dataset/navi_data_preview.json

{
  "source": "dataset/navi_data.pkl",
  "num_samples": 5037,
  "note": "This JSON is a human-readable preview. Ground-truth data is stored in the PKL file.",
  "fields": {
    "folder": "str, scene folder identifier",
    "start_pos": "float[3], initial drone world position (x, y, z)",
    "start_rot": "float[3], initial drone orientation (roll, pitch, yaw in radians)",
    "start_ang": "float, initial camera gimbal angle in degrees",
    "task_desc": "str, natural-language navigation goal description",
    "target_pos": "float[3], target world position (x, y, z)",
    "gt_traj": "float[N,3], ground-truth trajectory points",
    "gt_traj_len": "float, ground-truth trajectory length"
  },
  "statistics": {
    "gt_traj_len_min": 20.0,
    "gt_traj_len_max": 1450.006205125028,
    "gt_traj_len_mean": 158.47320929108906
  },
  "preview_samples": [
    {
      "sample_index": 0,
      "folder": "0",
      "task_desc": "the roof on the white house in front of you",
      "start_pos": [
        7644.1665,
        -3637.45654,
        -22.36726
      ],
      "start_rot": [
        0.0,
        0.0,
        1.96349536
      ],
      "start_ang": 0.0,
      "target_pos": [
        7625.03223,
        -3591.2627,
        -12.367259
      ],
      "gt_traj_len": 59.999912430650184,
      "gt_traj_num_points": 7,
      "gt_traj_preview_first5": [
        [
          7644.1665,
          -3637.45654,
          -22.36726
        ],
        [
          7640.33984,
          -3628.21777,
          -22.36726
        ],
        [
          7636.51318,
          -3618.979,
          -22.36726
        ],
        [
          7636.51318,
          -3618.979,
          -12.367259
        ],
        [
          7632.68604,
          -3609.74023,
          -12.367259
        ]
      ]
    },
    {
      "sample_index": 1,
      "folder": "1",
      "task_desc": "the nearby terrace on the 29th floor of a yellow-exterior building, with the number 29 on the exterior wall",
      "start_pos": [
        5775.11621,
        -3606.19556,
        -72.3671875
      ],
      "start_rot": [
        0.0,
        0.0,
        2.74889337
      ],
      "start_ang": 0.0,
      "target_pos": [
        5807.15283,
        -3582.79956,
        -122.367188
      ],
      "gt_traj_len": 159.99963191243666,
      "gt_traj_num_points": 27,
      "gt_traj_preview_first5": [
        [
          5775.11621,
          -3606.19556,
          -72.3671875
        ],
        [
          5775.11621,
          -3606.19556,
          -72.3671875
        ],
        [
          5775.11621,
          -3606.19556,
          -72.3671875
        ],
        [
          5775.11621,
          -3606.19556,
          -72.3671875
        ],
        [
          5775.11621,
          -3606.19556,
          -82.3671875
        ]
      ]
    },
    {
      "sample_index": 2,
      "folder": "2",
      "task_desc": "the area in front of and beside the black vehicle",
      "start_pos": [
        6558.31348,
        -4182.68701,
        -2.36725903
      ],
      "start_rot": [
        0.0,
        0.0,
        -3.14159254
      ],
      "start_ang": 0.0,
      "target_pos": [
        6434.1499,
        -4225.20166,
        -2.36725903
      ],
      "gt_traj_len": 140.0004342893851,
      "gt_traj_num_points": 22,
      "gt_traj_preview_first5": [
        [
          6558.31348,
          -4182.68701,
          -2.36725903
        ],
        [
          6548.31348,
          -4182.68701,
          -2.36725903
        ],
        [
          6538.31348,
          -4182.68701,
          -2.36725903
        ],
        [
          6528.31348,
          -4182.68701,
          -2.36725903
        ],
        [
          6518.31348,
          -4182.68701,
          -2.36725903
        ]
      ]
    },
    {
      "sample_index": 3,
      "folder": "3",
      "task_desc": "上方米色外墙的建筑的22楼的露台（外墙有标数字）",
      "start_pos": [
        5827.45605,
        -3566.9043,
        -2.3671875
      ],
      "start_rot": [
        0.0,
        0.0,
        2.74889343
      ],
      "start_ang": 45.0,
      "target_pos": [
        5808.21729,
        -3583.07739,
        -92.3671875
      ],
      "gt_traj_len": 129.99999632428458,
      "gt_traj_num_points": 18,
      "gt_traj_preview_first5": [
        [
          5827.45605,
          -3566.9043,
          -2.3671875
        ],
        [
          5827.45605,
          -3566.9043,
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        ],
        [
          5827.45605,
          -3566.9043,
          -22.3671875
        ],
        [
          5827.45605,
          -3566.9043,
          -22.3671875
        ],
        [
          5827.45605,
          -3576.9043,
          -22.3671875
        ]
      ]
    },
    {
      "sample_index": 4,
      "folder": "4",
      "task_desc": "The pink tree in front of the gate of the building ahead",
      "start_pos": [
        5838.2207,
        -3592.0459,
        -94.9805832
      ],
      "start_rot": [
        0.0,
        0.0,
        2.74889374
      ],
      "start_ang": 0.0,
      "target_pos": [
        5722.9585,
        -3595.12549,
        -14.9805775
      ],
      "gt_traj_len": 240.00179701808574,
      "gt_traj_num_points": 33,
      "gt_traj_preview_first5": [
        [
          5838.2207,
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        ],
        [
          5838.2207,
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        ],
        [
          5834.39355,
          -3601.28467,
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        ],
        [
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        ],
        [
          5827.32227,
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        ]
      ]
    }
  ]
}