A. I approach the center of the street between two tall buildings. B. I approach the rooftops of adjacent buildings. C. I approach the ground floor of the building across the street. D. I approach the height of the roof of a high-rise building. E. I approach the top of the nearest streetlight.	A
1,499	EmbodiedCity_50_0.mp4	Action Generation	Question: At the initial position, you are asked to navigate to the main entrance. What is your next move, given the target location for your next move? choose: A. I rise. B. I rotate the camera downward. C. I fly forward. D. I turn left. E. I turn right. F. I rotate the camera upward. G. I descend.	G
1,917	EmbodiedCity_88.mp4	Trajectory Captioning	Question: In the starting position, how do you navigate over a residential lawn with a small blue house? What is the correct summary of your trajectory from the starting position to the current position? Choice: A. I start from a high-rise building, descend, move towards the street, and then reach my current position above the target building. B. I start from the street, rise to the height of the roof of a high-rise building, and then move to the target building to reach my current location. C. I start from the park, rise to the height of the roof of a high-rise building, and move forward to reach my current position above the street. D. I start from the high-rise building, move towards the street, descend, and then move to my current position above the target building. E. I start from a high-rise building, move horizontally, and then descend to my current position above the target building.	E
1,918	EmbodiedCity_88.mp4	Association Reasoning	Question: At the initial position, you are asked to navigate over a residential lawn with a small blue house. At the current location, if the yellow window sill located on the middle floor is not within your field of view, what is the most relevant object in your field of view and where is this object? choose: A. I cannot see the lawn, but a small park is visible in the lower left corner of my field of view. B. I cannot see the lawn, but there is a parking lot on the lower right side of my field of view. C. I cannot see the lawn, but the main entrance of a tall building across the street is visible on the left. D. I cannot see the lawn, but the top of the tall building is in the center of my view. E. The lawn is already visible.	E
1,919	EmbodiedCity_88.mp4	Cognitive Map	Question: In the starting position, you are asked to navigate over a residential lawn with a small blue house. Thinking back on past action generations and objects you have seen, what is the surrounding environment like at your current location? Choice: A. There is a large open space below me. High-rise buildings are to my right and behind me. B. Two adjacent high-rise buildings are on my right side, and there is a large parking lot in front. A wide road is to my left. C. Three buildings are in a row across the street in front of me. The middle one is much taller than the other two. There is a park behind me with pedal paths and trees. A walkway is underneath me. D. A high-rise building is directly in front of me. There is a large highway to my left and a smaller road to my right. E. Many small buildings are clustered around me, with narrow streets between them.	A
1,920	EmbodiedCity_88.mp4	Action Generation	Question: At the initial position, you are asked to navigate over a residential lawn with a small blue house. Given the next steps for [planned milestone], what are your next steps? choose: A. I rise. B. I rotate the camera downward. C. I fly forward. D. I turn left. E. I turn right. F. I rotate the camera upward. G. I descend.	G
1,947	EmbodiedCity_9_2.mp4	Trajectory Captioning	Question: In the starting position, you are asked to navigate to the 24th-floor balcony of the building on the right. What is the correct summary of your trajectory from start to the current position? Choose: A. I start from the pedestrian area near the bottom of the building, rise vertically, and stop at my current location near the 24th floor. B. I start from the park, move along the road, then rise and move toward the building, reaching my current location on the 24th floor outside the building. C. I start from the highway, fly over the city, and then descend to my current location, which is the 24th floor of the building. D. I start from a high altitude, turn right to face the target building, and then descend to near the 24th floor. E. I descend from a high altitude, hover briefly, and then stop at my current location on the 24th floor of the building.	D
1,948	EmbodiedCity_9_2.mp4	Goal Detection	Question: At the initial position, you are asked to navigate to the 24th-floor balcony of the building on the right. Is the destination within sight at the current location? If yes, where is the destination in your view? choose: A. The balcony on the 24th floor is currently located in the center of my field of view. B. The balcony on the 24th floor is currently located in the middle and lower part of my field of view. C. The balcony on the 24th floor is not within my field of view. D. The balcony on the 24th floor is currently located in the upper right corner of my field of view. E. The balcony on the 24th floor is currently located in the left middle area of my field of view.	E
1,949	EmbodiedCity_9_2.mp4	Association Reasoning	Question: At the initial position, you are asked to navigate to the 24th floor balcony of the building on the right. At your current location, if the balcony on the 24th floor is not within your field of view, what is the most relevant object in your field of view, and where is this object? choose: A. I cannot see the balcony on the 24th floor, but the facade of the high-rise building, including the lower floors, is in the center of my view. B. I cannot see the balcony on the 24th floor, but there is a bus stop on the lower right side of my field of view. C. I cannot see the balcony on the 24th floor, but the top of the high-rise building is in the center of my view. D. I cannot see the balcony on the 24th floor, but there is a section of road on the right side of my view. E. I can already see the balcony on the 24th floor.	E
1,950	EmbodiedCity_9_2.mp4	Cognitive Map	Question: In the starting position, you are asked to navigate to the 24th-floor balcony of the building on the right. Thinking back on past Action Generations and objects you've seen, what is the surrounding environment like at your current location? Choice: A. In front of me is the target building, there is another building on the left, and on the right is a viaduct. The target building is surrounded by green belts. B. There are three buildings in a row across the street in front of me. The middle one is much taller than the other two. There is a park behind me with scooter lanes and trees. There is a walkway underneath me. C. There are no buildings in front of me, only an open space. There is a wide highway on the right. Behind me is a dense residential area. D. I am surrounded by high-rise buildings, and there is no obvious open space. A highway runs parallel to one side of me. E. There is a very tall building directly in front of me. Behind me is a large body of water. There is no sidewalk underneath me.	A
1,951	EmbodiedCity_9_2.mp4	Action Generation	Question: At the initial position, you are asked to navigate to the 24th floor balcony of the building on the right. Given the next steps for [planned milestone], what are your next steps? choose: A. I rise. B. I have already reached the destination; no next step is required. C. I fly forward. D. I turn left. E. I turn right. F. I rotate the camera upward. G. I rotate the camera downward.	D
2,027	EmbodiedCity_95.mp4	Landmark Position	Question: At the initial position, you are asked to navigate to the purple ledge at the top. When you reach the current location, what is the direction to the destination? choose: A. I am currently at the same level as the highest floor, slightly offset from the building. B. I am currently far above the building, almost directly above it. C. I am currently located directly below the purple ledge, on the ground. D. I am currently at a lower level on the side of the building. E. I am currently located across the street at the height of the highest floor.	A
2,028	EmbodiedCity_95.mp4	Goal Detection	Question: At the initial position, you are asked to navigate to the purple ledge on the top floor. Is the destination within sight at the current location? If yes, where is the destination in your view? choose: A. I see the purple window sill on the top floor in the lower left corner of my field of view. B. I see the purple window sill on the top floor in the center of my field of view. C. I see the purple window sill on the top floor in the upper right corner of my field of view. D. I do not see the purple window sill on the top floor in my field of view. E. I see the purple window sill on the top floor on the right side of my field of view.	D
2,029	EmbodiedCity_95.mp4	Action Generation	Question: At the initial position, you are asked to navigate to the purple ledge on the top floor. Given the next steps for [planned milestone], what are your next steps? choose: A. I rise. B. I descend. C. I rotate the camera upward. D. I turn left. E. I turn right. F. I fly forward. G. I rotate the camera downward.	F
2,120	AerialVLN_1_3WR9XG3T6C9FF015HCS8MAON6F774C_0.mp4	Progress Evaluation	Question: Navigation Instruction given at initial position: [step rise up until the two building appears. go towards the building crossing over pond. go decent down slightly and take round turn. head towards twin building and take right turn near the right building. take round turn above billboard cross the pond once again. head towards the intersection and take left turn near the grey building. cross over the intersection and head towards the second tall building on left. go beside that building and land in front of billboard.]. You move according to a series of movement instructions. What are you doing now? choose: A. I head towards the intersection and turn left near the gray building. B. I walk to the building and stop in front of the billboard. C. I go down slightly and turn. D. I fly over the woods and lake. E. I go to the Twin Towers and turn right near the building on the right.	D
2,121	AerialVLN_1_3WR9XG3T6C9FF015HCS8MAON6F774C_0.mp4	Landmark Position	Question: Navigation Instruction given at initial position: [step rise up until the two building appears. go towards the building crossing over pond. go decent down slightly and take round turn. head towards twin building and take right turn near the right building. take round turn above billboard cross the pond once again. head towards the intersection and take left turn near the grey building. cross over the intersection and head towards the second tall building on left. go beside that building and land in front of billboard.]. At the initial position, you are asked to move according to a series of movement instructions. When you reach the current location, what is the Landmark Position to the intersection? choose: A. I am on the right side of the intersection. B. I am on the left side of the intersection. C. I am above the intersection. D. I am below the intersection. E. I am behind the intersection.	C
2,122	AerialVLN_1_3WR9XG3T6C9FF015HCS8MAON6F774C_0.mp4	Action Generation	Question: Navigation Instruction given at initial position: [step rise up until the two building appears. go towards the building crossing over pond. go decent down slightly and take round turn. head towards twin building and take right turn near the right building. take round turn above billboard cross the pond once again. head towards the intersection and take left turn near the grey building. cross over the intersection and head towards the second tall building on left. go beside that building and land in front of billboard.]. You move according to a series of movement instructions. In terms of next steps, what is the best next step for you? choose: A. I go up and turn right. B. I descend and fly forward. C. I fly forward while descending and turning right. D. I turn left and go up. E. I rotate the camera downward.	D
2,141	AerialVLN_1_3WR9XG3T6C9FF015HCS8MAON6F774C_7.mp4	Progress Evaluation	Question: Navigation Instruction given at initial position: [step rise up until the two building appears. go towards the building crossing over pond. go decent down slightly and take round turn. head towards twin building and take right turn near the right building. take round turn above billboard cross the pond once again. head towards the intersection and take left turn near the grey building. cross over the intersection and head towards the second tall building on left. go beside that building and land in front of billboard.]. At the initial position, you are asked to navigate according to a series of movement instructions. What are you doing now? choose: A. I go across the water. B. I go to the Twin Towers and turn right near the building on the right. C. I go to the chair between the buildings. D. I fly over buildings. E. I navigate toward shorter buildings.	E
2,142	AerialVLN_1_3WR9XG3T6C9FF015HCS8MAON6F774C_7.mp4	Landmark Position	Question: Navigation Instruction given at initial position: [step rise up until the two building appears. go towards the building crossing over pond. go decent down slightly and take round turn. head towards twin building and take right turn near the right building. take round turn above billboard cross the pond once again. head towards the intersection and take left turn near the grey building. cross over the intersection and head towards the second tall building on left. go beside that building and land in front of billboard.]. You move according to a series of movement instructions. When you reach your current location, what is your Landmark Position from the billboard on top of the gray building? choose: A. I am located to the right of the billboard on top of the gray building. B. I am located beneath the billboard on top of the gray building. C. I am located to the left of the billboard on top of the gray building. D. I am located directly in front of the billboard on top of the gray building. E. I am far away from the billboard on top of the gray building.	D
2,143	AerialVLN_1_3WR9XG3T6C9FF015HCS8MAON6F774C_7.mp4	Action Generation	Question: Navigation Instruction given at initial position: [step rise up until the two building appears. go towards the building crossing over pond. go decent down slightly and take round turn. head towards twin building and take right turn near the right building. take round turn above billboard cross the pond once again. head towards the intersection and take left turn near the grey building. cross over the intersection and head towards the second tall building on left. go beside that building and land in front of billboard.]. You move according to a series of movement instructions. In terms of next steps, what is the best next step for you? choose: A. I go up and turn left. B. I descend and then fly forward. C. I fly forward while rising. D. I turn right and descend. E. I rotate the camera downward.	B
2,153	AerialVLN_3_3NQL1CS1506XOXGLOHJV8D8XNYAYVD_3.mp4	Progress Evaluation	Question: Navigation Instruction given at initial position: [take off turn left and fly towards the building present in the left and fly upwards from the building and turn left and fly straight and cross the first two buildings and fly downwards to the small building and fly upwards. cross the building and fly straight to the advertisement banner and turn left and turn right after crossing the first right and cross the eds butcher shop banner fly downwards in front of the juniors restaurant and bar. turn around the area on right left and turn turn at the opposite of the juniors restaurant.]. You move according to a series of movement instructions. What are you doing now? choose: A. I turn left and fly toward the building on the left. B. I fly upward. C. I cross the water. D. I go around the right-turn-left area and then turn around. E. I fly over buildings.	E
2,154	AerialVLN_3_3NQL1CS1506XOXGLOHJV8D8XNYAYVD_3.mp4	Action Generation	Question: Navigation Instruction given at initial position: [take off turn left and fly towards the building present in the left and fly upwards from the building and turn left and fly straight and cross the first two buildings and fly downwards to the small building and fly upwards. cross the building and fly straight to the advertisement banner and turn left and turn right after crossing the first right and cross the eds butcher shop banner fly downwards in front of the juniors restaurant and bar. turn around the area on right left and turn turn at the opposite of the juniors restaurant.]. At the initial position, you are asked to follow a series of movement instructions. In terms of next steps, what is the best next step for you? choose: A. I go up and turn right. B. I descend and fly forward. C. I fly forward while descending. D. I turn left and go up. E. I rotate the camera downward and fly forward.	B

19

EmbodiedCity_14.mp4

Start/End Position

Question: Where do you start and end your journey? Choices: A. I start between two tall skyscrapers and end at the series of rooftops below. B. I start at the city skyline between skyscrapers and end at the tall conical roof. C. I start between two tall buildings in the cityscape and end at the side of a tall glass building. D. I start between two tall buildings in the cityscape and end at the balcony on the 19th floor. E. I start at the series of rooftops below and end at the facade of a cylindrical building.

D

20

EmbodiedCity_14.mp4

Object Recall

Question: What is near the facade of the cylindrical building? Choices: A. A large billboard. B. A series of rooftops below. C. A city skyline between skyscrapers. D. A tall conical roof in the foreground. E. A glass bridge.

D

86

EmbodiedCity_75.mp4

Duration

Question: Which takes longer, your descent to a lower altitude over a series of high-rise buildings or your navigation along the narrow path between two buildings? Choices: A. My descent to a lower altitude takes shorter than my navigation along the narrow path. B. My descent to a lower altitude takes the same time as my navigation along the narrow path. C. My descent to a lower altitude takes longer than my navigation along the narrow path.

C

92

EmbodiedCity_78.mp4

Causal

Question: Why did you adjust your position to hover over the courtyard between the buildings after descending to a lower altitude? Choices: A. To get a closer view of the rooftop. B. To ascend to a higher altitude again. C. To capture panoramic shots of the cityscape. D. To avoid the intersection with street lamps. E. To align more closely with the pathway to the back door.

E

93

EmbodiedCity_78.mp4

Counterfactual

Question: Instead of descending toward the building facade (Movement 5), if you choose to fly around the building, can you still locate the back door with the green trash can? Choices: A. I can complete the task because it provides a different vantage point, but the alternative takes longer. B. I cannot complete the task because the back door is not visible from that path. C. I can complete the task because I follow an open path, taking the same time.

B

104

EmbodiedCity_88.mp4

Duration

Question: Which takes longer, your alignment with the main boulevard or your descent to align with the middle floors? Choices: A. My alignment with the main boulevard takes longer than my descent to align with the middle floors. B. My alignment with the main boulevard takes the same time as my descent to align with the middle floors. C. My alignment with the main boulevard takes shorter than my descent to align with the middle floors.

C

108

EmbodiedCity_95.mp4

Object Recall

Question: What do you observe near the purple window sill on the highest floor? Choices: A. A rooftop garden next to the purple window sill. B. A blue shed adjacent to the purple window sill. C. A construction crane nearby the purple window sill. D. A wide boulevard visible near the purple window sill. E. A helipad close to the purple window sill.

B

121

EmbodiedCity_14.mp4

Duration

Question: Which takes longer, your turn to face the building or your descent from the 22nd to the 19th floor? Choices: A. My turn to face the building takes longer than my descent from the 22nd to the 19th floor. B. My turn to face the building takes the same time as my descent from the 22nd to the 19th floor. C. My descent from the 22nd to the 19th floor takes longer than my turn to face the building.

C

158

EmbodiedCity_75.mp4

Sequence Recall

Question: What is your next action after descending further, approaching the bottom of a residential complex? Choices: A. Fly closer to the facade of the high-rise buildings, aligning with the central courtyard. B. Ascend to fly over the connected high-rise buildings. C. Move forward over the wide avenue, maintaining altitude. D. Turn to align with the motorway leading to the entrance of the community. E. Remain hovering in place.

D

159

EmbodiedCity_75.mp4

Scene Recall

Question: What objects do you observe while flying close to the facade of the high-rise buildings? Choices: A. A series of connected high-rise buildings, a rooftop garden, and cars. B. A bridge, a pond, and pedestrians. C. The series of connected high-rise buildings, the central courtyard, and the narrow path. D. A narrow alleyway, the layout of shopfronts, and a line of trees. E. A rooftop, a river, and boats.

D

160

EmbodiedCity_75.mp4

Counterfactual

Question: Instead of descending to ground level, if you choose to move forward along the avenue, can you reach the entrance of the community next to the shop with a yellow sign displaying the text "乐购便利店"? Choices: A. If I move forward along the avenue, I cannot complete the task because the avenue does not lead to the entrance. B. If I move forward along the avenue, I can complete the task because it aligns perfectly, but it takes a longer time. C. If I move forward along the avenue without descending, I cannot complete the task because I am at the wrong height.

C

162

EmbodiedCity_78.mp4

Duration

Question: Which takes longer, your descent to a lower altitude directly above the rooftops or your movement forward along the building to fly above the path leading to the residential area? Choices: A. My descent to a lower altitude takes longer than my movement forward along the building. B. My descent to a lower altitude takes the same time as my movement forward along the building. C. My descent to a lower altitude takes shorter than my movement forward along the building.

C

168

EmbodiedCity_88.mp4

Scene Recall

Question: What objects do you observe during your descent to align with the middle floors of the buildings? Choices: A. A green park with a playground, a large grey rooftop, and a yellow window sill. B. Several tall buildings, a green park with a playground, and a grey rooftop area. C. The skyline view, rooftop gardens, and a yellow window sill. D. A yellow window sill, several tall buildings, and the skyline view. E. A yellow window sill, a large grey rooftop, and the rooftops of nearby buildings.

C

206

AerialVLN_7_31HQ4X3T318XW6SIB7P03IMUFFGLS7.mp4

Trajectory Captioning

Question: Which of the following options better summarizes your movement? Choice: A. I fly from the main street around the tall buildings with advertisements to the lake. B. I descend from above the city park close to the water, to the left side of the lake. C. I fly from above the city park over the lake and a row of trees on the other side to above the intersection. D. I fly over the treetops from the other side of the lake and reach the right side of the intersection. E. I pass through several buildings and move under the bridge to the intersection.

C

207

AerialVLN_7_31HQ4X3T318XW6SIB7P03IMUFFGLS7.mp4

Start/End Position

Question: Where are your starting and ending points on the journey? Choice: A. Start above a construction site and end near a bridge by a lake. B. Start over the lake and end in the middle of the street below the tall building. C. Start from the rooftop and end at the lake in the center of the park. D. Start over the city park and end on the lake, facing the tall buildings. E. Start above a city park and end at an intersection next to a tall building with an advertisement.

E

208

AerialVLN_7_31HQ4X3T318XW6SIB7P03IMUFFGLS7.mp4

Object Recall

Question: What is the front of the high-rise building by the lake? Choice: A. A bell tower. B. A large advertisement. C. Murals. D. A balcony. E. A flagpole.

B

209

AerialVLN_7_31HQ4X3T318XW6SIB7P03IMUFFGLS7.mp4

Sequence Recall

Question: What is the next step after you arrive at the lake? Choice: A. I descend to a lower altitude. B. I turn right to another intersection. C. I move upward to get a clearer view of the tall building. D. I hover in place above the lake. E. I continue forward, over a row of trees ahead.

E

210

AerialVLN_7_31HQ4X3T318XW6SIB7P03IMUFFGLS7.mp4

Scene Recall

Question: What objects did you observe while flying over a street and near a row of trees? Choice: A. Benches, street lights, and statues. B. Cars, bridges, and rivers. C. A playground, pavilion, and fountain. D. Sidewalks, street intersections, and a tall building. E. Markets, stalls, and clock towers.

D

211

AerialVLN_7_31HQ4X3T318XW6SIB7P03IMUFFGLS7.mp4

Proximity

Question: When you continue to move through the intersection, how does the distance between you and the advertising high-rise building change? Choice: A. Increase the distance between me and high-rise buildings. B. The distance between me and the high-rise building remains unchanged. C. The distance between me and high-rise buildings decreases.

C

212

AerialVLN_7_31HQ4X3T318XW6SIB7P03IMUFFGLS7.mp4

Duration

Question: Which takes longer, your movement over the lake or your movement over the main street? Choices: A. My movement over the lake takes longer than my movement over the main street. B. My movement over the lake takes shorter than my movement over the main street. C. My movement over the lake takes the same time as my movement over the main street.

A

213

AerialVLN_7_31HQ4X3T318XW6SIB7P03IMUFFGLS7.mp4

Causal

Question: Why did you hover above the intersection near the tall building with the advertisement at the end? Choices: A. To capture a clear view of the advertisement on the building facade to understand its content. B. Because you were running low on battery and needed to conserve energy. C. To wait for the strong winds to pass before descending. D. To align your sensors for data collection from the surrounding area. E. Because you reached your final destination.

E

214

AerialVLN_7_31HQ4X3T318XW6SIB7P03IMUFFGLS7.mp4

Counterfactual

Question: Instead of flying directly over the lake towards the main street, if you choose to take a detour around the lake, can you complete the task, and how is the alternative route? Choices: A. I can complete the task by taking a detour around the lake because it offers a clearer view, and the alternative takes less time. B. I cannot complete the task by taking a detour around the lake because it deviates from the intended path. C. I can complete the task by taking a detour around the lake because I can still avoid possible obstacles with enough height, but the alternative takes longer.

C

593

AerialVLN_80_3KB8R4ZV1N5ITSXFPU6P017MCZSGBQ.mp4

Start/End Position

Question: Where are your starting and ending points? Choice: A. I start from the top of a high-rise building and end above the deck of the red suspension bridge. B. I start from the river bank and end at the starting point of the red suspension bridge. C. I start from the road leading to the bridge and end at the center span of the bridge. D. I start from a series of rooftops and end at a river. E. I start from the river and end at the road leading to the red suspension bridge.

A

594

AerialVLN_80_3KB8R4ZV1N5ITSXFPU6P017MCZSGBQ.mp4

Sequence Recall

Question: After you are aimed at the road leading to the bridge, what is the next step? Choice: A. Turn left toward the park. B. Fly over the bridge and maintain a stable altitude. C. Move forward for a while, then descend to the river. D. Return to the cityscape. E. Rise again and gain a higher altitude.

C

595

AerialVLN_80_3KB8R4ZV1N5ITSXFPU6P017MCZSGBQ.mp4

Causal

Question: Why do you aim at the road leading to the red suspension bridge after approaching the river? Options: A. To align with the road and ensure a smooth approach to the bridge. B. I align with the road and quickly gain higher altitude. C. I align with the road and avoid surrounding buildings. D. I aim at the road, descend, and land near the riverbank. E. To align with the road and capture better city views.

A

690

AerialVLN_97_3OHYZ19UGL312V9L7ZJ1AZWIN8TOAX.mp4

Object Recall

Question: What can you see from behind the large advertisement, near the edge of the roof? Choice: A. A satellite dish near the edge of the roof. B. A water tank near the edge of the roof. C. A chimney near the edge of the roof. D. A flagpole near the edge of the roof. E. A man near the edge of the roof.

C

691

AerialVLN_97_3OHYZ19UGL312V9L7ZJ1AZWIN8TOAX.mp4

Sequence Recall

Question: After you fly forward over the roof of a building, gaining altitude to get a clearer view of the distant skyline, what is your next move? Choice: A. I descend to a rooftop closer to the large advertisement. B. I fly backward to avoid obstacles. C. I fly towards a larger building with a prominent advertisement on it. D. I turn around and return to my original position. E. I hover in place to get a better view.

C

692

AerialVLN_97_3OHYZ19UGL312V9L7ZJ1AZWIN8TOAX.mp4

Proximity

Question: How does the distance between you and the large advertisement change after you move to the edge of the roof? Choice: A. I increase the distance between myself and the large advertisement. B. I reduce the distance between myself and the large advertisement. C. The distance remains unchanged.

B

693

AerialVLN_97_3OHYZ19UGL312V9L7ZJ1AZWIN8TOAX.mp4

Duration

Question: Which takes longer, you moving forward on a building roof and gaining altitude to see the distant skyline, or approaching a larger building with prominent advertising? Choice: A. I take longer to move forward and gain altitude on the roof of the building than I do to approach the larger building with the advertisement. B. I take longer to approach a larger building with a prominent advertisement than I do to move forward on the roof of the building. C. It takes me the same amount of time to move forward and approach the larger building.

B

694

AerialVLN_97_3OHYZ19UGL312V9L7ZJ1AZWIN8TOAX.mp4

Causal

Question: Why do you rise vertically while maintaining your position relative to the building facade? Choice: A. To avoid the nearby crane. B. To get a better view of the cityscape. C. To shoot the advertisement at close range. D. To move away from congested airspace. E. To perform a pre-programmed aerial maneuver.

B

695

AerialVLN_97_3OHYZ19UGL312V9L7ZJ1AZWIN8TOAX.mp4

Counterfactual

Question: If you choose to move sideways to the left around the building, rather than hovering in front of the building and then rising up, can you still reach behind the large ad on the edge of the roof? Choice: A. I will not be able to complete the mission because I need to gain altitude before I can get over the roof. B. I can complete the task, but the hypothetical move will take longer because I have to navigate around obstacles. C. I will not be able to complete the mission because the destination cannot be reached from the ground.

A

740

AerialVLN_108_3T3IWE1XGFL923LASC2MU9HAR8YQTF.mp4

Start/End Position

Question: Where are your starting and ending points during the journey? Options: A. Start on the roof and end on the exterior wall of the adjacent building. B. Start from a location overlooking the cityscape and end at a window under the "DAVE'S CAR WASH" sign. C. Start from the edge of the current building and end at the center of the intersection. D. Start on the rooftop and end on top of the building with the "DAVE'S CAR WASH" sign. E. Start from the roof and end at the main entrance of the building.

B

741

AerialVLN_108_3T3IWE1XGFL923LASC2MU9HAR8YQTF.mp4

Proximity

Question: After you adjust your path, how does the distance to the building with the "DAVE'S CAR WASH" sign change? Option: A. The distance to the building decreases. B. The distance to the building increases. C. The distance to the building remains unchanged.

A

742

AerialVLN_108_3T3IWE1XGFL923LASC2MU9HAR8YQTF.mp4

Duration

Question: Which would take longer, you flying over a rooftop or aligning with a "DAVE'S CAR WASH" ad? Choice: A. I fly over the roof longer than I am aligned with the ad. B. I fly over the rooftop for less time than I am aligned with the ad. C. I fly over the roof for the same amount of time as I am aligned with the ad.

B

743

AerialVLN_108_3T3IWE1XGFL923LASC2MU9HAR8YQTF.mp4

Causal

Question: Why do you turn slightly right to face the neighboring building after continuing forward to approach the edge of the current building? Choices: A. To line up with the path of the window below the ad. B. I turned right to avoid colliding with another drone. C. I detect an obstacle on the left and turn right. D. To avoid losing altitude over the roof. E. I turned right due to sudden wind that affected navigation.

A

750