Release SparseVideoNav dataset

.gitattributes

@@ -58,3 +58,7 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+bvn/annotations.json filter=lfs diff=lfs merge=lfs -text
+bvn/data.jsonl filter=lfs diff=lfs merge=lfs -text
+ifn/annotations.json filter=lfs diff=lfs merge=lfs -text
+ifn/data.jsonl filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,135 @@
+---
+license: cc-by-nc-sa-4.0
+language:
+- en
+pretty_name: SparseVideoNav Datasets
+task_categories:
+- robotics
+- visual-question-answering
+tags:
+- embodied-ai
+- vision-language-navigation
+- robot-navigation
+- video
+- trajectory
+- sparsevideonav
+- opendrivelab
+configs:
+- config_name: bvn
+  data_files:
+  - split: train
+    path: bvn/data.jsonl
+- config_name: ifn
+  data_files:
+  - split: train
+    path: ifn/data.jsonl
+---
+
+# SparseVideoNav Datasets
+
+This repository contains the real-world navigation datasets released with [OpenDriveLab/SparseVideoNav](https://github.com/OpenDriveLab/SparseVideoNav):
+
+- **BVN**: Beyond-the-View Navigation.
+- **IFN**: Instruction-Following Navigation.
+
+Project links:
+
+- Project page: https://opendrivelab.com/SparseVideoNav
+- GitHub: https://github.com/OpenDriveLab/SparseVideoNav
+- Paper: https://arxiv.org/abs/2602.05827
+
+## Dataset Summary
+
+SparseVideoNav studies real-world vision-language navigation with sparse future video generation. The datasets contain language instructions, RGB frame sequences, and low-level navigation actions. The number of actions matches the number of RGB frames for every released episode.
+
+| Subset | Episodes | RGB frames | Task |
+| --- | ---: | ---: | --- |
+| `bvn` | 5,417 | 695,373 | Beyond-the-View Navigation |
+| `ifn` | 5,625 | 712,290 | Instruction-Following Navigation |
+
+## Repository Structure
+
+Images are stored in compressed tar shards to avoid hundreds of thousands of small files in the Hugging Face repository. Each shard preserves the original relative paths.
+
+```text
+.
+├── README.md
+├── bvn/
+│   ├── annotations.json
+│   ├── data.jsonl
+│   ├── merge_info.json
+│   ├── shard_manifest.jsonl
+│   └── shards/
+│       ├── bvn-00000.tar.zst
+│       └── ...
+└── ifn/
+    ├── annotations.json
+    ├── data.jsonl
+    ├── merge_info.json
+    ├── shard_manifest.jsonl
+    └── shards/
+        ├── ifn-00000.tar.zst
+        └── ...
+```
+
+Each line in `bvn/data.jsonl` or `ifn/data.jsonl` is an episode-level JSON object. Important fields:
+
+- `episode_id`: episode identifier.
+- `instruction` / `instructions`: natural-language navigation instruction.
+- `actions`: per-frame low-level action sequence with `dx`, `dy`, and `dyaw`.
+- `frame_files`: RGB frame paths inside the shard after extraction.
+- `shard`: shard file containing the episode frames.
+
+Example:
+
+```json
+{
+  "dataset": "ifn",
+  "episode_id": "36e980e5a1ff4817",
+  "instruction": "please go along with the rail until you are near by a red cone.",
+  "num_frames": 177,
+  "num_actions": 177,
+  "rgb_dir": "images/0e0ec1bdcc61a4ef/rgb",
+  "frame_files": ["images/0e0ec1bdcc61a4ef/rgb/001.jpg"],
+  "shard": "ifn/shards/ifn-00000.tar.zst"
+}
+```
+
+## Usage
+
+Load episode metadata with Hugging Face Datasets:
+
+```python
+from datasets import load_dataset
+
+bvn = load_dataset("OpenDriveLab/SparseVideoNav", "bvn")
+ifn = load_dataset("OpenDriveLab/SparseVideoNav", "ifn")
+```
+
+Download and inspect shards:
+
+```bash
+tar -I zstd -tf ifn/shards/ifn-00000.tar.zst | head
+tar -I zstd -xf ifn/shards/ifn-00000.tar.zst
+```
+
+After extraction, `frame_files` resolve to paths such as:
+
+```text
+images/<episode_dir>/rgb/001.jpg
+```
+
+## License
+
+The dataset is released under CC BY-NC-SA 4.0.
+
+## Citation
+
+```bibtex
+@article{zhang2026sparse,
+  title={Sparse Video Generation Propels Real-World Beyond-the-View Vision-Language Navigation},
+  author={Zhang, Hai and Liang, Siqi and Chen, Li and Li, Yuxian and Xu, Yukuan and Zhong, Yichao and Zhang, Fu and Li, Hongyang},
+  journal={arXiv preprint arXiv:2602.05827},
+  year={2026}
+}
+```

bvn/annotations.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92ba66d783f5e8f6d7657c106cb179f3658f54e41973963b74d00782ff3e3d9e
+size 88454070

bvn/data.jsonl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4efb1dfe75a1acbf9c522441d151e84cce07c60fd7d3b3956d25570ce317a509
+size 91532428

bvn/merge_info.json

@@ -0,0 +1,15 @@
+{
+  "category": "bvn",
+  "sources": [
+    "train_bvn",
+    "val_bvn"
+  ],
+  "source_annotation_counts": {
+    "train": 7475,
+    "val": 256
+  },
+  "deduplicated_by": "video",
+  "duplicates_removed": 71,
+  "merged_annotation_count": 7660,
+  "media_storage": "hard_links"
+}

bvn/shards/bvn-00000.tar.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c6817badf1e4d897d7130b367332a6b582f58567e4109c5961970b1bfc75760
+size 2089245353

bvn/shards/bvn-00001.tar.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:522c18c16052416c9354429cd8856a4478e938b303a931260acd2eae75c8a6c2
+size 2089144609

bvn/shards/bvn-00002.tar.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2e7843be8f1b8b6f4f0662f089ef723b3f6ceeeed5846a462c9c1ca29657fe1
+size 2090299990

bvn/shards/bvn-00003.tar.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc820d1ee285e69435cffa036ba0b6029a73fc575fe147ced24b8072ff88444f
+size 2089431677

bvn/shards/bvn-00004.tar.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93a2e1648fa05b8f22c1b97d70a7de266c2df004a6a086cba1781c715951b6f6
+size 2090463753

bvn/shards/bvn-00005.tar.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c1f2c27c155d23122b200a52fa36ed832206a4cd84209c00c03e9371e5a2a04
+size 2091368489

bvn/shards/bvn-00006.tar.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7a85c0755ff3dab4faee038b4cd6fa882fcb89682b179acfa8e1434d9de34d0
+size 2093230366

bvn/shards/bvn-00007.tar.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0175655d953b29d04a701ba538eeb98cf57fd612cd94923c4b648cdb75d94ba9
+size 446456726

ifn/annotations.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d463d715bf25c59bae5da84606ce1610c50d561a1892a5a9231e39d4a5b45c1e
+size 90633708

ifn/data.jsonl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d100c8794642645ea6a2dd70c822f96e65018634fc9e165a5dbff4dbffc88c73
+size 93838245

ifn/merge_info.json

@@ -0,0 +1,15 @@
+{
+  "category": "ifn",
+  "sources": [
+    "train_ifn",
+    "val_ifn"
+  ],
+  "source_annotation_counts": {
+    "train": 5376,
+    "val": 263
+  },
+  "deduplicated_by": "video",
+  "duplicates_removed": 13,
+  "merged_annotation_count": 5626,
+  "media_storage": "hard_links"
+}

ifn/shards/ifn-00000.tar.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eba64794e3b76bcdab6815c5fd939c9dd392a005d629c29dca060f070eb8adfd
+size 2092533721

ifn/shards/ifn-00001.tar.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f91a0fc7f1be970bb4c2e72f16435df07f05feab653b9e37464b57b372ccb311
+size 2089041896

ifn/shards/ifn-00002.tar.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65064016a782a11b0a62735df2825bb2d18370a9419a7a2fd1d17704bb9cc86e
+size 2088625389

ifn/shards/ifn-00003.tar.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7617efb133b877cfbf49e8edc2277805e3194f0c88b473bcb342c56355c2a247
+size 2092873186

ifn/shards/ifn-00004.tar.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:814dbaaec64ae90bac8dc5bb0c5f1c9e55e218109d0367974fbd0e57f2fc5315
+size 2089270756

ifn/shards/ifn-00005.tar.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fba9371ae1267583d84f5596569def7704973536e5bb7900df5ab67311915078
+size 2089015728

ifn/shards/ifn-00006.tar.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42025cc433fe237c3ce069022ee658a719e19041392a99cfc2449e99b70c55c1
+size 2093474869

ifn/shards/ifn-00007.tar.zst

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4888445c64c4e601d64f2ddc237a20ed17f0f3a8f9e8b35d7a56acb1bc7a5dc
+size 1031294189