| # MAP-Bench training split |
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|
| **35,454 trajectories · 7,184,098 RGB frames · 15 Hz** |
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| This split supplies forward RGB videos, base navigation commands, target-object |
| boxes, image-plane Manipulation Anchor Pose annotations, and task instructions. |
| It is the training data for the UniWAM-Base navigation preset. The 15,000 |
| closed-loop evaluation episodes are provided separately under `evaluation/`. |
|
|
| From the [UniWAM repository](https://github.com/Fysics-AI/UniWAM): |
|
|
| ```bash |
| python scripts/download_assets.py --training |
| ``` |
|
|
| The helper downloads the indices, normalization, and text features and verifies |
| and extracts eight archives to `MAP-Bench/training/episodes/`. All paths in the |
| indices are relative to the index directory. Each episode contains `rgb.mp4` |
| and `frame_annotations.jsonl`; navigation commands are stored either in |
| `actions_vx_vyaw.npy` or the annotations, as indicated by the index. |
|
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| Use `MAP-Bench/training` as `UNIWAM_DATA_ROOT` in the |
| [training guide](https://github.com/Fysics-AI/UniWAM/blob/main/training/README.md). |
| The HM3D-derived data are subject to the benchmark [license notes](../LICENSE.md). |
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