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--- |
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license: cc-by-nc-sa-4.0 |
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language: |
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- en |
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tags: |
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- iros 2025 |
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- navigation challenge |
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- visual-language navigation (vln) |
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- robotics dataset |
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- matterport3d |
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- interiornav |
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- r2r dataset |
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--- |
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<div id="top" align="center"> |
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<img src="https://github.com/InternRobotics/InternNav/raw/main/challenge/demo.gif" width=60% > |
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</div> |
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# IROS-2025-Challenge-Nav Dataset |
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## Dataset Summary 📖 |
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This dataset includes the R2R dataset and the InteriorNav dataset, constructed from Matterport3D scanned environments and InteriorNav(kujiale) high-quality modeled environments, respectively, with corresponding navigation trajectories and language instructions. |
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### Trajectory Statistics by Subset |
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| Dataset | Train | Val Seen | Val Unseen | Test Unseen | |
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|------------------|------------------------|-------------------|---------------------|------------------------| |
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| VLN-PE-R2R | 8,679 (stair-filtered) | 778 | 1,839 | 3,408 | |
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| InteriorNav | 649 | 44 | 99 | 165 | |
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| **Total** | **9,328** | **822** | **1,938** | **3,573** | |
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# Get started 🔥 |
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## Download the Dataset |
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``` |
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# Make sure git-lfs is installed (https://git-lfs.com) |
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git lfs install |
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git clone https://huggingface.co/datasets/InternRobotics/IROS-2025-Challenge-Nav |
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# If you want to clone without large files - just their pointers |
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GIT_LFS_SKIP_SMUDGE=1 git clone https://huggingface.co/datasets/InternRobotics/IROS-2025-Challenge-Nav |
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``` |
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## Dataset Structure 📁 |
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``` |
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vln_pe |
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├── raw_data/ # JSON files defining tasks, navigation goals, and dataset splits |
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│ └── r2r/ |
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│ ├── mini/ |
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│ │ └── mini.json.gz # For quick Model and Environments validation |
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│ ├── train/ |
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│ ├── val_seen/ |
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│ │ └── val_seen.json.gz |
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│ ├── val_unseen/ |
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│ │ └── val_unseen.json.gz |
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│ └── embeddings.json.gz |
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└── traj_data # training sample data for two types of scenes |
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├── interiornav/ |
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│ ├── kujiale_xxxx.tar.gz |
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│ └── ... |
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└── r2r/ |
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├── traj_index/ |
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│ ├── data/ |
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│ ├── meta/ |
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│ └── videos/ |
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└── ... |
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``` |
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# License and Citation |
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All the data and code within this repo are under [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/). Please consider citing our project if it helps your research. |
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```BibTeX |
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@misc{contributors2025internroboticsrepo, |
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title={IROS-2025-Challenge-Nav Colosseum}, |
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author={IROS-2025-Challenge-Nav Colosseum contributors}, |
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howpublished={\url{https://github.com/InternRobotics/InternNav/tree/main/challenge}}, |
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year={2025} |
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} |
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``` |
