dataset stringclasses 1
value | subset stringclasses 1
value | episode_id stringlengths 16 16 | instruction stringlengths 33 372 | instructions listlengths 1 1 | task_type stringclasses 1
value | split stringclasses 1
value | image_dir stringlengths 23 23 | rgb_dir stringlengths 27 27 | num_frames int64 43 334 | num_actions int64 43 334 | actions listlengths 43 334 |
|---|---|---|---|---|---|---|---|---|---|---|---|
bvn | main | a005c557f8988c4e | Please try to get straight ahead to the sculpture, and then attempt to seek for the display screen and stop in front of it | [
"Please try to get straight ahead to the sculpture, and then attempt to seek for the display screen and stop in front of it"
] | beyond_the_view_navigation | train | images/17803efa6ad276e3 | images/17803efa6ad276e3/rgb | 150 | 150 | [
{
"dx": 0.13932201689452522,
"dy": -0.0053432596025903,
"dyaw": -0.0016959807797878312
},
{
"dx": 0.10273680103581954,
"dy": 0.0272968492470506,
"dyaw": -0.0011205069010942204
},
{
"dx": 0.2009602252237948,
"dy": 0.02254896627182998,
"dyaw": 0.0010976051095568096
},
{... |
bvn | main | 1ecc91aa4172ba50 | Move forward to attempt to locate the black standing sign, and then turn left to seek for the black schoolbag and stand in front of it | [
"Move forward to attempt to locate the black standing sign, and then turn left to seek for the black schoolbag and stand in front of it"
] | beyond_the_view_navigation | train | images/271bec4581049ba9 | images/271bec4581049ba9/rgb | 137 | 137 | [
{
"dx": 0.03820114727562754,
"dy": 0.009535229465470446,
"dyaw": -0.000553809666079097
},
{
"dx": 0.15707082814018108,
"dy": -0.015188417952469863,
"dyaw": 0.0008502213249323987
},
{
"dx": 0.2693733906494449,
"dy": 0.044458801052682406,
"dyaw": 0.0010853204422245355
},
... |
bvn | main | 648983350fc4e01d | You need to go straight to the trash can, and then try to look for a blue square building with a hollow circle in the middle and finally stop in front of it | [
"You need to go straight to the trash can, and then try to look for a blue square building with a hollow circle in the middle and finally stop in front of it"
] | beyond_the_view_navigation | train | images/80ac88624d55f395 | images/80ac88624d55f395/rgb | 179 | 179 | [
{
"dx": 0.0035816017292792154,
"dy": -0.020087372601747266,
"dyaw": 0.0015820392313572462
},
{
"dx": 0.1023647570084889,
"dy": 0.027596343392363637,
"dyaw": -0.004596903307458433
},
{
"dx": 0.06309986480242472,
"dy": 0.004067664090577301,
"dyaw": 0.0003723175333658624
}... |
bvn | main | 3d947a6661177539 | Move forward to attempt to find the sculpture, and then proceed to look for the display screen and stand in front of it | [
"Move forward to attempt to find the sculpture, and then proceed to look for the display screen and stand in front of it"
] | beyond_the_view_navigation | train | images/a651f86431e58d8d | images/a651f86431e58d8d/rgb | 128 | 128 | [
{
"dx": 0.02305146881042318,
"dy": 0.004171015373368072,
"dyaw": -0.00010356359227348122
},
{
"dx": 0.08975349982545236,
"dy": 0.0005924218404359735,
"dyaw": -0.0008768190701733403
},
{
"dx": 0.10897296763265446,
"dy": 0.023674782919363063,
"dyaw": 0.0002634712025733066
... |
bvn | main | 5336191e3753251d | Move forward to the green plant, and then attempt to locate a blue pillar with an identifier, and then step along to the blue pillar and stand in front of it | [
"Move forward to the green plant, and then attempt to locate a blue pillar with an identifier, and then step along to the blue pillar and stand in front of it"
] | beyond_the_view_navigation | train | images/f630ed3830fa94d3 | images/f630ed3830fa94d3/rgb | 144 | 144 | [
{
"dx": 0.1687468289377324,
"dy": 0.08721632327547753,
"dyaw": 0.00048744156817814854
},
{
"dx": 0.2905595142789805,
"dy": 0.18624854398427357,
"dyaw": -0.003374904715415461
},
{
"dx": 0.251817827438519,
"dy": 0.14542683165967082,
"dyaw": -0.0021402010332094434
},
{
... |
bvn | main | 76f405483d1d7bd1 | Seek forward to locate a fence and halt nearby | [
"Seek forward to locate a fence and halt nearby"
] | beyond_the_view_navigation | train | images/69f1dd81765f5db7 | images/69f1dd81765f5db7/rgb | 161 | 161 | [
{
"dx": 0.0022418625435072625,
"dy": -0.053849674238386394,
"dyaw": -0.001946122427256558
},
{
"dx": -0.022532216006528535,
"dy": -0.06560620076580974,
"dyaw": 0.0038164751781555317
},
{
"dx": 0.4367099680093038,
"dy": -0.023403414719908214,
"dyaw": -0.0019221488699598943... |
bvn | main | d07a01dd0edf4adc | Go straight till you can see the green grass ahead, and then attempt to seek for a white sign with marked content, and finally walk over to it and wait there | [
"Go straight till you can see the green grass ahead, and then attempt to seek for a white sign with marked content, and finally walk over to it and wait there"
] | beyond_the_view_navigation | train | images/eac5a946f1c157b7 | images/eac5a946f1c157b7/rgb | 184 | 184 | [
{
"dx": 0.0744213821919409,
"dy": 0.1375675427954443,
"dyaw": -0.0021151886308938828
},
{
"dx": 0.2048134693898061,
"dy": -0.03450852166341932,
"dyaw": -0.00032617209435858996
},
{
"dx": 0.2865271830815379,
"dy": 0.03304071952580663,
"dyaw": -0.003708688336122812
},
{... |
bvn | main | 813859d09aee1086 | Attempt to locate the black box, and then go straight till you can see near the black box and stop nearby | [
"Attempt to locate the black box, and then go straight till you can see near the black box and stop nearby"
] | beyond_the_view_navigation | train | images/816658d7ceddb817 | images/816658d7ceddb817/rgb | 159 | 159 | [
{
"dx": 0.04132924753855412,
"dy": -0.005870397340349615,
"dyaw": 0.000569246363014031
},
{
"dx": 0.18835775738191674,
"dy": -0.004476370174593623,
"dyaw": -0.0013185747665906966
},
{
"dx": 0.111569070321379,
"dy": -0.02635598173552966,
"dyaw": -0.0013185747665906966
},... |
bvn | main | 25f436a3c5f9ec4f | Go straight till you can see the billboard, and then attempt to look for a Christmas tree and stand near it | [
"Go straight till you can see the billboard, and then attempt to look for a Christmas tree and stand near it"
] | beyond_the_view_navigation | train | images/243ac9c8a1fb00aa | images/243ac9c8a1fb00aa/rgb | 186 | 186 | [
{
"dx": 0.2936271458936425,
"dy": -0.04038355880930977,
"dyaw": -0.0000021104724998721736
},
{
"dx": 0.3144022952938047,
"dy": -0.09726067374908728,
"dyaw": 0.0019494820596057671
},
{
"dx": 0.2412028852084124,
"dy": 0.10822025206448198,
"dyaw": -0.001688600039604804
},
... |
bvn | main | 9102e4f719f1339e | Go straight till you can see the gray cylinder ahead, and then attempt to seek for a white standing sign with an identification content and halt by its side | [
"Go straight till you can see the gray cylinder ahead, and then attempt to seek for a white standing sign with an identification content and halt by its side"
] | beyond_the_view_navigation | train | images/794665e10ad9606f | images/794665e10ad9606f/rgb | 153 | 153 | [
{
"dx": 0.13813160866940039,
"dy": 0.02830227969033538,
"dyaw": -0.00409948630202317
},
{
"dx": 0.14521747523785977,
"dy": -0.0019213138579203398,
"dyaw": 0.0013814408703622938
},
{
"dx": 0.2371294431418201,
"dy": 0.03409267724800287,
"dyaw": -0.005185527621787589
},
... |
bvn | main | cf68582d18eda7c7 | Please try to go straight to the iron fence, and then attempt to seek for the iron grille, and once you find it, turn right to walk to the iron grille and stop in front of it | [
"Please try to go straight to the iron fence, and then attempt to seek for the iron grille, and once you find it, turn right to walk to the iron grille and stop in front of it"
] | beyond_the_view_navigation | train | images/767804737bccb141 | images/767804737bccb141/rgb | 114 | 114 | [
{
"dx": 0.24413526644093597,
"dy": 0.010346525837327862,
"dyaw": -0.0022185989992209443
},
{
"dx": 0.2952589831186353,
"dy": 0.015479290178776028,
"dyaw": 0.0014303321854294282
},
{
"dx": 0.3079377727557046,
"dy": -0.0552967702355459,
"dyaw": 0.004058851244328032
},
{... |
bvn | main | 4eca61e987b8c819 | Go along the paved pathway, then try to search for a green car shaped display board and stop in front of it | [
"Go along the paved pathway, then try to search for a green car shaped display board and stop in front of it"
] | beyond_the_view_navigation | train | images/4e89f39f9c8cfd73 | images/4e89f39f9c8cfd73/rgb | 172 | 172 | [
{
"dx": 0.1931215008034355,
"dy": 0.08410302862503857,
"dyaw": -0.0010422771560594235
},
{
"dx": 0.3965153679194693,
"dy": -0.02064122183699684,
"dyaw": 0.00007201339076701174
},
{
"dx": 0.2298553333556848,
"dy": 0.0013027874507666201,
"dyaw": 0.00007201339076701174
},
... |
bvn | main | dc930a450b40e01d | Seek for the display screen, and then march straight to the trash can and stop by it | [
"Seek for the display screen, and then march straight to the trash can and stop by it"
] | beyond_the_view_navigation | train | images/24cff25d8502a298 | images/24cff25d8502a298/rgb | 203 | 203 | [
{
"dx": 0.07556189130521912,
"dy": -0.0063614775125805,
"dyaw": 0.0006059088430503401
},
{
"dx": 0.12576171133652356,
"dy": 0.006742060649930458,
"dyaw": -0.00013961188554345583
},
{
"dx": 0.15961740565397944,
"dy": -0.032615455471932314,
"dyaw": 0.0014076535917109112
}... |
bvn | main | e3ddb39b39ec0df4 | March to the red standing sign, and then turn left to seek for a blue standing sign, step along to the blue standing sign and stop by it | [
"March to the red standing sign, and then turn left to seek for a blue standing sign, step along to the blue standing sign and stop by it"
] | beyond_the_view_navigation | train | images/6ac27b0d31673c14 | images/6ac27b0d31673c14/rgb | 132 | 132 | [
{
"dx": -0.017413829218696802,
"dy": 0.030887412422064144,
"dyaw": -0.0005917223161091556
},
{
"dx": 0.03661582225186967,
"dy": 0.027799577102402794,
"dyaw": -0.00016530044901408303
},
{
"dx": -0.0019271601022554825,
"dy": 0.05534200991489092,
"dyaw": -0.00053012044507205... |
bvn | main | d0b9fa8af41c7bd1 | March to the yellow pole linked with the silver fence, and then seek for another yellow pole, and then march to the front of that yellow pole and stop by it | [
"March to the yellow pole linked with the silver fence, and then seek for another yellow pole, and then march to the front of that yellow pole and stop by it"
] | beyond_the_view_navigation | train | images/985ed190ccc6f39d | images/985ed190ccc6f39d/rgb | 151 | 151 | [
{
"dx": 1.073567284831119,
"dy": -0.02165341083004052,
"dyaw": 0.0037987118823958888
},
{
"dx": 0.6427824471320337,
"dy": 0.13236641341861807,
"dyaw": 0.0019431145179504838
},
{
"dx": 1.041909836445262,
"dy": -0.07102691343233797,
"dyaw": -0.0023978671053774825
},
{
... |
bvn | main | cb1c4b511c293248 | Move forward to the yellow grass on the left, and then attempt to locate a blue sign, and from there turn left to step to the blue sign and halt nearby | [
"Move forward to the yellow grass on the left, and then attempt to locate a blue sign, and from there turn left to step to the blue sign and halt nearby"
] | beyond_the_view_navigation | train | images/e7f4e4a2303a7d23 | images/e7f4e4a2303a7d23/rgb | 207 | 207 | [
{
"dx": 0.16090547712433753,
"dy": 0.13132554634631582,
"dyaw": 0.0005340128251365428
},
{
"dx": 0.47028909580569983,
"dy": -0.026892063301419793,
"dyaw": -0.00435811728309643
},
{
"dx": 0.272231331643274,
"dy": -0.07821196857378476,
"dyaw": 0.00012062325733053214
},
... |
bvn | main | 386a6f2a540b3d27 | You need to go straight along the path till you reach the intersection ahead and turn right, and then proceed to the next intersection and turn left, then go straight to the end to look for the silver fence, walk towards it and finally stop there | [
"You need to go straight along the path till you reach the intersection ahead and turn right, and then proceed to the next intersection and turn left, then go straight to the end to look for the silver fence, walk towards it and finally stop there"
] | beyond_the_view_navigation | train | images/8bdbf49fb775c469 | images/8bdbf49fb775c469/rgb | 235 | 235 | [
{
"dx": 0.05907132586069634,
"dy": -0.07303828916678172,
"dyaw": 0.0003750145996734844
},
{
"dx": 0.08152888686756471,
"dy": 0.03627759104728383,
"dyaw": 0.0007827361539356481
},
{
"dx": 0.165422357151364,
"dy": 0.0635788224420674,
"dyaw": -0.0005227310489916981
},
{
... |
bvn | main | c92ca8d5c675936e | Move forward to attempt to find the trash bin, and then go to the trash bin and stand in front of it | [
"Move forward to attempt to find the trash bin, and then go to the trash bin and stand in front of it"
] | beyond_the_view_navigation | train | images/296e216f18bed3bf | images/296e216f18bed3bf/rgb | 171 | 171 | [
{
"dx": 0.36399323698852293,
"dy": 0.010183317269294404,
"dyaw": -0.004078285472453702
},
{
"dx": 0.35143672355341327,
"dy": 0.001985639917778753,
"dyaw": -0.00007940701918895954
},
{
"dx": 0.4358156906426325,
"dy": 0.06367041749606428,
"dyaw": -0.004590441347192442
},
... |
bvn | main | 933ce694fd19df4a | Advance toward the blue booth with pink seats inside, then turn left and reach the blue door. After that, turn left at the blue door, then proceed forward and search for a battery lent machine besides another blue wall, approach the battery lent machine and stop by it. | [
"Advance toward the blue booth with pink seats inside, then turn left and reach the blue door. After that, turn left at the blue door, then proceed forward and search for a battery lent machine besides another blue wall, approach the battery lent machine and stop by it."
] | beyond_the_view_navigation | train | images/64a6ca82c8886bc8 | images/64a6ca82c8886bc8/rgb | 174 | 174 | [
{
"dx": -0.0185813778237993,
"dy": -0.03552079973192496,
"dyaw": 0.0032182192344207827
},
{
"dx": 0.1274923589050192,
"dy": 0.1093931105954272,
"dyaw": -0.007550163508966978
},
{
"dx": -0.06212515457222729,
"dy": 0.034624917685754444,
"dyaw": -0.00014724139625199584
},
... |
bvn | main | 622cc3020c127402 | Go straight till you can see the trash bin, and then attempt to seek for a plastic bottle and stop in front of it | [
"Go straight till you can see the trash bin, and then attempt to seek for a plastic bottle and stop in front of it"
] | beyond_the_view_navigation | train | images/a048d41129ad6ab1 | images/a048d41129ad6ab1/rgb | 195 | 195 | [
{
"dx": 0.23944698291057612,
"dy": -0.05584118112810505,
"dyaw": 0.0008759438265699693
},
{
"dx": 0.09878341073974303,
"dy": 0.04151168243129331,
"dyaw": -0.00006405411296572794
},
{
"dx": 0.17873121027943717,
"dy": 0.07895921947136388,
"dyaw": -0.0007377621241109189
},... |
bvn | main | b7bfb418c61f3a1d | Move forward to attempt to find the green flower bed, and then turn left to seek the blue notice board and halt nearby | [
"Move forward to attempt to find the green flower bed, and then turn left to seek the blue notice board and halt nearby"
] | beyond_the_view_navigation | train | images/ade6f6251607f613 | images/ade6f6251607f613/rgb | 123 | 123 | [
{
"dx": 0.13488621060790154,
"dy": 0.025592159350309666,
"dyaw": -0.0012590369411631386
},
{
"dx": 0.16745150807277362,
"dy": -0.04133976178725052,
"dyaw": 0.001691794038287231
},
{
"dx": 0.333607038494568,
"dy": -0.08225438238725066,
"dyaw": 0.0026362292939383636
},
... |
bvn | main | 85ce0bc0e68a3208 | March straight to bypass the yellow flower bed on the right, and then seek for a white sign, then go for the white sign and stop by it | [
"March straight to bypass the yellow flower bed on the right, and then seek for a white sign, then go for the white sign and stop by it"
] | beyond_the_view_navigation | train | images/75c3da635dcff838 | images/75c3da635dcff838/rgb | 132 | 132 | [
{
"dx": 0.22116961970901775,
"dy": 0.03576161625504004,
"dyaw": -0.003457367064913619
},
{
"dx": 0.1678692359382594,
"dy": -0.0009734778433636432,
"dyaw": -0.0013204031726767873
},
{
"dx": 0.2146026144678854,
"dy": -0.06145960264871912,
"dyaw": -0.0029215503883675
},
... |
bvn | main | 92ac6123cab8ac52 | move forward to the end and then turn left past the left of the large green bushes,then try to find a white sign and stop there. | [
"move forward to the end and then turn left past the left of the large green bushes,then try to find a white sign and stop there."
] | beyond_the_view_navigation | train | images/80882fc4a671cd23 | images/80882fc4a671cd23/rgb | 146 | 146 | [
{
"dx": 0.04552955260968893,
"dy": 0.03763402725403982,
"dyaw": 0.002173727456959096
},
{
"dx": 0.04138983267245892,
"dy": -0.08766072552535835,
"dyaw": 0.002268903617093976
},
{
"dx": 0.18992453643175056,
"dy": 0.046205958030928855,
"dyaw": -0.001638244052981186
},
{... |
bvn | main | 39d3aa2a54ba9c96 | Move forward to attempt to locate the red lifebuoy, and then walk to it and stand in front of it | [
"Move forward to attempt to locate the red lifebuoy, and then walk to it and stand in front of it"
] | beyond_the_view_navigation | train | images/6772b439ec6d3bdd | images/6772b439ec6d3bdd/rgb | 145 | 145 | [
{
"dx": 0.1738354723681163,
"dy": 0.018740841928257805,
"dyaw": -0.001583510505383412
},
{
"dx": 0.10141687702349038,
"dy": -0.0011145153659539928,
"dyaw": -0.0004799126376480167
},
{
"dx": 0.2984721300598901,
"dy": 0.017312310307748255,
"dyaw": 0.0008751067485310848
},... |
bvn | main | 5010de0e2a513285 | Move forward to reach the notice board, and then attempt to seek for the charging pile and stand in front of it | [
"Move forward to reach the notice board, and then attempt to seek for the charging pile and stand in front of it"
] | beyond_the_view_navigation | train | images/e2bffd95c5faa5db | images/e2bffd95c5faa5db/rgb | 133 | 133 | [
{
"dx": 0.39097231101874075,
"dy": 0.0050076157451099945,
"dyaw": 0.001332623168512459
},
{
"dx": 0.35055630096419194,
"dy": 0.050059490669500245,
"dyaw": -0.0003266765200251598
},
{
"dx": 0.49155345809096995,
"dy": -0.020312677569145426,
"dyaw": -0.0011628416340370151
... |
bvn | main | 90012305fcf6dae1 | Seek for the table ahead, and then march to the railing and halt by it | [
"Seek for the table ahead, and then march to the railing and halt by it"
] | beyond_the_view_navigation | train | images/0f93c921bc5b1710 | images/0f93c921bc5b1710/rgb | 106 | 106 | [
{
"dx": 0.4786423710762557,
"dy": -0.04915662168423168,
"dyaw": 0.0029074166570115523
},
{
"dx": 0.47295207729381855,
"dy": 0.012869559166352865,
"dyaw": 0.003013201013600142
},
{
"dx": 0.4237423956276409,
"dy": 0.020092416345839262,
"dyaw": 0.000005196189340583857
},
... |
bvn | main | 49200397c8c816ee | Please try to go straight till you get to the white cabinet, and then attempt to seek for the black trash bin, and finally go to the black trash bin and stop in front of it | [
"Please try to go straight till you get to the white cabinet, and then attempt to seek for the black trash bin, and finally go to the black trash bin and stop in front of it"
] | beyond_the_view_navigation | train | images/521277d47aed5915 | images/521277d47aed5915/rgb | 152 | 152 | [
{
"dx": 0.2785363694563039,
"dy": -0.0985180185491733,
"dyaw": 0.005913572687960222
},
{
"dx": 0.7428058663151558,
"dy": 0.09246277755768685,
"dyaw": 0.0003696797950940578
},
{
"dx": 0.5901451678385857,
"dy": 0.11955875341612074,
"dyaw": -0.006031995102171894
},
{
... |
bvn | main | 05cc9fca066939b7 | Move forward to attempt to find the metal railing, and then seek for the pink humanoid sculpture, and from there turn left to move to the pink humanoid sculpture and stop in front of it | [
"Move forward to attempt to find the metal railing, and then seek for the pink humanoid sculpture, and from there turn left to move to the pink humanoid sculpture and stop in front of it"
] | beyond_the_view_navigation | train | images/3bac97ee5c226a3d | images/3bac97ee5c226a3d/rgb | 139 | 139 | [
{
"dx": 0.2175197679190927,
"dy": -0.07355721811539136,
"dyaw": 0.0028413455873552707
},
{
"dx": 0.2130386154682249,
"dy": -0.062211441905345076,
"dyaw": -0.0017974555597088937
},
{
"dx": 0.25068817935613563,
"dy": -0.01133562290474379,
"dyaw": 0.0017066762532635948
},
... |
bvn | main | 69d1bae2dbb77fe8 | Move forward to the lawn, and then attempt to locate a white three-dimensional building to walk to the front of it and stand in front of it | [
"Move forward to the lawn, and then attempt to locate a white three-dimensional building to walk to the front of it and stand in front of it"
] | beyond_the_view_navigation | train | images/06725cbfb9a1810a | images/06725cbfb9a1810a/rgb | 166 | 166 | [
{
"dx": 0.3502192929564017,
"dy": -0.07225515482030914,
"dyaw": 0.0018202307478003554
},
{
"dx": 0.17800942445245543,
"dy": 0.01113439968068446,
"dyaw": 0.0016166050007107025
},
{
"dx": 0.367115742536005,
"dy": 0.0451782930101685,
"dyaw": -0.002090365582870124
},
{
... |
bvn | main | 70860f8448613cd3 | March to the billboard, and then attempt to locate the trash bin and stop by it | [
"March to the billboard, and then attempt to locate the trash bin and stop by it"
] | beyond_the_view_navigation | train | images/4835603da28e4827 | images/4835603da28e4827/rgb | 164 | 164 | [
{
"dx": 0.12608848246465462,
"dy": 0.021621506083406503,
"dyaw": -0.00004337473770377187
},
{
"dx": 0.14849995558020718,
"dy": 0.02413857585296926,
"dyaw": -0.0008182309123210274
},
{
"dx": 0.1624915078133905,
"dy": 0.021600966769529786,
"dyaw": 0.0018557018710554374
},... |
bvn | main | a084f63a398c2f4b | March to the silver sink, and then seek for a green glowing tree and stop by it | [
"March to the silver sink, and then seek for a green glowing tree and stop by it"
] | beyond_the_view_navigation | train | images/8f3472d6939b4cb3 | images/8f3472d6939b4cb3/rgb | 239 | 239 | [
{
"dx": 0.15752165981768249,
"dy": -0.03928332399708029,
"dyaw": -0.00011137080435208446
},
{
"dx": 0.4808355197154503,
"dy": 0.11782051491311434,
"dyaw": 0.00044244488034328455
},
{
"dx": 0.5768667957962759,
"dy": -0.06733310991449215,
"dyaw": 0.0004814662261862779
},
... |
bvn | main | 30148b63f38e58da | Move forward to attempt to locate the fire cabinet and stand in front of it | [
"Move forward to attempt to locate the fire cabinet and stand in front of it"
] | beyond_the_view_navigation | train | images/e0a9e112bf84618a | images/e0a9e112bf84618a/rgb | 152 | 152 | [
{
"dx": 0.14382496477692452,
"dy": 0.025309697844593054,
"dyaw": 0.004479638440339606
},
{
"dx": 0.12642753938573645,
"dy": 0.003293582836106791,
"dyaw": -0.0009777428944666156
},
{
"dx": 0.14103311726786194,
"dy": 0.001996951591110935,
"dyaw": -0.0006774435613143837
},... |
bvn | main | 330a7df8d667947f | Go straight till you pass through the left wall, and then attempt to locate the white pillar with stickers and move forward to be alongside it and stand near it | [
"Go straight till you pass through the left wall, and then attempt to locate the white pillar with stickers and move forward to be alongside it and stand near it"
] | beyond_the_view_navigation | train | images/1921c6f564439b5d | images/1921c6f564439b5d/rgb | 123 | 123 | [
{
"dx": 0.2206133376085641,
"dy": 0.015340086729977456,
"dyaw": -0.003220728010845164
},
{
"dx": 0.27893266270475636,
"dy": -0.04131370284268679,
"dyaw": -0.0035463888703906044
},
{
"dx": 0.4018273629004138,
"dy": -0.12684660324004313,
"dyaw": -0.0034458702765580718
},
... |
bvn | main | ae2bbdfba67ff0bb | Move forward to attempt to locate the red chair, and then walk to the table and stand nearby | [
"Move forward to attempt to locate the red chair, and then walk to the table and stand nearby"
] | beyond_the_view_navigation | train | images/37f166452b8ecd80 | images/37f166452b8ecd80/rgb | 142 | 142 | [
{
"dx": 0.35718604967776074,
"dy": -0.005965980726753917,
"dyaw": 0.000148585972177262
},
{
"dx": 0.24233371959118294,
"dy": 0.0038097140630551918,
"dyaw": -0.0009885393351880545
},
{
"dx": 0.4014061778444807,
"dy": 0.07143312794899732,
"dyaw": 0.0008340961046258144
},
... |
bvn | main | 1fecc31d8004da1c | March to the metal shelf, and then turn left to go until you can find the metal flower bed, and then turn left again to march straight forward to the metal flower bed, and then turn left to march straight forward to the red stool, and finally turn right to go straight to the blue building and halt at that location | [
"March to the metal shelf, and then turn left to go until you can find the metal flower bed, and then turn left again to march straight forward to the metal flower bed, and then turn left to march straight forward to the red stool, and finally turn right to go straight to the blue building and halt at that location... | beyond_the_view_navigation | train | images/d2c3611f19ef523a | images/d2c3611f19ef523a/rgb | 162 | 162 | [
{
"dx": 0.20251736090550787,
"dy": -0.09297684851162194,
"dyaw": 0.006233637333277198
},
{
"dx": 0.03175023767857996,
"dy": -0.034523416995046574,
"dyaw": 0.005577860049107208
},
{
"dx": 0.3255617886681791,
"dy": -0.0032357082967573447,
"dyaw": -0.0022823903284341363
},... |
bvn | main | 2c4c3d76dc6fc063 | Go straight to look for a black schoolbag, and then attempt to locate it and stop nearby | [
"Go straight to look for a black schoolbag, and then attempt to locate it and stop nearby"
] | beyond_the_view_navigation | train | images/14ac0ff2cfe1e168 | images/14ac0ff2cfe1e168/rgb | 201 | 201 | [
{
"dx": 0.0285403435707358,
"dy": -0.010144052831863912,
"dyaw": 0.0005358767716323598
},
{
"dx": 0.09345171751197796,
"dy": 0.001436168201214668,
"dyaw": -0.0001369876937609149
},
{
"dx": 0.1625894718360262,
"dy": 0.012165724416171215,
"dyaw": -0.001805708248826754
},
... |
bvn | main | c307adb38acca921 | March to the charging pile, and then go for the sink, attempt to look for a Christmas tree, and finally step along to it and stop nearby | [
"March to the charging pile, and then go for the sink, attempt to look for a Christmas tree, and finally step along to it and stop nearby"
] | beyond_the_view_navigation | train | images/97d404140b08c562 | images/97d404140b08c562/rgb | 237 | 237 | [
{
"dx": 0.29630855973615167,
"dy": -0.06845983526454515,
"dyaw": -0.0009703944875960602
},
{
"dx": 0.17476642900777373,
"dy": 0.006284653394810829,
"dyaw": -0.0012036307797163026
},
{
"dx": 0.5251846967721495,
"dy": 0.008874791914655324,
"dyaw": -0.0002566982170049137
}... |
bvn | main | 9a627d02b172b066 | Seek for the green cabinet by going straight, and then turn right to march to the red cabinet and stop by it | [
"Seek for the green cabinet by going straight, and then turn right to march to the red cabinet and stop by it"
] | beyond_the_view_navigation | train | images/9a597634bdcecf27 | images/9a597634bdcecf27/rgb | 142 | 142 | [
{
"dx": 0.34450049945898825,
"dy": 0.04490347694554791,
"dyaw": 0.0026332476624286727
},
{
"dx": 0.4774404164102759,
"dy": -0.044822811142986904,
"dyaw": 0.009970927140333874
},
{
"dx": 0.43376849535614626,
"dy": -0.04583110435586704,
"dyaw": 0.0036975384127035937
},
... |
bvn | main | e20a4a03e965f5ee | Move forward to the gate, and then attempt to seek for a black box and walk there to stand nearby | [
"Move forward to the gate, and then attempt to seek for a black box and walk there to stand nearby"
] | beyond_the_view_navigation | train | images/aaed5308632d732a | images/aaed5308632d732a/rgb | 281 | 281 | [
{
"dx": 0.0417356219353351,
"dy": 0.02468580127905315,
"dyaw": -0.0017325256179407944
},
{
"dx": 0.09093971965206087,
"dy": -0.022536125023774892,
"dyaw": 0.0019062424679701095
},
{
"dx": 0.1762801133523214,
"dy": -0.010987380792960189,
"dyaw": 0.001282117745335043
},
... |
bvn | main | 56c6f900762d84fd | Seek forward till you can see the chair and wait nearby | [
"Seek forward till you can see the chair and wait nearby"
] | beyond_the_view_navigation | train | images/9a58a291be41219f | images/9a58a291be41219f/rgb | 124 | 124 | [
{
"dx": 0.2942411043346628,
"dy": 0.026735698917588813,
"dyaw": 0.0018265320155785858
},
{
"dx": 0.4030369300800291,
"dy": 0.023692087687933183,
"dyaw": 0.000533718269364325
},
{
"dx": 0.2972936679486996,
"dy": 0.029779310147244442,
"dyaw": 0.0020633869286723616
},
{
... |
bvn | main | e56cc83db46e08f9 | You need to go straight to the shelf, and then look for the billboard and stop nearby | [
"You need to go straight to the shelf, and then look for the billboard and stop nearby"
] | beyond_the_view_navigation | train | images/fccc77b323a893bc | images/fccc77b323a893bc/rgb | 113 | 113 | [
{
"dx": 0.07938067811626627,
"dy": 0.0352927001125381,
"dyaw": -0.002998853887112407
},
{
"dx": 0.2000267871515432,
"dy": 0.00955626712828958,
"dyaw": -0.00005189331328248059
},
{
"dx": 0.21167503387356074,
"dy": 0.052164597644021066,
"dyaw": 0.0011633108571227346
},
... |
bvn | main | 830626a89ec88f65 | March forward to look for a sign, and then halt by it | [
"March forward to look for a sign, and then halt by it"
] | beyond_the_view_navigation | train | images/7cdca48de30d06cd | images/7cdca48de30d06cd/rgb | 121 | 121 | [
{
"dx": 0.24702001962662795,
"dy": 0.06968477992712263,
"dyaw": -0.0021171281984959656
},
{
"dx": 0.36663566562544636,
"dy": 0.006283649951195069,
"dyaw": -0.00009420199337517587
},
{
"dx": 0.4284826936163637,
"dy": 0.04738288212307154,
"dyaw": -0.00027949164021112693
}... |
bvn | main | 115215e61fbacefe | Please try to seek forward for a fire hydrant and finally stop nearby | [
"Please try to seek forward for a fire hydrant and finally stop nearby"
] | beyond_the_view_navigation | train | images/c6de54ec192b3eef | images/c6de54ec192b3eef/rgb | 153 | 153 | [
{
"dx": 0.3077985180080491,
"dy": -0.03243405091439735,
"dyaw": 0.00003177191605674423
},
{
"dx": 0.2710186060720113,
"dy": -0.0224007447617547,
"dyaw": -0.0009213005454440371
},
{
"dx": 0.26616881515365237,
"dy": -0.05737655663753976,
"dyaw": -0.0014409072165961767
},
... |
bvn | main | 02f37fdc4196ddb5 | Move forward to the advertising board, then attempt to locate the white charging pile and stand in front of it | [
"Move forward to the advertising board, then attempt to locate the white charging pile and stand in front of it"
] | beyond_the_view_navigation | train | images/027ce910ab7f7924 | images/027ce910ab7f7924/rgb | 142 | 142 | [
{
"dx": 0.3626867714305304,
"dy": -0.07057455071453267,
"dyaw": 0.0016802596457043961
},
{
"dx": 0.16608474489794112,
"dy": 0.14725575212511963,
"dyaw": -0.005427172801337754
},
{
"dx": 0.41682677415402264,
"dy": 0.030701816297597856,
"dyaw": 0.007453784601131552
},
{... |
bvn | main | 41f09298c437a29a | You need to go straight to the billboard, and then please find the black cabinet, and finally walk to it and stop nearby | [
"You need to go straight to the billboard, and then please find the black cabinet, and finally walk to it and stop nearby"
] | beyond_the_view_navigation | train | images/9a1ed9ce9cebcc37 | images/9a1ed9ce9cebcc37/rgb | 293 | 293 | [
{
"dx": 0.06895314582950311,
"dy": 0.0505187502416768,
"dyaw": -0.002329343358365321
},
{
"dx": 0.16163485778508405,
"dy": 0.02507089632820482,
"dyaw": -0.0025510656751417393
},
{
"dx": 0.23081426783434705,
"dy": 0.034069176936152204,
"dyaw": -0.0024616499858698404
},
... |
bvn | main | afe93c1a8a20deb9 | Move forward to seek for a bench, and once you see it move to the bench and stand in front of it | [
"Move forward to seek for a bench, and once you see it move to the bench and stand in front of it"
] | beyond_the_view_navigation | train | images/83783a56a2a380fd | images/83783a56a2a380fd/rgb | 139 | 139 | [
{
"dx": 0.15773103728380558,
"dy": 0.04796448744947613,
"dyaw": -0.0013558112145140022
},
{
"dx": 0.17552730028104224,
"dy": 0.0861842785765835,
"dyaw": -0.0032340930646048704
},
{
"dx": 0.27854108010491435,
"dy": 0.047996889218843444,
"dyaw": -0.001246224226762127
},
... |
bvn | main | 0ebdd14146c557b3 | Move forward to attempt to find the area near the chair, and then turn left to step along to attempt to locate the vicinity of the grass and halt nearby | [
"Move forward to attempt to find the area near the chair, and then turn left to step along to attempt to locate the vicinity of the grass and halt nearby"
] | beyond_the_view_navigation | train | images/6183190e444e0104 | images/6183190e444e0104/rgb | 186 | 186 | [
{
"dx": 0.8922522554617898,
"dy": -0.09549685923932821,
"dyaw": 0.0015287438219830918
},
{
"dx": 0.4489500183727011,
"dy": 0.13033327270104955,
"dyaw": -0.0008453889807267245
},
{
"dx": 0.7508741580155402,
"dy": -0.02445884283037375,
"dyaw": 0.0018403906273984916
},
{... |
bvn | main | 5209d055fbad4298 | Please try to go straight to reach the trash can, and then attempt to locate a billboard and stop nearby it | [
"Please try to go straight to reach the trash can, and then attempt to locate a billboard and stop nearby it"
] | beyond_the_view_navigation | train | images/5b591fd3cf2d847a | images/5b591fd3cf2d847a/rgb | 135 | 135 | [
{
"dx": 0.29931046574628406,
"dy": 0.017788096921128357,
"dyaw": -0.00037428430481201147
},
{
"dx": 0.1809992874408482,
"dy": 0.08268458956926564,
"dyaw": 0.00023433298628194876
},
{
"dx": 0.5104557194603146,
"dy": 0.04688317602579717,
"dyaw": 0.005399188250779119
},
... |
bvn | main | 998b5bc99bab4588 | You need to go straight to the white motorcycle ahead and stop there, and then turn left to seek for the black sofa ahead and go straight to the sofa to stop beside it, and from there turn right to walk to the red traffic cone to stop beside it, and finally turn front-left to go to the blue sign and wait by it | [
"You need to go straight to the white motorcycle ahead and stop there, and then turn left to seek for the black sofa ahead and go straight to the sofa to stop beside it, and from there turn right to walk to the red traffic cone to stop beside it, and finally turn front-left to go to the blue sign and wait by it"
] | beyond_the_view_navigation | train | images/6a3e94858b903091 | images/6a3e94858b903091/rgb | 202 | 202 | [
{
"dx": 0.7411417001725731,
"dy": -0.08479345739063882,
"dyaw": 0.0008045769946991577
},
{
"dx": 0.8010636970811567,
"dy": -0.0752004177017338,
"dyaw": -0.0010842650214706318
},
{
"dx": 0.721896854955033,
"dy": -0.11039419892067387,
"dyaw": 0.0014218092700204465
},
{
... |
bvn | main | 40ac8fe9d2132b02 | You need to go straight to get to a transparent standing sign, and then go to the white standing sign with a black border that you saw just now, and finally attempt to look for a vertically stacked box and stop near it | [
"You need to go straight to get to a transparent standing sign, and then go to the white standing sign with a black border that you saw just now, and finally attempt to look for a vertically stacked box and stop near it"
] | beyond_the_view_navigation | train | images/f6fc51a6a606038a | images/f6fc51a6a606038a/rgb | 178 | 178 | [
{
"dx": 0.22825482738805647,
"dy": -0.04082977481581092,
"dyaw": 0.00143711097567234
},
{
"dx": 0.27947204768479,
"dy": 0.014472788330577052,
"dyaw": -0.0009031344028551658
},
{
"dx": 0.43453730335998003,
"dy": -0.09176401901121783,
"dyaw": 0.0018759622246014018
},
{
... |
bvn | main | a1b0b84f921128d8 | Please try to look for the sculpture, and then turn right to go straight to the billboard and halt by it | [
"Please try to look for the sculpture, and then turn right to go straight to the billboard and halt by it"
] | beyond_the_view_navigation | train | images/230c6c32a5df4a95 | images/230c6c32a5df4a95/rgb | 123 | 123 | [
{
"dx": 0.21674278392315618,
"dy": 0.008556295615822163,
"dyaw": -0.005027271816363754
},
{
"dx": 0.18522567163709744,
"dy": 0.015990985511094624,
"dyaw": -0.010343732086634194
},
{
"dx": 0.2491852417247114,
"dy": 0.04029486204661506,
"dyaw": -0.018824708648645938
},
... |
bvn | main | 3140c1cd2ace4ac1 | March to the yellow pillar, and then turn left to march to the green trash can, and then seek for the cart, and then step along to the cart and stop by it | [
"March to the yellow pillar, and then turn left to march to the green trash can, and then seek for the cart, and then step along to the cart and stop by it"
] | beyond_the_view_navigation | train | images/2b6aebc7cb7b3f61 | images/2b6aebc7cb7b3f61/rgb | 139 | 139 | [
{
"dx": 0.09654056226407204,
"dy": -0.02434167809799416,
"dyaw": 0.002729614896070487
},
{
"dx": 0.24534814244509462,
"dy": 0.0053541864081858015,
"dyaw": 0.000044507939811477826
},
{
"dx": 0.31546128917576033,
"dy": 0.03700344754548582,
"dyaw": 0.0014543810462175344
},... |
bvn | main | 0220beeb0ab7bba7 | Please try to go straight to the area around the potted plant, and then attempt to locate the statue, and finally continue straight to the vicinity of the statue and stop nearby | [
"Please try to go straight to the area around the potted plant, and then attempt to locate the statue, and finally continue straight to the vicinity of the statue and stop nearby"
] | beyond_the_view_navigation | train | images/b2ae5521cc6a51c3 | images/b2ae5521cc6a51c3/rgb | 135 | 135 | [
{
"dx": 0.2956697723919402,
"dy": 0.04972207494013528,
"dyaw": 0.00047100472473848853
},
{
"dx": 0.3788036804477312,
"dy": 0.103591308323117,
"dyaw": -0.0044521188063941786
},
{
"dx": 0.2104531824285607,
"dy": -0.06316683892811734,
"dyaw": 0.003140192124198915
},
{
... |
bvn | main | 749b8203d8a3be72 | You need to walk forward to find a gray letter-shaped sculpture, and once you get there stop nearby | [
"You need to walk forward to find a gray letter-shaped sculpture, and once you get there stop nearby"
] | beyond_the_view_navigation | train | images/4a871bb729e77bb8 | images/4a871bb729e77bb8/rgb | 203 | 203 | [
{
"dx": 0.1173406177157597,
"dy": -0.002839545024939119,
"dyaw": 0.0013910182571632568
},
{
"dx": 0.035380411002401906,
"dy": -0.11580884487863805,
"dyaw": 0.0014791476084132782
},
{
"dx": 0.5052769998139615,
"dy": 0.2709700975898136,
"dyaw": -0.0014517916113114815
},
... |
bvn | main | 8b85d63b341b88b0 | Move forward to find a fire extinguisher box, and then turn right to go straight to attempt to locate a white floor-standing sign and stand in front of it | [
"Move forward to find a fire extinguisher box, and then turn right to go straight to attempt to locate a white floor-standing sign and stand in front of it"
] | beyond_the_view_navigation | train | images/376a3879045c7afd | images/376a3879045c7afd/rgb | 143 | 143 | [
{
"dx": 0.3522241721330268,
"dy": 0.00642975173200739,
"dyaw": 0.0000032076788865076367
},
{
"dx": 0.27229249241955106,
"dy": 0.03978697003632808,
"dyaw": -0.000316519195364684
},
{
"dx": 0.3183533401575158,
"dy": -0.028521653407612736,
"dyaw": 0.005252492344022475
},
... |
bvn | main | d509be3bf63e21a6 | Move forward to attempt to find the pavilion, and then turn left to step along to seek for the pole and stand in front of it | [
"Move forward to attempt to find the pavilion, and then turn left to step along to seek for the pole and stand in front of it"
] | beyond_the_view_navigation | train | images/dabba07736418600 | images/dabba07736418600/rgb | 120 | 120 | [
{
"dx": 0.23994899561090294,
"dy": -0.13032888583546637,
"dyaw": 0.004240796364794797
},
{
"dx": 0.26934113985292607,
"dy": -0.0028043054569057285,
"dyaw": 0.0023000548482841054
},
{
"dx": 0.4414117339723338,
"dy": 0.08253738073760564,
"dyaw": 0.001088153148601556
},
... |
bvn | main | 82867cc7c9ab2023 | You need to go straight to get to a white standing board, and then turn left to find a fire extinguisher box, and then turn left to get to the white massage chair and finally stop there | [
"You need to go straight to get to a white standing board, and then turn left to find a fire extinguisher box, and then turn left to get to the white massage chair and finally stop there"
] | beyond_the_view_navigation | train | images/6da3286888d8f94a | images/6da3286888d8f94a/rgb | 180 | 180 | [
{
"dx": 0.47678237714943345,
"dy": -0.14648618611055234,
"dyaw": 0.005630041202641323
},
{
"dx": 0.18577330500585848,
"dy": 0.17842214209592105,
"dyaw": -0.010411601805612403
},
{
"dx": 0.41173534658471067,
"dy": 0.15341477067547996,
"dyaw": -0.009130308444915691
},
{... |
bvn | main | bd46546fc3d83180 | You need to go straight to get to the sculpture, and then attempt to look for the sign, and once you are there, walk to the pillar and finally wait by it | [
"You need to go straight to get to the sculpture, and then attempt to look for the sign, and once you are there, walk to the pillar and finally wait by it"
] | beyond_the_view_navigation | train | images/5198923af383fd6c | images/5198923af383fd6c/rgb | 178 | 178 | [
{
"dx": 0.1783258010120193,
"dy": -0.05057530491077581,
"dyaw": 0.0028012340274083947
},
{
"dx": 0.23726997011335807,
"dy": 0.022003991035003473,
"dyaw": -0.0030402578941672864
},
{
"dx": 0.46388595420961065,
"dy": 0.05782870102170434,
"dyaw": -0.004184707593070769
},
... |
bvn | main | 77e59737400d7096 | March to the guardrail, and then attempt to seek for a trash bin, and then step along to the trash bin and stop by it | [
"March to the guardrail, and then attempt to seek for a trash bin, and then step along to the trash bin and stop by it"
] | beyond_the_view_navigation | train | images/d477eb86fd42658d | images/d477eb86fd42658d/rgb | 134 | 134 | [
{
"dx": 0.4912449604603986,
"dy": 0.14608488360777339,
"dyaw": 0.00016771133646997782
},
{
"dx": 0.5185489343005396,
"dy": 0.12699017334970586,
"dyaw": -0.004914526534103736
},
{
"dx": 0.5657824636399563,
"dy": -0.12033963832086583,
"dyaw": 0.00203891092994013
},
{
... |
bvn | main | f0981165c00ca145 | Move forward to attempt to find the green belt, and then turn right to move forward to seek for the railing, and finally turn right to move forward to seek for the wall and halt nearby | [
"Move forward to attempt to find the green belt, and then turn right to move forward to seek for the railing, and finally turn right to move forward to seek for the wall and halt nearby"
] | beyond_the_view_navigation | train | images/080b4941b16289c9 | images/080b4941b16289c9/rgb | 198 | 198 | [
{
"dx": -0.0033283960938524926,
"dy": -0.14513672350790935,
"dyaw": 0.002037151221861322
},
{
"dx": 0.39383974113215026,
"dy": 0.09456733918522871,
"dyaw": -0.007650975550249406
},
{
"dx": 0.35038445008723795,
"dy": 0.06662539418447926,
"dyaw": -0.004111045084539633
},
... |
bvn | main | 9a2077550eeda107 | Move forward to attempt to find the white standing sign, and then turn left to step along to seek the trash can, and finally turn left to proceed to locate the metal barrier and stand in front of it | [
"Move forward to attempt to find the white standing sign, and then turn left to step along to seek the trash can, and finally turn left to proceed to locate the metal barrier and stand in front of it"
] | beyond_the_view_navigation | train | images/5f2926211f859c8b | images/5f2926211f859c8b/rgb | 160 | 160 | [
{
"dx": 0.30801079415020777,
"dy": 0.03481835043349968,
"dyaw": -0.0038484707838084553
},
{
"dx": 0.1961029853135208,
"dy": 0.06540126858032955,
"dyaw": -0.004395414877729653
},
{
"dx": 0.28198036700856116,
"dy": -0.056228130422410205,
"dyaw": 0.00656120828063278
},
{... |
bvn | main | 853c0e0553a03534 | Advance forward to approach the large object covered by a white cloth, and search the red wooden structure then wait there | [
"Advance forward to approach the large object covered by a white cloth, and search the red wooden structure then wait there"
] | beyond_the_view_navigation | train | images/86dc20d230a2a5c5 | images/86dc20d230a2a5c5/rgb | 124 | 124 | [
{
"dx": 0.4425761742608222,
"dy": -0.34259941295561996,
"dyaw": 0.0006685351941384532
},
{
"dx": 0.3518123311260113,
"dy": 0.03726866219892677,
"dyaw": 0.0021372827156551644
},
{
"dx": 0.464515761758111,
"dy": 0.021488928104513638,
"dyaw": 0.005670957467467819
},
{
... |
bvn | main | 9950ce3e8447ae2d | Go straight till you can see the front poster, and then attempt to seek for the small cart and halt by it | [
"Go straight till you can see the front poster, and then attempt to seek for the small cart and halt by it"
] | beyond_the_view_navigation | train | images/6d4170d49b5d95a8 | images/6d4170d49b5d95a8/rgb | 224 | 224 | [
{
"dx": 0.4257640284101045,
"dy": 0.06462746777817899,
"dyaw": 0.0006427672276259067
},
{
"dx": 0.5625838710146329,
"dy": 0.061342788677721416,
"dyaw": -0.001991108635603922
},
{
"dx": 0.4641822296465566,
"dy": -0.08549165243326207,
"dyaw": 0.0031753056203469576
},
{
... |
bvn | main | 2bd8ee301a5f215a | March to the box, and then attempt to seek for a wooden board and step along to its vicinity, and then march to the red pillar and stop by it | [
"March to the box, and then attempt to seek for a wooden board and step along to its vicinity, and then march to the red pillar and stop by it"
] | beyond_the_view_navigation | train | images/98d75ad4dda5bd0e | images/98d75ad4dda5bd0e/rgb | 169 | 169 | [
{
"dx": 0.04176363510583889,
"dy": -0.11500825360678232,
"dyaw": 0.0032490833028173682
},
{
"dx": 0.15509459814327264,
"dy": 0.007009578896907426,
"dyaw": 0.005988321036851207
},
{
"dx": 0.13284428536596998,
"dy": 0.03869787055663724,
"dyaw": 0.016338818920300202
},
{... |
bvn | main | 4148af4029ed7664 | Move forward straightly to attempt to find the red fire extinguisher box and walk towards it, and then turn left to seek for the metal standing board with a white screen, and then turn right to locate the humanoid model in white clothes and halt nearby | [
"Move forward straightly to attempt to find the red fire extinguisher box and walk towards it, and then turn left to seek for the metal standing board with a white screen, and then turn right to locate the humanoid model in white clothes and halt nearby"
] | beyond_the_view_navigation | train | images/920059f9314f25f3 | images/920059f9314f25f3/rgb | 180 | 180 | [
{
"dx": 0.14041187516669199,
"dy": -0.010273578831713613,
"dyaw": -0.0009764432487253671
},
{
"dx": 0.1356363272858066,
"dy": -0.023477906368195037,
"dyaw": -0.00023460437296218828
},
{
"dx": 0.22917978478691875,
"dy": -0.0023105849843339105,
"dyaw": 0.0004236946877385072... |
bvn | main | 065515cf3197cb98 | Go straight till you can see the chair, and then attempt to seek for the explosion-proof device and halt by it | [
"Go straight till you can see the chair, and then attempt to seek for the explosion-proof device and halt by it"
] | beyond_the_view_navigation | train | images/1faf93f4e413237b | images/1faf93f4e413237b/rgb | 138 | 138 | [
{
"dx": 0.2975455919410017,
"dy": -0.030811491238862468,
"dyaw": -0.0006527491288021992
},
{
"dx": 0.525835799766162,
"dy": 0.0921856851912132,
"dyaw": -0.004948116570940186
},
{
"dx": 0.40988809315700914,
"dy": -0.226860610153318,
"dyaw": 0.00313449825026213
},
{
... |
bvn | main | 3ffdd7eb9591ad53 | March to the railing, and then attempt to locate the steps, and then step along to them and stop by them | [
"March to the railing, and then attempt to locate the steps, and then step along to them and stop by them"
] | beyond_the_view_navigation | train | images/bf85feaa0022be56 | images/bf85feaa0022be56/rgb | 334 | 334 | [
{
"dx": 0.6813043518610725,
"dy": 0.09118192686203413,
"dyaw": -0.00851880581497877
},
{
"dx": 0.20008752128957083,
"dy": 0.026474777209889073,
"dyaw": -0.0018214403528435952
},
{
"dx": 0.6340208294744898,
"dy": -0.46588048062623694,
"dyaw": 0.0049415358378874785
},
{... |
bvn | main | 3ea5633b9c972b29 | Move forward to attempt to find the electric bike, and then turn left to seek for the metal pole, and finally turn left to move forward to a white car and halt nearby | [
"Move forward to attempt to find the electric bike, and then turn left to seek for the metal pole, and finally turn left to move forward to a white car and halt nearby"
] | beyond_the_view_navigation | train | images/85ac4f5d24cc4758 | images/85ac4f5d24cc4758/rgb | 164 | 164 | [
{
"dx": 0.17150207085208682,
"dy": 0.009833426774510812,
"dyaw": -0.0023566107202781517
},
{
"dx": 0.35006061193761884,
"dy": -0.25479592319561883,
"dyaw": 0.0069810215329346725
},
{
"dx": 0.27433946619497457,
"dy": 0.012276828489809682,
"dyaw": -0.001521129314925318
},... |
bvn | main | 2040c092344165b3 | Please try to seek for the TV while moving forward and stop nearby | [
"Please try to seek for the TV while moving forward and stop nearby"
] | beyond_the_view_navigation | train | images/458931ba45d8a706 | images/458931ba45d8a706/rgb | 154 | 154 | [
{
"dx": 0.2501828998212307,
"dy": 0.0331286136311974,
"dyaw": -0.0007041449660296628
},
{
"dx": 0.29400373296431354,
"dy": 0.015706535023817095,
"dyaw": 0.0019675585307008525
},
{
"dx": 0.3072260586278322,
"dy": -0.001078187122392188,
"dyaw": -0.0008016683597609209
},
... |
bvn | main | 88fd85b1bc3a9326 | Move forward to the white cabinet, and then turn left to seek the white stand sign, and then turn right to attempt to locate the black stand sign and halt nearby | [
"Move forward to the white cabinet, and then turn left to seek the white stand sign, and then turn right to attempt to locate the black stand sign and halt nearby"
] | beyond_the_view_navigation | train | images/ffd7e6da7246ba7b | images/ffd7e6da7246ba7b/rgb | 135 | 135 | [
{
"dx": 0.06058170689654318,
"dy": -0.0033506301733840296,
"dyaw": 0.0020630274000978943
},
{
"dx": 0.1505077065004978,
"dy": -0.04295570533816623,
"dyaw": -0.0004752183535576826
},
{
"dx": 0.22614054129717254,
"dy": 0.006034072074321009,
"dyaw": -0.0028444270780547676
... |
bvn | main | ff74b408b6d93540 | Go straight till you can see the green transparent cabinet, and then turn left to look for a white table with goods on it, and then move to the white table and halt by it | [
"Go straight till you can see the green transparent cabinet, and then turn left to look for a white table with goods on it, and then move to the white table and halt by it"
] | beyond_the_view_navigation | train | images/7f1fe86ff3f94e06 | images/7f1fe86ff3f94e06/rgb | 143 | 143 | [
{
"dx": 0.4894945860623322,
"dy": 0.03522421704361692,
"dyaw": -0.0005799459559368003
},
{
"dx": 0.383046643035307,
"dy": 0.03507762353912565,
"dyaw": 0.0005008848926233433
},
{
"dx": 0.6262515057842362,
"dy": 0.13069033679905032,
"dyaw": -0.000520098489644738
},
{
... |
bvn | main | 003abcec162d50f1 | Go straight till you can see the glass frame, and then turn left to move till you can see the black column, next walk to the white electric bike you just noticed, and then attempt to seek for a silver clothes hanger and halt by it | [
"Go straight till you can see the glass frame, and then turn left to move till you can see the black column, next walk to the white electric bike you just noticed, and then attempt to seek for a silver clothes hanger and halt by it"
] | beyond_the_view_navigation | train | images/4926b4e0ba767e73 | images/4926b4e0ba767e73/rgb | 182 | 182 | [
{
"dx": 0.5801128384200979,
"dy": -0.20957575365253778,
"dyaw": 0.011096035042733376
},
{
"dx": 0.5119476607597678,
"dy": 0.03846408535459278,
"dyaw": -0.0041359667834450775
},
{
"dx": 0.774675842266595,
"dy": -0.09721131967671996,
"dyaw": 0.008801510203366725
},
{
... |
bvn | main | 82edaf424cb83adb | Walk forward through the corridor, locate and pass to the left of the stacked cardboard boxes, continue straight to reach the red board, then try to search for a colored advertisement board and stop in front of it. | [
"Walk forward through the corridor, locate and pass to the left of the stacked cardboard boxes, continue straight to reach the red board, then try to search for a colored advertisement board and stop in front of it."
] | beyond_the_view_navigation | train | images/5cd89fd2a972600b | images/5cd89fd2a972600b/rgb | 199 | 199 | [
{
"dx": 0.1722267550187773,
"dy": -0.029090340545792973,
"dyaw": -0.0013050054942049805
},
{
"dx": 0.15742033921745724,
"dy": -0.018003496614800968,
"dyaw": 0.00042876316106355006
},
{
"dx": 0.1792495703090278,
"dy": 0.04750731066987343,
"dyaw": -0.0008223282985109215
}... |
bvn | main | d59161085b137fda | Move forward to attempt to locate the fire cabinet and stand in front of it | [
"Move forward to attempt to locate the fire cabinet and stand in front of it"
] | beyond_the_view_navigation | train | images/37b097189f8f0dbd | images/37b097189f8f0dbd/rgb | 110 | 110 | [
{
"dx": 0.16808299356210055,
"dy": 0.03731155805536943,
"dyaw": -0.000974419611956101
},
{
"dx": 0.18943630044683202,
"dy": 0.04332668670152387,
"dyaw": 0.0006151769985738298
},
{
"dx": 0.19204706551212103,
"dy": 0.025790172588850517,
"dyaw": -0.0006493763944481756
},
... |
bvn | main | caa5c1e021c96592 | Please try to go straight to get to the fire hydrant, and then seek for a sign, and once you are there walk closer to it and stop nearby | [
"Please try to go straight to get to the fire hydrant, and then seek for a sign, and once you are there walk closer to it and stop nearby"
] | beyond_the_view_navigation | train | images/bfb9d6f9c63c9005 | images/bfb9d6f9c63c9005/rgb | 100 | 100 | [
{
"dx": 0.45402417930500266,
"dy": 0.35346304830559283,
"dyaw": -0.003264659169080808
},
{
"dx": 1.7861728492838371,
"dy": 0.2334573256149754,
"dyaw": -0.0018673026454769648
},
{
"dx": 0.3518762096598258,
"dy": 0.30818892950249244,
"dyaw": -0.0037555953420693733
},
{
... |
bvn | main | 93dba0659d0b1208 | March straight till the end, and then attempt to locate a larger blue object and stop by it | [
"March straight till the end, and then attempt to locate a larger blue object and stop by it"
] | beyond_the_view_navigation | train | images/d86721726db39459 | images/d86721726db39459/rgb | 174 | 174 | [
{
"dx": 0.8018956176862545,
"dy": -0.9484959242030119,
"dyaw": 0.09423155523363702
},
{
"dx": 0.11682036227035741,
"dy": 0.6477001196023473,
"dyaw": -0.06469764327233296
},
{
"dx": 0.19077172427673245,
"dy": 0.4237044190878163,
"dyaw": -0.05854139855455376
},
{
"d... |
bvn | main | a8aa855eee62a7bd | Go straight till you can see the pillar, then seek for the sunshade umbrella, and finally go to it and stop nearby | [
"Go straight till you can see the pillar, then seek for the sunshade umbrella, and finally go to it and stop nearby"
] | beyond_the_view_navigation | train | images/6c933db9e3fad95e | images/6c933db9e3fad95e/rgb | 106 | 106 | [
{
"dx": 0.4537436196925514,
"dy": 0.10049144792485937,
"dyaw": 0.011145795549523996
},
{
"dx": 0.3626947756890624,
"dy": -0.008380720249374307,
"dyaw": 0.010812093291085567
},
{
"dx": 0.3615859639192674,
"dy": 0.022704190356013232,
"dyaw": 0.017688618073868678
},
{
... |
bvn | main | 18a5fdf289afa2b3 | Please try to go straight to get to the stairs, and then attempt to seek for a counter with decorations, then turn left to walk to the counter with decorations and stop | [
"Please try to go straight to get to the stairs, and then attempt to seek for a counter with decorations, then turn left to walk to the counter with decorations and stop"
] | beyond_the_view_navigation | train | images/733d2dbaf9482bcf | images/733d2dbaf9482bcf/rgb | 120 | 120 | [
{
"dx": 0.13355838958655733,
"dy": -0.001232537784442142,
"dyaw": 0.0009112400559212475
},
{
"dx": 0.23474538691235577,
"dy": -0.0322969712718202,
"dyaw": -0.0006700999074737979
},
{
"dx": 0.1563948199460029,
"dy": 0.026644939725542972,
"dyaw": -0.0032796431465142994
},... |
bvn | main | 2d89055677471e8f | Attempt to locate the black public welfare sign, and then go straight to its vicinity and halt nearby | [
"Attempt to locate the black public welfare sign, and then go straight to its vicinity and halt nearby"
] | beyond_the_view_navigation | train | images/91f49364c6561743 | images/91f49364c6561743/rgb | 190 | 190 | [
{
"dx": 0.26039347218345094,
"dy": 0.06446874887401323,
"dyaw": 0.0005938504075264639
},
{
"dx": 0.20761426710555192,
"dy": -0.029865003863615625,
"dyaw": 0.00007193761100721119
},
{
"dx": 0.25434914801817093,
"dy": -0.05580771090550411,
"dyaw": 0.000688295753741297
},
... |
bvn | main | 319ce0ceee27adfc | Move forward to seek for a black stand with a white signboard, and then turn left to locate the black signboard with content, and from there turn left to attempt to find the gray cart with a gray trash bin and halt nearby | [
"Move forward to seek for a black stand with a white signboard, and then turn left to locate the black signboard with content, and from there turn left to attempt to find the gray cart with a gray trash bin and halt nearby"
] | beyond_the_view_navigation | train | images/fc466241e68c470b | images/fc466241e68c470b/rgb | 234 | 234 | [
{
"dx": -0.03195750779795883,
"dy": 0.06687186227060883,
"dyaw": -0.0018602672286380795
},
{
"dx": 0.09048026993182959,
"dy": -0.04138080965779449,
"dyaw": 0.0017170738156662146
},
{
"dx": 0.6895448454855724,
"dy": 0.12981144242614623,
"dyaw": -0.007331137984070146
},
... |
bvn | main | 25965a3527a515f6 | Move forward to the billboard, and then attempt to locate a fire hydrant, and finally go straight to the fire hydrant and halt nearby | [
"Move forward to the billboard, and then attempt to locate a fire hydrant, and finally go straight to the fire hydrant and halt nearby"
] | beyond_the_view_navigation | train | images/5ff515ab889557f4 | images/5ff515ab889557f4/rgb | 235 | 235 | [
{
"dx": 0.38446292307485064,
"dy": 0.10683971763110485,
"dyaw": -0.00035667010778261954
},
{
"dx": 0.31654086585086394,
"dy": -0.060486643031386234,
"dyaw": -0.0009438896274045483
},
{
"dx": 0.8605731396187513,
"dy": 0.17507522196591152,
"dyaw": 0.001576739232161728
},
... |
bvn | main | b369fe96ca9f5c96 | Move forward to attempt to find the white flower bed, and then seek for the white standing sign, and then turn right to move forward to attempt to locate the white standing sign and halt nearby | [
"Move forward to attempt to find the white flower bed, and then seek for the white standing sign, and then turn right to move forward to attempt to locate the white standing sign and halt nearby"
] | beyond_the_view_navigation | train | images/a329175f1fb82f5b | images/a329175f1fb82f5b/rgb | 132 | 132 | [
{
"dx": 0.5313569913739012,
"dy": 0.1481520800606709,
"dyaw": 0.0018537936977023328
},
{
"dx": 0.8258984798626466,
"dy": 0.5006520965564092,
"dyaw": -0.0017954304480189975
},
{
"dx": 0.8388269957987244,
"dy": -0.08895483200728005,
"dyaw": -0.00045475131163730254
},
{
... |
bvn | main | 1efff1cc08c2ca98 | Move forward to the gray pavilion ahead, and then turn left to seek for the black cabinet, and then turn right to attempt to locate the gray pole, and then turn right to search for the gray electrical appliance and halt nearby | [
"Move forward to the gray pavilion ahead, and then turn left to seek for the black cabinet, and then turn right to attempt to locate the gray pole, and then turn right to search for the gray electrical appliance and halt nearby"
] | beyond_the_view_navigation | train | images/2548e4d1d44ee39f | images/2548e4d1d44ee39f/rgb | 168 | 168 | [
{
"dx": 0.3865753420414977,
"dy": -0.0692248409091706,
"dyaw": 0.008742626040245671
},
{
"dx": 0.2998063699051899,
"dy": -0.0618441204145623,
"dyaw": 0.007425280255413114
},
{
"dx": 0.12085841801916371,
"dy": 0.005382924222556259,
"dyaw": 0.005890888448695897
},
{
... |
bvn | main | dc35181b291ca996 | You need to go straight till you reach near the stair entrance, and then look for an electronic display screen, and finally stop in front of it | [
"You need to go straight till you reach near the stair entrance, and then look for an electronic display screen, and finally stop in front of it"
] | beyond_the_view_navigation | train | images/ea3a610c77866dbf | images/ea3a610c77866dbf/rgb | 181 | 181 | [
{
"dx": 0.3757173740033035,
"dy": 0.16846771672997732,
"dyaw": -0.0038839592738337814
},
{
"dx": 0.3536939938076474,
"dy": 0.03452238145720085,
"dyaw": 0.0009317358607092707
},
{
"dx": 0.34194184156526153,
"dy": -0.12409627412775705,
"dyaw": 0.0021224029798161403
},
{... |
bvn | main | f735c39a08d9f9fe | Move forward to get to the red brick wall, and then attempt to locate a standing sign leaning against the glass wall to step along to the side of the standing sign and halt nearby | [
"Move forward to get to the red brick wall, and then attempt to locate a standing sign leaning against the glass wall to step along to the side of the standing sign and halt nearby"
] | beyond_the_view_navigation | train | images/bb55305533feee49 | images/bb55305533feee49/rgb | 125 | 125 | [
{
"dx": 0.2903109336533693,
"dy": 0.04685860351398176,
"dyaw": -0.00096769394135654
},
{
"dx": 0.16504087666742573,
"dy": 0.027714041972436806,
"dyaw": -0.0010154903090637823
},
{
"dx": 0.15668368009900982,
"dy": -0.009089675213433027,
"dyaw": 0.0018246620509212441
},
... |
bvn | main | 574f7654e2257554 | March to the large potted plant, and then attempt to locate the black electronic sign, and then turn left to march to the black electronic sign and stop by it | [
"March to the large potted plant, and then attempt to locate the black electronic sign, and then turn left to march to the black electronic sign and stop by it"
] | beyond_the_view_navigation | train | images/1a61a638613be31e | images/1a61a638613be31e/rgb | 134 | 134 | [
{
"dx": 0.23754469788275276,
"dy": -0.038843916104036154,
"dyaw": 0.007339576225255051
},
{
"dx": 0.39747774759763743,
"dy": 0.05073137794168736,
"dyaw": -0.0021902219187026617
},
{
"dx": 0.4487328009577263,
"dy": -0.053709024624241125,
"dyaw": 0.002211055364318426
},
... |
bvn | main | 755862b56797bc4b | March forward to seek for the sign, and then turn left to march to the billboard, and then turn right to step along to the warning sign and stop by it | [
"March forward to seek for the sign, and then turn left to march to the billboard, and then turn right to step along to the warning sign and stop by it"
] | beyond_the_view_navigation | train | images/d481baacbe98bb60 | images/d481baacbe98bb60/rgb | 250 | 250 | [
{
"dx": 1.2803232283550323,
"dy": 0.8113824413145474,
"dyaw": -0.009268097798754926
},
{
"dx": 0.4729624614766728,
"dy": -0.11542362124230834,
"dyaw": 0.0015732018652747648
},
{
"dx": -0.04945942313475493,
"dy": -0.8511266315868082,
"dyaw": 0.00934588822761473
},
{
... |
bvn | main | 82ca46c768406f6f | Go straight to look for a red sign with marked content, and then walk over to it and halt by it | [
"Go straight to look for a red sign with marked content, and then walk over to it and halt by it"
] | beyond_the_view_navigation | train | images/7d3b80042eea4d53 | images/7d3b80042eea4d53/rgb | 103 | 103 | [
{
"dx": 0.2506474372108895,
"dy": 0.005066668833153223,
"dyaw": -0.002974083615670864
},
{
"dx": 0.1423414019750062,
"dy": 0.005093026476840623,
"dyaw": -0.0006476665470240839
},
{
"dx": 0.2516438368168021,
"dy": 0.026156986306137567,
"dyaw": 0.00028798647056627047
},
... |
bvn | main | dab5929631eccba2 | You need to go straight to the blue circular building, and then try to look for the tree with decorations you just spotted, and then continue straight to the tree with decorations and finally wait by it | [
"You need to go straight to the blue circular building, and then try to look for the tree with decorations you just spotted, and then continue straight to the tree with decorations and finally wait by it"
] | beyond_the_view_navigation | train | images/5fa03390837cec80 | images/5fa03390837cec80/rgb | 123 | 123 | [
{
"dx": 0.10474994620044718,
"dy": -0.0015427183682205949,
"dyaw": 0.002791333123789208
},
{
"dx": 0.1902012190715513,
"dy": -0.04285120346222507,
"dyaw": 0.0023548713557479672
},
{
"dx": 0.18103195762370278,
"dy": -0.037734907457588264,
"dyaw": 0.0003944394993711242
},... |
bvn | main | 111df8112467d03a | Move forward to attempt to locate the white humanoid sculpture ahead, and then turn right to seek for the gray door and halt nearby | [
"Move forward to attempt to locate the white humanoid sculpture ahead, and then turn right to seek for the gray door and halt nearby"
] | beyond_the_view_navigation | train | images/cceac72f1bc462ed | images/cceac72f1bc462ed/rgb | 106 | 106 | [
{
"dx": 0.23210142547498314,
"dy": -0.02220173654438594,
"dyaw": 0.002148817396764535
},
{
"dx": 0.16495755425606218,
"dy": -0.04574559342913562,
"dyaw": 0.0005698243096197153
},
{
"dx": 0.1259565608897652,
"dy": 0.009695287238902298,
"dyaw": 0.0018099931877273434
},
... |
bvn | main | 23d3f522423b6550 | Move forward to go to the electrical box, and then seek for a fire hydrant, and then walk to its side, and then go to the fire cabinet you just saw and halt nearby | [
"Move forward to go to the electrical box, and then seek for a fire hydrant, and then walk to its side, and then go to the fire cabinet you just saw and halt nearby"
] | beyond_the_view_navigation | train | images/0c0d9a470432bbb7 | images/0c0d9a470432bbb7/rgb | 168 | 168 | [
{
"dx": 0.1078928910244353,
"dy": 0.023350811699952255,
"dyaw": 0.0005847857845409088
},
{
"dx": 0.20414455723860814,
"dy": -0.07591492468920814,
"dyaw": 0.004457867856967113
},
{
"dx": 0.2657868248235112,
"dy": 0.16793315230972194,
"dyaw": -0.007933322080758032
},
{
... |
bvn | main | e9d7d1ca74935363 | March to the billboard, and then march to the sign, and finally seek for the yellow pillar and stop by it | [
"March to the billboard, and then march to the sign, and finally seek for the yellow pillar and stop by it"
] | beyond_the_view_navigation | train | images/84743294a20d5f4b | images/84743294a20d5f4b/rgb | 205 | 205 | [
{
"dx": 0.4120472647916285,
"dy": 0.03327154879866588,
"dyaw": -0.006403179576302431
},
{
"dx": 0.4319492535005026,
"dy": -0.11432534780572137,
"dyaw": -0.0008496580701540246
},
{
"dx": 0.6403351192697192,
"dy": -0.1488327738598939,
"dyaw": -0.005933806448302104
},
{
... |
bvn | main | 9cd99bfa157a58d2 | Go straight till you can see the glass wall, and then seek for a gray object, and then turn right to go straight till you can see the gray object and halt by it | [
"Go straight till you can see the glass wall, and then seek for a gray object, and then turn right to go straight till you can see the gray object and halt by it"
] | beyond_the_view_navigation | train | images/e1d2abfe4ee82ec9 | images/e1d2abfe4ee82ec9/rgb | 128 | 128 | [
{
"dx": 0.3667659764915069,
"dy": 0.022954316120691723,
"dyaw": 0.0026034816205680045
},
{
"dx": 0.34835344434857646,
"dy": 0.020919056435394115,
"dyaw": -0.0012052511022604406
},
{
"dx": 0.4011959416745766,
"dy": 0.08042360954031812,
"dyaw": 0.0010336537869437556
},
... |
bvn | main | 4b7d2e534b5ac2d1 | Move forward to the white pillar, and then attempt to locate the black trash bin, then move to the black trash bin and stand nearby | [
"Move forward to the white pillar, and then attempt to locate the black trash bin, then move to the black trash bin and stand nearby"
] | beyond_the_view_navigation | train | images/2d8a64c7ad7105ae | images/2d8a64c7ad7105ae/rgb | 137 | 137 | [
{
"dx": 0.3111560485264401,
"dy": -0.22721157769886166,
"dyaw": 0.030742883549236932
},
{
"dx": 0.3007943641795077,
"dy": 0.28231623366956804,
"dyaw": -0.05888936318619642
},
{
"dx": 0.5687242144154614,
"dy": -0.2952515506487716,
"dyaw": 0.01122317511604276
},
{
"... |
bvn | main | 44af1261ec517a94 | Move forward to attempt to locate the blue sign, and then walk to the blue sign, and then turn right, and then step along to the white billboard and stand in front of it | [
"Move forward to attempt to locate the blue sign, and then walk to the blue sign, and then turn right, and then step along to the white billboard and stand in front of it"
] | beyond_the_view_navigation | train | images/927b95e08e108b7e | images/927b95e08e108b7e/rgb | 273 | 273 | [
{
"dx": 0.8803825247227448,
"dy": 0.13367573600234842,
"dyaw": -0.001046626201089751
},
{
"dx": 0.22521319030058848,
"dy": 0.050117024878165016,
"dyaw": -0.0025910544032883287
},
{
"dx": 0.6067955804948064,
"dy": 0.05211127900601614,
"dyaw": -0.0005099369252237196
},
... |
bvn | main | a86f080325378c7f | Go straight to the wall, and then seek for the red cabinet, and finally step to the red cabinet and stop by it | [
"Go straight to the wall, and then seek for the red cabinet, and finally step to the red cabinet and stop by it"
] | beyond_the_view_navigation | train | images/3a9f14d5485b76e7 | images/3a9f14d5485b76e7/rgb | 131 | 131 | [
{
"dx": 0.08759723287396129,
"dy": 0.0025274128431265544,
"dyaw": -0.0004963004543627747
},
{
"dx": 0.08847357370900368,
"dy": 0.033414493892700264,
"dyaw": -0.004284223088181882
},
{
"dx": 0.1432348807504095,
"dy": 0.03654643135761621,
"dyaw": -0.008297424776088302
},
... |
bvn | main | 5dd421c250ddee39 | Move forward to find the black chair ahead, and then turn left to go to the black pillar, and then attempt to locate a yellow cabinet, and finally walk to it and halt nearby | [
"Move forward to find the black chair ahead, and then turn left to go to the black pillar, and then attempt to locate a yellow cabinet, and finally walk to it and halt nearby"
] | beyond_the_view_navigation | train | images/73a37ff882c98de5 | images/73a37ff882c98de5/rgb | 155 | 155 | [
{
"dx": 0.09735325773892872,
"dy": 0.04071307738606763,
"dyaw": -0.01907324935927779
},
{
"dx": 0.22385284870234917,
"dy": -0.03170636004848837,
"dyaw": -0.005730383018191176
},
{
"dx": 0.23105568054436532,
"dy": -0.025382414016862715,
"dyaw": -0.024606265410753725
},
... |
bvn | main | 6aa56f6c883eb8d6 | Please try to seek for the yellow warning sign, and then go straight to get near it and stop | [
"Please try to seek for the yellow warning sign, and then go straight to get near it and stop"
] | beyond_the_view_navigation | train | images/0017113aa6c73434 | images/0017113aa6c73434/rgb | 126 | 126 | [
{
"dx": -0.14695688524487724,
"dy": -0.07684035461699232,
"dyaw": 0.002167357428740413
},
{
"dx": 0.05550294283248836,
"dy": 0.020331788653374556,
"dyaw": 0.002914460509913841
},
{
"dx": 0.018663226458980577,
"dy": -0.0994220268137099,
"dyaw": -0.003537850113565
},
{
... |
bvn | main | 2a5fd18e3297d934 | Move forward to attempt to find the chair, and then turn right to step along to seek the fire cabinet and stand in front of it | [
"Move forward to attempt to find the chair, and then turn right to step along to seek the fire cabinet and stand in front of it"
] | beyond_the_view_navigation | train | images/80e167d24d61c6e9 | images/80e167d24d61c6e9/rgb | 136 | 136 | [
{
"dx": 0.3288027630126492,
"dy": 0.011854290526513038,
"dyaw": -0.00006005230626238145
},
{
"dx": 0.2679167003375881,
"dy": -0.01650296318166357,
"dyaw": -0.0021101918440749046
},
{
"dx": 0.1684923768343255,
"dy": -0.21333508398374096,
"dyaw": 0.0027547074207472377
},
... |
bvn | main | 441fa9ae43159afc | Move till you see the black standing sign, and then attempt to locate the red fire hydrant, and then go straight till you can see the red fire hydrant, and then look for the brown cabinet, and finally go straight till you reach the brown cabinet and wait there | [
"Move till you see the black standing sign, and then attempt to locate the red fire hydrant, and then go straight till you can see the red fire hydrant, and then look for the brown cabinet, and finally go straight till you reach the brown cabinet and wait there"
] | beyond_the_view_navigation | train | images/6611977427bbebfd | images/6611977427bbebfd/rgb | 197 | 197 | [
{
"dx": 0.24666548317329562,
"dy": -0.0447809886270199,
"dyaw": 0.003813025601623554
},
{
"dx": 0.2838398149906195,
"dy": 0.04584413247947963,
"dyaw": -0.0035551812047258657
},
{
"dx": 0.18325378478990484,
"dy": 0.03421682872030195,
"dyaw": -0.00459549437181872
},
{
... |
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