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 | 46b0f8e9afcf0f0c | please walk forward to find a purple basin and approach to it and stop. | [
"please walk forward to find a purple basin and approach to it and stop."
] | beyond_the_view_navigation | train | images/b7970139725750ca | images/b7970139725750ca/rgb | 115 | 115 | [
{
"dx": 0.07144184526393896,
"dy": -0.02712180427639098,
"dyaw": 0.023025285017204133
},
{
"dx": 0.08610958660223929,
"dy": -0.018309745941528746,
"dyaw": 0.03354673572060829
},
{
"dx": 0.33577160057309086,
"dy": 0.024202267549667367,
"dyaw": 0.025967182889870877
},
{... |
bvn | main | 37ef2b6d88750f15 | head straight to find a cart and stop by it. | [
"head straight to find a cart and stop by it."
] | beyond_the_view_navigation | train | images/0131cdf175d689f8 | images/0131cdf175d689f8/rgb | 94 | 94 | [
{
"dx": 0.4841157992275471,
"dy": 0.008090879683804529,
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},
{
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},
{
"dx": 0.4971517984624606,
"dy": 0.0335878811098584,
"dyaw": -0.036115088302392184
},
{
... |
bvn | main | 62a4a39b06210107 | there are some chairs in front of you, try to reach them and then turn right to get to some red flowers and then explore a fire extinguisher near by you and stop by the fire extinguisher. | [
"there are some chairs in front of you, try to reach them and then turn right to get to some red flowers and then explore a fire extinguisher near by you and stop by the fire extinguisher."
] | beyond_the_view_navigation | train | images/3c006698efc4ff9c | images/3c006698efc4ff9c/rgb | 142 | 142 | [
{
"dx": 0.1492254845522433,
"dy": -0.05756039384601227,
"dyaw": 0.0023948098236199478
},
{
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"dy": -0.1540439555743976,
"dyaw": -0.0031404419965994634
},
{
"dx": 0.32186188978790786,
"dy": 0.08658793243130962,
"dyaw": 0.00033662097580355876
},
... |
bvn | main | 70eda69a65b12aa2 | you need to follow the way to find a red slide and stop by it. | [
"you need to follow the way to find a red slide and stop by it."
] | beyond_the_view_navigation | train | images/19a55836d38ed223 | images/19a55836d38ed223/rgb | 112 | 112 | [
{
"dx": 0.20279135908996657,
"dy": 0.03407634769766579,
"dyaw": 0.006581374446302135
},
{
"dx": 0.21392614290253184,
"dy": -0.11253189535442173,
"dyaw": 0.011242286220653153
},
{
"dx": 0.2949702380287249,
"dy": 0.05036460146162863,
"dyaw": -0.002485567471907757
},
{
... |
bvn | main | 802da36a579c45e4 | go forward, find a christmas tree, and then go to an electronic advertising board of the supermarket | [
"go forward, find a christmas tree, and then go to an electronic advertising board of the supermarket"
] | beyond_the_view_navigation | train | images/460b2f30ee1d4f98 | images/460b2f30ee1d4f98/rgb | 165 | 165 | [
{
"dx": 0.035796455442658276,
"dy": 0.03163835871685432,
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},
{
"dx": 0.01807119834359325,
"dy": 0.020116937323125056,
"dyaw": -0.004916850746032875
},
{
"dx": 0.039470247217820435,
"dy": 0.035899997295652776,
"dyaw": 0.0051496155147594536
},... |
bvn | main | 752c1d509f0bf403 | search forward and turn right by the end of the sofa, then try to find a fruit plate containing an apple and two bananas and another fruit | [
"search forward and turn right by the end of the sofa, then try to find a fruit plate containing an apple and two bananas and another fruit"
] | beyond_the_view_navigation | train | images/e4238f19b6c93aa4 | images/e4238f19b6c93aa4/rgb | 121 | 121 | [
{
"dx": 0.003921025013116278,
"dy": -0.0028036742987797717,
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},
{
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},
{
"dx": -0.010776395225473344,
"dy": -0.009108552006183107,
"dyaw": -0.02390024540244... |
bvn | main | 99d7c9e3dd0ee450 | you are at the corner, try searching around to find a flower and stop by it. | [
"you are at the corner, try searching around to find a flower and stop by it."
] | beyond_the_view_navigation | train | images/80676f53ca86de76 | images/80676f53ca86de76/rgb | 95 | 95 | [
{
"dx": 0.0038427480115350424,
"dy": -0.01025041188726824,
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},
{
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},
{
"dx": 0.008868630981480486,
"dy": 0.03948736264169829,
"dyaw": 0.0676466854250024
},
... |
bvn | main | c66dc82dfc253642 | search for a table with red tablecloth, then try to search for some cabinets with wooden textures | [
"search for a table with red tablecloth, then try to search for some cabinets with wooden textures"
] | beyond_the_view_navigation | train | images/483db209e5d2e7ba | images/483db209e5d2e7ba/rgb | 125 | 125 | [
{
"dx": -0.008637757211170024,
"dy": -0.0010993265686375727,
"dyaw": -0.007941362962557097
},
{
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"dy": 0.0036237436772751626,
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},
{
"dx": -0.005251292200501476,
"dy": 0.0135032108365378,
"dyaw": -0.0010542083118547652
... |
bvn | main | 95e356cfb091b2a2 | move forward and turn left when you encounter a wall, then search for a blue sofa, go to it, after that try to find a closest television and stop in front of it | [
"move forward and turn left when you encounter a wall, then search for a blue sofa, go to it, after that try to find a closest television and stop in front of it"
] | beyond_the_view_navigation | train | images/d54881009d039e44 | images/d54881009d039e44/rgb | 132 | 132 | [
{
"dx": -0.01884827426252811,
"dy": 0.016078542691954457,
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},
{
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},
{
"dx": -0.008544686225855637,
"dy": 0.048882245766509805,
"dyaw": -0.008729731182280709
... |
bvn | main | 73ac4dedd54e128d | search forward and try to find a sink | [
"search forward and try to find a sink"
] | beyond_the_view_navigation | train | images/adc3df861c9e09da | images/adc3df861c9e09da/rgb | 90 | 90 | [
{
"dx": 0.008439382985599925,
"dy": -0.007194234017134056,
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},
{
"dx": 0.030286109968494564,
"dy": -0.0058509469508077104,
"dyaw": 0.01936951795184294
},
{
"dx": 0.06422618044636086,
"dy": -0.010247013534955975,
"dyaw": 0.017055643171029367
}... |
bvn | main | ee300a2a1aa18ffc | move to the car in front of you and then turn left to go to another white car and then turn left to bypass the car and you will find a red cone on your left and please try your best to reach the red cone. | [
"move to the car in front of you and then turn left to go to another white car and then turn left to bypass the car and you will find a red cone on your left and please try your best to reach the red cone."
] | beyond_the_view_navigation | train | images/c07dcdaf4370525e | images/c07dcdaf4370525e/rgb | 256 | 256 | [
{
"dx": -0.15647979295665695,
"dy": -0.33370792787070747,
"dyaw": -0.003042697808324224
},
{
"dx": 0.08852335339375032,
"dy": -0.14228091301377058,
"dyaw": -0.027814280972895844
},
{
"dx": 0.2615951120860193,
"dy": 0.308768263158533,
"dyaw": -0.042935091515306834
},
{... |
bvn | main | 30ba919fc82e0fe2 | head straight to the yellow warning sign and then turn left to attempt to find a water dispenser and stop by it. | [
"head straight to the yellow warning sign and then turn left to attempt to find a water dispenser and stop by it."
] | beyond_the_view_navigation | train | images/857e67f4a812857e | images/857e67f4a812857e/rgb | 130 | 130 | [
{
"dx": 0.0966658714527436,
"dy": 0.0247507543311449,
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},
{
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"dyaw": -0.008868226742006602
},
{
"dx": 0.5721727066784578,
"dy": -0.03756480288108943,
"dyaw": -0.04008016040960083
},
{... |
bvn | main | 36a6b9c45a9f0cb9 | go forward and turn left when you are near to a viewing screen, then search for an end table and stop | [
"go forward and turn left when you are near to a viewing screen, then search for an end table and stop"
] | beyond_the_view_navigation | train | images/774a946a16fa630a | images/774a946a16fa630a/rgb | 173 | 173 | [
{
"dx": 0.0034891004911079917,
"dy": -0.005498302141706305,
"dyaw": 0.0016532419831296608
},
{
"dx": -0.000848205394851385,
"dy": 0.004701391303062962,
"dyaw": -0.0007386682854795268
},
{
"dx": -0.007198146786368953,
"dy": 0.0012546271792448598,
"dyaw": -0.001675269476401... |
bvn | main | b5dbc60118b20225 | try to explore for a grey sofa, after that, try to find a wooden chair and stop by it | [
"try to explore for a grey sofa, after that, try to find a wooden chair and stop by it"
] | beyond_the_view_navigation | train | images/4366d46c20965e59 | images/4366d46c20965e59/rgb | 158 | 158 | [
{
"dx": 0.00952504223205455,
"dy": -0.027415245257293774,
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},
{
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},
{
"dx": -0.01780164582471246,
"dy": -0.008929811603510952,
"dyaw": -0.05382390342851684
... |
bvn | main | 852537a4b4d037eb | go straight and pass through the first wooden table on your left, the turn left on the corridor between the first and second wooden table, after that, search forward until you find a sofa | [
"go straight and pass through the first wooden table on your left, the turn left on the corridor between the first and second wooden table, after that, search forward until you find a sofa"
] | beyond_the_view_navigation | train | images/b0afa70c8ba22099 | images/b0afa70c8ba22099/rgb | 99 | 99 | [
{
"dx": 0.016395193282023806,
"dy": 0.006801662809048037,
"dyaw": -0.0005330232358544684
},
{
"dx": -0.007530301124223649,
"dy": 0.006306342298100038,
"dyaw": 0.0024618680494894463
},
{
"dx": 0.003712339832949202,
"dy": 0.013120534381061545,
"dyaw": 0.019103881487747554
... |
bvn | main | d709b979abd1230e | move forward and explore for a plant on the table, then try to find a piano in this room | [
"move forward and explore for a plant on the table, then try to find a piano in this room"
] | beyond_the_view_navigation | train | images/bd665d0a39e9f220 | images/bd665d0a39e9f220/rgb | 186 | 186 | [
{
"dx": -0.004358167525328898,
"dy": 0.0022945719035758557,
"dyaw": 0.0040313496008237415
},
{
"dx": 0.01243931966520313,
"dy": 0.007892848856819233,
"dyaw": 0.01067806466024912
},
{
"dx": -0.00146612309338396,
"dy": 0.03249748618443454,
"dyaw": 0.053801883251547444
},
... |
bvn | main | 0c2cac82e24e0ef3 | search forward for an oven, then search for a sink and stop | [
"search forward for an oven, then search for a sink and stop"
] | beyond_the_view_navigation | train | images/4af336ea12d4cc7e | images/4af336ea12d4cc7e/rgb | 127 | 127 | [
{
"dx": 0.0073584238898623255,
"dy": -0.004904244705994835,
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},
{
"dx": 0.022664777071789443,
"dy": -0.0021105345440768832,
"dyaw": -0.00368235369484049
},
{
"dx": 0.028754652361662626,
"dy": 0.00027852813970053944,
"dyaw": 0.01886836855511209... |
bvn | main | 3bea3b99faa22f5f | try to find some towels above two washing machines, then search for a refrigerator, go to it and stop | [
"try to find some towels above two washing machines, then search for a refrigerator, go to it and stop"
] | beyond_the_view_navigation | train | images/e95eb2bd8c606899 | images/e95eb2bd8c606899/rgb | 152 | 152 | [
{
"dx": -0.02592361531595248,
"dy": -0.04382990994472202,
"dyaw": 0.04269200607228152
},
{
"dx": -0.04355024924704733,
"dy": -0.0022186299770661274,
"dyaw": 0.05200904220773239
},
{
"dx": -0.02401285521599998,
"dy": 0.01660166970231074,
"dyaw": 0.04411920426546878
},
... |
bvn | main | 50be28f0cd6c232a | walk through the left white archway to find a staircase with blue railings and stop in front of it. | [
"walk through the left white archway to find a staircase with blue railings and stop in front of it."
] | beyond_the_view_navigation | train | images/21f477605ab04b67 | images/21f477605ab04b67/rgb | 58 | 58 | [
{
"dx": -0.00847612941824311,
"dy": 0.0012602260156646338,
"dyaw": 0.006455057763079086
},
{
"dx": 0.021894693140949356,
"dy": -0.021037228381860385,
"dyaw": 0.014997110613973685
},
{
"dx": 0.02098587464082636,
"dy": -0.07385498459139977,
"dyaw": 0.03893652698604866
},
... |
bvn | main | eee33a0a05292d03 | go along the sofa to reach the viewing screen, then make a right turn and search forward for a piano | [
"go along the sofa to reach the viewing screen, then make a right turn and search forward for a piano"
] | beyond_the_view_navigation | train | images/f45981cb441b4df6 | images/f45981cb441b4df6/rgb | 157 | 157 | [
{
"dx": -0.010474454181730375,
"dy": -0.0007055879428410823,
"dyaw": 0.0009338210183171824
},
{
"dx": 0.02786787518028066,
"dy": 0.0019292485198714598,
"dyaw": 0.0005966316240342273
},
{
"dx": 0.005950550868524242,
"dy": 0.019125222147956894,
"dyaw": 0.007969589143824951
... |
bvn | main | 6c98e01ba6f061c1 | try to search for a television, then go to a brown sofa and stop | [
"try to search for a television, then go to a brown sofa and stop"
] | beyond_the_view_navigation | train | images/8652379f967a9254 | images/8652379f967a9254/rgb | 234 | 234 | [
{
"dx": 0.008032775791716051,
"dy": -0.028817905601417476,
"dyaw": -0.0934094595612891
},
{
"dx": 0.004857109648796378,
"dy": -0.026730542569787692,
"dyaw": -0.0936840153015619
},
{
"dx": -0.009927489693258166,
"dy": -0.02035452373560408,
"dyaw": -0.07598966485327585
},... |
bvn | main | 250ea6bc731d784e | Now you are by the pond. Find an orange lifebuoy nearby. | [
"Now you are by the pond. Find an orange lifebuoy nearby."
] | beyond_the_view_navigation | train | images/458dfd174b4f71b3 | images/458dfd174b4f71b3/rgb | 76 | 76 | [
{
"dx": 0.022296863915694933,
"dy": -0.02501005126047769,
"dyaw": 0.0003517831831900686
},
{
"dx": -0.009751918224660858,
"dy": 0.01768000436341003,
"dyaw": -0.0058062252377397705
},
{
"dx": 0.039431553281328795,
"dy": -0.03577729889582505,
"dyaw": -0.00016858863927682322... |
bvn | main | c26efad0677beede | search forward and go through the bed, try to find a plant on the bedside table | [
"search forward and go through the bed, try to find a plant on the bedside table"
] | beyond_the_view_navigation | train | images/ed47800b78dbb4c2 | images/ed47800b78dbb4c2/rgb | 133 | 133 | [
{
"dx": -0.002502309485755083,
"dy": -0.0014217484635161847,
"dyaw": -0.00008184237416175577
},
{
"dx": -0.002715509793775704,
"dy": -0.005448230859311897,
"dyaw": -0.0033340675228710204
},
{
"dx": 0.0005270181212776097,
"dy": -0.006429421054215716,
"dyaw": -0.03067332589... |
bvn | main | 137553035c7c087f | explore this region and try to find a decorative bamboo | [
"explore this region and try to find a decorative bamboo"
] | beyond_the_view_navigation | train | images/0b39183e827f6246 | images/0b39183e827f6246/rgb | 129 | 129 | [
{
"dx": -0.04855497355835742,
"dy": 0.04031518216649465,
"dyaw": -0.002520486026963198
},
{
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"dy": 0.01932313239917607,
"dyaw": 0.006894053965862845
},
{
"dx": 0.06474171036974816,
"dy": 0.02576564354224858,
"dyaw": 0.010195507619657818
},
{... |
bvn | main | 065d63522f7fd370 | walk along the tiled path past the pink columns, then turn right to find the traffic cone and stop in front of them. | [
"walk along the tiled path past the pink columns, then turn right to find the traffic cone and stop in front of them."
] | beyond_the_view_navigation | train | images/46340edf004040dd | images/46340edf004040dd/rgb | 73 | 73 | [
{
"dx": 0.003965013043743323,
"dy": -0.03256126233501613,
"dyaw": 0.0015474001962125783
},
{
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"dy": -0.036092725624576154,
"dyaw": 0.0016923902093046728
},
{
"dx": 0.0587218642273102,
"dy": -0.04966811016578917,
"dyaw": 0.0086265549988358
},
... |
bvn | main | 5c4c68180e5475a5 | look around to find the black chairs | [
"look around to find the black chairs"
] | beyond_the_view_navigation | train | images/e7aa6ff12d0c1e3e | images/e7aa6ff12d0c1e3e/rgb | 102 | 102 | [
{
"dx": 0.019663218338421676,
"dy": 0.002261824470096239,
"dyaw": 0.002401082418388434
},
{
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"dy": -0.010262798255370666,
"dyaw": 0.001208241988047476
},
{
"dx": -0.012149276291642133,
"dy": 0.003720189613936111,
"dyaw": -0.0037445537968703313
... |
bvn | main | 989199358f0b3cc4 | Look around for the vending machine and find it then stop by the vending machine. | [
"Look around for the vending machine and find it then stop by the vending machine."
] | beyond_the_view_navigation | train | images/e169917c0b6b03e0 | images/e169917c0b6b03e0/rgb | 86 | 86 | [
{
"dx": 0.011001421622167336,
"dy": 0.00012203324652633788,
"dyaw": 0.0004749791697498118
},
{
"dx": 0.005221806660808037,
"dy": -0.00979705591285467,
"dyaw": 0.0019306051110707934
},
{
"dx": -0.02445619337868075,
"dy": 0.010801766348083263,
"dyaw": -0.0034712586282874547... |
bvn | main | 2805e94b8fbf5bac | notice the toilet on your right, move forward and pass the five toilets on the wall on your right, then turn left and move forward to pass another four toilets, find three mounting red boxes and stop by it | [
"notice the toilet on your right, move forward and pass the five toilets on the wall on your right, then turn left and move forward to pass another four toilets, find three mounting red boxes and stop by it"
] | beyond_the_view_navigation | train | images/7f22480a2075e4fe | images/7f22480a2075e4fe/rgb | 129 | 129 | [
{
"dx": -0.017387576784508633,
"dy": 0.001461386872854104,
"dyaw": -0.011350235741002468
},
{
"dx": 0.024310055060956758,
"dy": -0.01343656988442879,
"dyaw": -0.00481121235642723
},
{
"dx": -0.0048215865169788825,
"dy": -0.003957460598287121,
"dyaw": -0.004507479912088552... |
bvn | main | 48965ddc7d8c6f57 | walk through the white archway, turn right when you pass the arch, then go past the wooden picnic tables, then turn to find a blue trash bin and stop in front of it. | [
"walk through the white archway, turn right when you pass the arch, then go past the wooden picnic tables, then turn to find a blue trash bin and stop in front of it."
] | beyond_the_view_navigation | train | images/f3f6e06745034f4e | images/f3f6e06745034f4e/rgb | 149 | 149 | [
{
"dx": -0.11763266423216646,
"dy": 0.11118039937926918,
"dyaw": -0.004493135778111057
},
{
"dx": 0.12433562782739,
"dy": -0.01792468826546171,
"dyaw": 0.010311417713243731
},
{
"dx": 0.0012540744584013629,
"dy": -0.05374264240306293,
"dyaw": 0.015497018702936405
},
{... |
bvn | main | e75d9fd60767b773 | go along the way and turn left at the bathtub, the find the tea set on the table and stop | [
"go along the way and turn left at the bathtub, the find the tea set on the table and stop"
] | beyond_the_view_navigation | train | images/0b1628cdb8d9d119 | images/0b1628cdb8d9d119/rgb | 153 | 153 | [
{
"dx": -0.023398765887396998,
"dy": 0.002948266856660796,
"dyaw": 0.004120820418911819
},
{
"dx": -0.01621961694949632,
"dy": -0.038766045784738815,
"dyaw": -0.07201072283373078
},
{
"dx": -0.01980919141844666,
"dy": -0.030923489238238063,
"dyaw": -0.074316185728182
},... |
bvn | main | 63af9294feac8ee2 | go forward and approach the pillow on the pink bed, then try to search for a lamp beside the bed, go there and stop | [
"go forward and approach the pillow on the pink bed, then try to search for a lamp beside the bed, go there and stop"
] | beyond_the_view_navigation | train | images/e058b3217e670429 | images/e058b3217e670429/rgb | 171 | 171 | [
{
"dx": 0.018725430345113772,
"dy": -0.0022680315548999136,
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},
{
"dx": -0.023348643485144083,
"dy": 0.004912630787982281,
"dyaw": 0.01480300659385092
},
{
"dx": -0.011012592891584844,
"dy": 0.00712437181828302,
"dyaw": 0.05699492027412578
}... |
bvn | main | 7b5232f2ea7f6d57 | Walk forward until you find the flower bed on the far right, then stop. | [
"Walk forward until you find the flower bed on the far right, then stop."
] | beyond_the_view_navigation | train | images/66db58f2cccfb57c | images/66db58f2cccfb57c/rgb | 80 | 80 | [
{
"dx": 0.36760462112755177,
"dy": 0.04414418966667741,
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},
{
"dx": 0.33053323268238627,
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"dyaw": 0.0004138392918218159
},
{
"dx": 0.33672844378471495,
"dy": -0.0358582827767127,
"dyaw": 0.00037573364467391457
},
... |
bvn | main | 89395a676e5ca6ee | explore and find a plant on the ground, then try to find a sink with a cutting board on it and stop | [
"explore and find a plant on the ground, then try to find a sink with a cutting board on it and stop"
] | beyond_the_view_navigation | train | images/5733a8c8ed503f42 | images/5733a8c8ed503f42/rgb | 116 | 116 | [
{
"dx": -0.0010679600115789671,
"dy": 0.005749003824309559,
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},
{
"dx": -0.010790593429752134,
"dy": -0.005891261333087145,
"dyaw": -0.0019844376261577423
},
{
"dx": 0.0016326766022012652,
"dy": 0.005269060540628945,
"dyaw": -0.005123148662397... |
bvn | main | 63bd788d3e16dbf9 | Look for the black car on the left side of the road and stop in front of it | [
"Look for the black car on the left side of the road and stop in front of it"
] | beyond_the_view_navigation | train | images/bc4a8caf6e0e6588 | images/bc4a8caf6e0e6588/rgb | 74 | 74 | [
{
"dx": 0.05654726136544544,
"dy": 0.036803489659650544,
"dyaw": -0.002340749326161351
},
{
"dx": -0.010259521777081098,
"dy": 0.023136551912747196,
"dyaw": -0.0003940785923419732
},
{
"dx": 0.03803128605552861,
"dy": 0.015507842931825791,
"dyaw": -0.00374838697385238
}... |
bvn | main | 2309a5d349414be2 | explore along the refrigerators and turn left when you meet obstacles, when you find and are near to a washing machine, stop by it | [
"explore along the refrigerators and turn left when you meet obstacles, when you find and are near to a washing machine, stop by it"
] | beyond_the_view_navigation | train | images/84d05f4841fbfe3c | images/84d05f4841fbfe3c/rgb | 152 | 152 | [
{
"dx": 0.00039064497453756067,
"dy": -0.006126902136251666,
"dyaw": 0.011749960646115554
},
{
"dx": -0.013059932133535835,
"dy": -0.011928364710149013,
"dyaw": -0.018132310823741893
},
{
"dx": 0.008783807644275663,
"dy": 0.0025467295124363986,
"dyaw": -0.0896598784717737... |
bvn | main | a3c8fa7d47e07a73 | You need to find the nearest trash can ahead and stop near it. | [
"You need to find the nearest trash can ahead and stop near it."
] | beyond_the_view_navigation | train | images/e03dabf5faa676dd | images/e03dabf5faa676dd/rgb | 85 | 85 | [
{
"dx": 0.15208298515009183,
"dy": -0.04566688830841399,
"dyaw": -0.0008768016603486473
},
{
"dx": 0.1927967555762245,
"dy": 0.016854468675236225,
"dyaw": -0.001214362716267292
},
{
"dx": 0.36552188808662883,
"dy": 0.0035157146802799327,
"dyaw": 0.00004127811092358158
}... |
bvn | main | 4f70055dd2125dcd | search forward and try to find a chair by the table, then explore the table and find some kiwis on it | [
"search forward and try to find a chair by the table, then explore the table and find some kiwis on it"
] | beyond_the_view_navigation | train | images/b93326552e6f50d5 | images/b93326552e6f50d5/rgb | 161 | 161 | [
{
"dx": 0.015455865279266961,
"dy": 0.011612191438414826,
"dyaw": 0.01870830292558745
},
{
"dx": 0.009856233496979139,
"dy": -0.005646851960007897,
"dyaw": 0.011139041068408684
},
{
"dx": -0.004086157276035088,
"dy": -0.0005555868667570843,
"dyaw": -0.009238957428218342
... |
bvn | main | 8654bc7e0d49013e | walk past the white curved wall to find a swing, then turn right to locate the Science building and stop in front of the picnic tables. | [
"walk past the white curved wall to find a swing, then turn right to locate the Science building and stop in front of the picnic tables."
] | beyond_the_view_navigation | train | images/bf26ecfab07df06f | images/bf26ecfab07df06f/rgb | 99 | 99 | [
{
"dx": 0.03638597703310501,
"dy": -0.018068675206484846,
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},
{
"dx": 0.01071087767654001,
"dy": -0.019673774394988797,
"dyaw": 0.002119951994842495
},
{
"dx": 0.06104692613607652,
"dy": -0.03437779414275388,
"dyaw": 0.012997006275296652
},
... |
bvn | main | 36de4908bc08a77d | search forward and find a black sofa, then continue searching for candle lamps on cabinet, and stop | [
"search forward and find a black sofa, then continue searching for candle lamps on cabinet, and stop"
] | beyond_the_view_navigation | train | images/ce148c5e6f6af264 | images/ce148c5e6f6af264/rgb | 167 | 167 | [
{
"dx": -0.02750816134327362,
"dy": -0.0007835185175523902,
"dyaw": 0.0017467980319563203
},
{
"dx": 0.016095823140276546,
"dy": 0.002377557214736669,
"dyaw": 0.0008213892312527449
},
{
"dx": -0.007257203260823437,
"dy": 0.014215556596104755,
"dyaw": 0.016048411686137687
... |
bvn | main | f61c57caefc5f398 | explore forward and turn left and the black blender, then search forward and stop at the lamp on the bedside table | [
"explore forward and turn left and the black blender, then search forward and stop at the lamp on the bedside table"
] | beyond_the_view_navigation | train | images/cef3485e170660dd | images/cef3485e170660dd/rgb | 98 | 98 | [
{
"dx": 0.008045556272038859,
"dy": 0.004732209054261977,
"dyaw": -0.01169138653369206
},
{
"dx": 0.005969947732048618,
"dy": -0.000733174670271634,
"dyaw": -0.014380565950360413
},
{
"dx": -0.03739377665023236,
"dy": -0.01153993787496987,
"dyaw": -0.044849186458259194
... |
bvn | main | 8cdbca093d8962de | You need to walk straight ahead to the end, then turn left to find the elevator, and stop near it. | [
"You need to walk straight ahead to the end, then turn left to find the elevator, and stop near it."
] | beyond_the_view_navigation | train | images/3a15aa082a6b4673 | images/3a15aa082a6b4673/rgb | 74 | 74 | [
{
"dx": 0.1995913326296632,
"dy": 0.03764400336966761,
"dyaw": -0.0021009534783482664
},
{
"dx": 0.13094827088409325,
"dy": -0.005600409648448212,
"dyaw": -0.000029911381365099743
},
{
"dx": 0.21100733361671678,
"dy": -0.009031116936508099,
"dyaw": -0.0021629876953808136
... |
bvn | main | 8d507f6f92079d6d | You need to walk straight ahead to the end, find a trash can, and then stop near it. | [
"You need to walk straight ahead to the end, find a trash can, and then stop near it."
] | beyond_the_view_navigation | train | images/8164a201b37c980c | images/8164a201b37c980c/rgb | 83 | 83 | [
{
"dx": 0.08555181209666242,
"dy": -0.007395757505838239,
"dyaw": -0.000111115396044692
},
{
"dx": 0.14531327938903787,
"dy": -0.01565852281332053,
"dyaw": -0.00027133513213906113
},
{
"dx": 0.26910660629297467,
"dy": 0.015778320485785396,
"dyaw": -0.0009553783143818606
... |
bvn | main | 624d43c19502db5d | Walk forward to the bench, then turn right to find the trash can and stop nearby. | [
"Walk forward to the bench, then turn right to find the trash can and stop nearby."
] | beyond_the_view_navigation | train | images/c6a852fb25b679ed | images/c6a852fb25b679ed/rgb | 119 | 119 | [
{
"dx": 0.22235729587219022,
"dy": 0.012892899985205222,
"dyaw": -0.001337069329398588
},
{
"dx": 0.22717555625748972,
"dy": -0.006254492080453089,
"dyaw": 0.00029418032678663053
},
{
"dx": 0.24252746552237897,
"dy": 0.011835023900855213,
"dyaw": -0.00025798477898320016
... |
bvn | main | fd62b5f8259f4224 | search for a green sofa, then search for a toy dolphin on the bed and stop | [
"search for a green sofa, then search for a toy dolphin on the bed and stop"
] | beyond_the_view_navigation | train | images/55dadc4123626517 | images/55dadc4123626517/rgb | 172 | 172 | [
{
"dx": 0.007766893361201642,
"dy": 0.0027639178211764856,
"dyaw": -0.007226740312562541
},
{
"dx": 0.0061588035594421,
"dy": 0.0014576897536975708,
"dyaw": -0.0023932668455746153
},
{
"dx": 0.000947300079019892,
"dy": 0.0009734642811546633,
"dyaw": -0.0011262316077824686... |
bvn | main | 686edb64225aec6e | walk straight along the path between the buildings to find a yellow container, then go past it and turn right to find a grey covered object and stop in front of it. | [
"walk straight along the path between the buildings to find a yellow container, then go past it and turn right to find a grey covered object and stop in front of it."
] | beyond_the_view_navigation | train | images/0cc0168dd7e8d10e | images/0cc0168dd7e8d10e/rgb | 157 | 157 | [
{
"dx": -0.00540419379189188,
"dy": -0.03889995023016088,
"dyaw": -0.003319445744370597
},
{
"dx": 0.013771243176063363,
"dy": 0.007248707338750121,
"dyaw": -0.0007245045047032939
},
{
"dx": 0.13036721065812845,
"dy": -0.03484028436914667,
"dyaw": -0.004431075871201173
... |
bvn | main | 28a1c41d428d6fde | go straight and pass the sofa and the bed, then search for a picture of a black cat, then stop | [
"go straight and pass the sofa and the bed, then search for a picture of a black cat, then stop"
] | beyond_the_view_navigation | train | images/027f3d7834fe10ab | images/027f3d7834fe10ab/rgb | 136 | 136 | [
{
"dx": -0.002844801100119838,
"dy": 0.0005891777765972155,
"dyaw": 0.009459267477615274
},
{
"dx": 0.0018508904448016963,
"dy": -0.017085156914243456,
"dyaw": -0.015094788675077186
},
{
"dx": 0.011864420781381883,
"dy": -0.037899912360938974,
"dyaw": -0.07645972093790876... |
bvn | main | cbc338d8a1cfdabd | you’re now outside a furniture store. move forward and explore for a place where you can enter this store, then enter the store and search for a nearby wooden chair, go to the chair and stop | [
"you’re now outside a furniture store. move forward and explore for a place where you can enter this store, then enter the store and search for a nearby wooden chair, go to the chair and stop"
] | beyond_the_view_navigation | train | images/92e61683f95bb245 | images/92e61683f95bb245/rgb | 155 | 155 | [
{
"dx": 0.0032891183908856907,
"dy": -0.009676919822402371,
"dyaw": -0.008354655657434762
},
{
"dx": -0.01182695418371488,
"dy": -0.0033682404159245333,
"dyaw": -0.007811275584947097
},
{
"dx": -0.0018233864401241695,
"dy": 0.013149174997649584,
"dyaw": 0.0199728692451071... |
bvn | main | c5888288bb357fe5 | walk towards the entrance of the yellow building, then turn left to find a floor plan map and stop in front of it. | [
"walk towards the entrance of the yellow building, then turn left to find a floor plan map and stop in front of it."
] | beyond_the_view_navigation | train | images/1008f2ef69653a11 | images/1008f2ef69653a11/rgb | 135 | 135 | [
{
"dx": 0.08934119413940023,
"dy": -0.014623077399244643,
"dyaw": -0.011247309607636868
},
{
"dx": -0.04709165257266876,
"dy": -0.00933912986108483,
"dyaw": -0.01493543881007664
},
{
"dx": -0.02832752395311361,
"dy": 0.09091991200512772,
"dyaw": -0.015757798919931343
},... |
bvn | main | 10a343d88009094c | move forward and try to find a computer, then search for a television and stop in front of it | [
"move forward and try to find a computer, then search for a television and stop in front of it"
] | beyond_the_view_navigation | train | images/4c0bc61622186f7d | images/4c0bc61622186f7d/rgb | 208 | 208 | [
{
"dx": 0.010261538693888121,
"dy": -0.001226945652364024,
"dyaw": -0.0016103089916539304
},
{
"dx": 0.025762470411218492,
"dy": 0.00926414429528739,
"dyaw": -0.0036342306380250378
},
{
"dx": 0.011367357198786218,
"dy": 0.001134603931296047,
"dyaw": -0.003331766078507936
... |
bvn | main | 3bea2bdb96fbd527 | You need to walk forward to find the green mailbox, then stop near it. | [
"You need to walk forward to find the green mailbox, then stop near it."
] | beyond_the_view_navigation | train | images/bb8f69395f377ff8 | images/bb8f69395f377ff8/rgb | 65 | 65 | [
{
"dx": 0.03384233040145363,
"dy": -0.009984317011487423,
"dyaw": -0.0018298103628908713
},
{
"dx": 0.0948031999019416,
"dy": -0.00003005421538281039,
"dyaw": -0.0017760579818828504
},
{
"dx": 0.14964630083054486,
"dy": 0.016093044722102094,
"dyaw": -0.003712155501183201
... |
bvn | main | 82308870397a3d77 | You need to walk forward to find the vending machine, then stop near it. | [
"You need to walk forward to find the vending machine, then stop near it."
] | beyond_the_view_navigation | train | images/ce83e6867de8b646 | images/ce83e6867de8b646/rgb | 73 | 73 | [
{
"dx": 0.12761014068238755,
"dy": 0.022208726262760277,
"dyaw": -0.0010357437107599843
},
{
"dx": 0.11032905733707554,
"dy": 0.016587330142268354,
"dyaw": -0.0005975278421765928
},
{
"dx": 0.14922246102718495,
"dy": -0.010514245633583108,
"dyaw": 0.0006674434815026054
... |
bvn | main | a1df505e06612ec1 | try to find and go to a microwave, then search for a refrigerator and stop in front of it | [
"try to find and go to a microwave, then search for a refrigerator and stop in front of it"
] | beyond_the_view_navigation | train | images/50f2e5290f43069e | images/50f2e5290f43069e/rgb | 205 | 205 | [
{
"dx": 0.00434399173768152,
"dy": -0.0019000772781274607,
"dyaw": 0.00015388120219439472
},
{
"dx": 0.008671169737965985,
"dy": -0.0022454064074936175,
"dyaw": -0.006161836471604953
},
{
"dx": 0.0063145313174857035,
"dy": -0.00797643756484793,
"dyaw": -0.0294731734780402... |
bvn | main | 5e48119eaa53ac43 | walk towards the white building and turn left from the red arms, then walk towards the double green door to enter the building, then proceed down the hallway to find another set of green doors and stop in front of them | [
"walk towards the white building and turn left from the red arms, then walk towards the double green door to enter the building, then proceed down the hallway to find another set of green doors and stop in front of them"
] | beyond_the_view_navigation | train | images/ffabccd16eb5182e | images/ffabccd16eb5182e/rgb | 114 | 114 | [
{
"dx": 0.0202033692968636,
"dy": -0.07792195269649323,
"dyaw": 0.0084527451065326
},
{
"dx": 0.06351137338370341,
"dy": -0.07137527402052826,
"dyaw": 0.014585618891714613
},
{
"dx": 0.10147795791687968,
"dy": 0.03624970949897641,
"dyaw": 0.01910902815600668
},
{
... |
bvn | main | d971722f76365367 | explore forward and try to find a market counter, then search for an escalator, go to it and stop | [
"explore forward and try to find a market counter, then search for an escalator, go to it and stop"
] | beyond_the_view_navigation | train | images/a20cab079a0dc7a7 | images/a20cab079a0dc7a7/rgb | 313 | 313 | [
{
"dx": -0.011511342789382482,
"dy": -0.03183702568670073,
"dyaw": -0.007523883338595105
},
{
"dx": 0.042398598270068255,
"dy": 0.005300342181627778,
"dyaw": 0.010025702073483966
},
{
"dx": 0.03656724635442905,
"dy": 0.014901325902616582,
"dyaw": 0.03250510672206319
},
... |
bvn | main | 61a615a7a272d044 | Go straight until you find the big tree, then turn right near the tree to find the roadblock, and stop there. | [
"Go straight until you find the big tree, then turn right near the tree to find the roadblock, and stop there."
] | beyond_the_view_navigation | train | images/3e43670f06581917 | images/3e43670f06581917/rgb | 97 | 97 | [
{
"dx": 0.15312971735942166,
"dy": -0.018424049920984478,
"dyaw": -0.0003013856673961257
},
{
"dx": 0.19625786299458484,
"dy": -0.013563683810495768,
"dyaw": -0.0005611599552581836
},
{
"dx": 0.24414201149041725,
"dy": -0.0443049893189116,
"dyaw": -0.0007687689283977228
... |
bvn | main | 7149da79e00a7bd2 | You need to walk forward to find the fire extinguisher and stop. | [
"You need to walk forward to find the fire extinguisher and stop."
] | beyond_the_view_navigation | train | images/ca26d4c9c616be74 | images/ca26d4c9c616be74/rgb | 92 | 92 | [
{
"dx": 0.12475669111853335,
"dy": 0.017983719946964422,
"dyaw": -0.0007346965734056354
},
{
"dx": 0.1452914858076027,
"dy": 0.007551124005886138,
"dyaw": -0.0009949319792039724
},
{
"dx": 0.1734071774466589,
"dy": -0.010156372583360634,
"dyaw": -0.000682737129090949
},... |
bvn | main | 4bc22d4fcaabfdf6 | search forward and find four fire extinguishers that sit together, then try to search for an exit door and stop by it | [
"search forward and find four fire extinguishers that sit together, then try to search for an exit door and stop by it"
] | beyond_the_view_navigation | train | images/159570944b6c05b1 | images/159570944b6c05b1/rgb | 162 | 162 | [
{
"dx": -0.002402460506721765,
"dy": 0.0008654256667427454,
"dyaw": -0.0023118367878249835
},
{
"dx": 0.01269449919966753,
"dy": 0.0035548989636585877,
"dyaw": -0.001891252580684899
},
{
"dx": -0.004336058408599362,
"dy": 0.0067896429016202665,
"dyaw": -0.0098823503256917... |
bvn | main | a06456c3131abc10 | try to search for a table with a wooden texture, then search for cabinets with black handles and stop | [
"try to search for a table with a wooden texture, then search for cabinets with black handles and stop"
] | beyond_the_view_navigation | train | images/b15f06b883521cd4 | images/b15f06b883521cd4/rgb | 166 | 166 | [
{
"dx": 0.01098835815330327,
"dy": 0.0023629978478413873,
"dyaw": -0.0000029335205140590404
},
{
"dx": -0.005112448447472468,
"dy": -0.0004177493328885154,
"dyaw": 0.0007077900792986647
},
{
"dx": -0.006274669569647265,
"dy": -0.001168333801876567,
"dyaw": 0.0134590636275... |
bvn | main | e0b35158f93a9c7e | pass through a rectangular dining table, try to find a white lamp on a black desk and stop | [
"pass through a rectangular dining table, try to find a white lamp on a black desk and stop"
] | beyond_the_view_navigation | train | images/54ca7f2fdb67af59 | images/54ca7f2fdb67af59/rgb | 221 | 221 | [
{
"dx": 0.001032039801520588,
"dy": -0.03472277937979056,
"dyaw": 0.009390937364410323
},
{
"dx": -0.0008069805831257887,
"dy": -0.005304588585563339,
"dyaw": -0.0014201596654919157
},
{
"dx": -0.06275450328632337,
"dy": 0.0442589988028249,
"dyaw": 0.021218842651117065
... |
bvn | main | 7e08e07f8ca93e6a | go straight to the left side of the white building and turn right to go to the colorful recycling bins, and turn left to find the white desk, stop in front of the white desk | [
"go straight to the left side of the white building and turn right to go to the colorful recycling bins, and turn left to find the white desk, stop in front of the white desk"
] | beyond_the_view_navigation | train | images/48003b19ff594043 | images/48003b19ff594043/rgb | 177 | 177 | [
{
"dx": -0.0861106697137874,
"dy": -0.02805571269130326,
"dyaw": 0.005606982534847926
},
{
"dx": 0.0786873116065484,
"dy": 0.011094239800978727,
"dyaw": 0.005954607415309177
},
{
"dx": 0.01253384314696173,
"dy": -0.010320560024818936,
"dyaw": -0.0006250797933833319
},
... |
bvn | main | a5bfe591d4c3b038 | move forward and pass the fakeman and the black chair, then turn right and go straight, find a white cabinet and stop at it | [
"move forward and pass the fakeman and the black chair, then turn right and go straight, find a white cabinet and stop at it"
] | beyond_the_view_navigation | train | images/4fc12204e1b62a72 | images/4fc12204e1b62a72/rgb | 225 | 225 | [
{
"dx": 0.008676330508443016,
"dy": -0.006431631394172181,
"dyaw": -0.00515409038957193
},
{
"dx": -0.008411775537364509,
"dy": 0.007067006050674086,
"dyaw": -0.004922661148238028
},
{
"dx": 0.012832519732369707,
"dy": -0.01254647073669428,
"dyaw": -0.010866572592471702
... |
bvn | main | 1ae40c109a9badf0 | walk along the tiled path past the pink columns, then turn towards the wall to find three traffic cones and stop in front of them. | [
"walk along the tiled path past the pink columns, then turn towards the wall to find three traffic cones and stop in front of them."
] | beyond_the_view_navigation | train | images/d73cebac45ce73bd | images/d73cebac45ce73bd/rgb | 114 | 114 | [
{
"dx": -0.012669181245712455,
"dy": -0.06651202554331608,
"dyaw": 0.003843636535123096
},
{
"dx": 0.05213951374859475,
"dy": -0.00026249285011769284,
"dyaw": 0.008305731660177784
},
{
"dx": 0.22317581890374574,
"dy": 0.04041773535524046,
"dyaw": -0.009730586720984924
}... |
bvn | main | 85905e3e008ebbfd | try to explore for a black sofa, then try to search for a plant on an end table, go to the plant and stop | [
"try to explore for a black sofa, then try to search for a plant on an end table, go to the plant and stop"
] | beyond_the_view_navigation | train | images/b344041141fa7a14 | images/b344041141fa7a14/rgb | 156 | 156 | [
{
"dx": -0.0006231924774393446,
"dy": 0.002352470990919044,
"dyaw": -0.0031603953420362707
},
{
"dx": -0.0033521248145392517,
"dy": -0.01533877207337559,
"dyaw": -0.011415105008814042
},
{
"dx": 0.0021201265401856115,
"dy": -0.03244541227229143,
"dyaw": -0.069013183428316... |
bvn | main | df50796d49d90729 | Walk forward, pass the roadblock, turn left, find the nearby trash can, and then stop. | [
"Walk forward, pass the roadblock, turn left, find the nearby trash can, and then stop."
] | beyond_the_view_navigation | train | images/9a9984509fc13f79 | images/9a9984509fc13f79/rgb | 77 | 77 | [
{
"dx": 0.2579865442196773,
"dy": 0.07172929442170692,
"dyaw": -0.0013687620926186028
},
{
"dx": 0.1881438975392623,
"dy": 0.016261741063990448,
"dyaw": -0.00043628502730275187
},
{
"dx": 0.2638783626870518,
"dy": 0.005921820284735382,
"dyaw": -0.0008173623477158998
},
... |
bvn | main | 629b425d8790d9ea | go straight and find the green pillow on the black sofa, then search for a pink horse ceramic on a cupboard and stop in front of it | [
"go straight and find the green pillow on the black sofa, then search for a pink horse ceramic on a cupboard and stop in front of it"
] | beyond_the_view_navigation | train | images/4a0a3111d5ebdccb | images/4a0a3111d5ebdccb/rgb | 152 | 152 | [
{
"dx": 0.0031319506903154555,
"dy": 0.0052312324365979875,
"dyaw": 0.01143404698629169
},
{
"dx": -0.0036537865317507194,
"dy": 0.0002097181597987617,
"dyaw": 0.004227733424304603
},
{
"dx": 0.005612392688988403,
"dy": -0.007880179984666665,
"dyaw": 0.006194318242518371
... |
bvn | main | be04ef1471b56940 | You need to walk forward through the door, turn left to find the red roadblock, and then stop. | [
"You need to walk forward through the door, turn left to find the red roadblock, and then stop."
] | beyond_the_view_navigation | train | images/c51dc127591bc128 | images/c51dc127591bc128/rgb | 82 | 82 | [
{
"dx": 0.1864827878180986,
"dy": 0.009063107700863812,
"dyaw": -0.000577392054034398
},
{
"dx": 0.1391065285456552,
"dy": 0.002599040130179274,
"dyaw": -0.0010653576556598487
},
{
"dx": 0.13657467125572423,
"dy": -0.00696670200381673,
"dyaw": -0.001608463552854822
},
... |
bvn | main | f0083865a4f0c5fd | You need to walk forward to find a bench, then stop near it. | [
"You need to walk forward to find a bench, then stop near it."
] | beyond_the_view_navigation | train | images/fe62e66c0f3b542a | images/fe62e66c0f3b542a/rgb | 113 | 113 | [
{
"dx": 0.119885265772944,
"dy": -0.0010438991142389595,
"dyaw": -0.0014233238448038144
},
{
"dx": 0.12976764381990089,
"dy": -0.018615093712098955,
"dyaw": -0.0013142392865517216
},
{
"dx": 0.19243493023893501,
"dy": -0.07615357017827473,
"dyaw": 0.00024342546961397815
... |
bvn | main | 17afb7eae1d93636 | You need to walk forward, find a fire hydrant, and then stop. | [
"You need to walk forward, find a fire hydrant, and then stop."
] | beyond_the_view_navigation | train | images/3a3a69a7e4189e40 | images/3a3a69a7e4189e40/rgb | 82 | 82 | [
{
"dx": 0.16952731835792922,
"dy": 0.016980767803963445,
"dyaw": -0.001242016953666436
},
{
"dx": 0.1510182403655403,
"dy": 0.0035645740868622405,
"dyaw": -0.0005560518032359241
},
{
"dx": 0.24407903753962745,
"dy": -0.011731665635188682,
"dyaw": -0.001365339451088854
}... |
bvn | main | 56c852e6fc3f7c3d | Go straight and turn right at a green sofa and then search for a vase and stop in front of it | [
"Go straight and turn right at a green sofa and then search for a vase and stop in front of it"
] | beyond_the_view_navigation | train | images/eec152f66a51481f | images/eec152f66a51481f/rgb | 96 | 96 | [
{
"dx": -0.00252657973843295,
"dy": -0.0020804389133711955,
"dyaw": 0.003421103073768972
},
{
"dx": 0.0032453174343779877,
"dy": -0.005897998341531497,
"dyaw": -0.0008719815448032797
},
{
"dx": 0.01755182410134995,
"dy": -0.007140405497060957,
"dyaw": 0.004681421048958523... |
bvn | main | 90007124b0971e48 | try to find a green pillow on a white sofa, and stop in fron of the pillow | [
"try to find a green pillow on a white sofa, and stop in fron of the pillow"
] | beyond_the_view_navigation | train | images/7e16fb829040c1cb | images/7e16fb829040c1cb/rgb | 80 | 80 | [
{
"dx": 0.007687705054633143,
"dy": 0.0038102930917438137,
"dyaw": 0.00004354609186663083
},
{
"dx": 0.0384165615263165,
"dy": -0.007116830282586334,
"dyaw": 0.008872179194224117
},
{
"dx": 0.06308738753612825,
"dy": 0.018506747475660668,
"dyaw": 0.02532994145173406
},
... |
bvn | main | 4af53fd4db9f65d8 | head straight past the right table and left colorful piano then turn right to enter the walkway, then attempt to find the picnic tables and stop beside them. | [
"head straight past the right table and left colorful piano then turn right to enter the walkway, then attempt to find the picnic tables and stop beside them."
] | beyond_the_view_navigation | train | images/eeecbf9077a16604 | images/eeecbf9077a16604/rgb | 137 | 137 | [
{
"dx": -0.04271217721652923,
"dy": -0.15802545463869602,
"dyaw": 0.017539431053228416
},
{
"dx": 0.07833943089543217,
"dy": 0.10675195884954815,
"dyaw": 0.00847804165630306
},
{
"dx": 0.14642568088531868,
"dy": -0.08649002812682781,
"dyaw": 0.014418739318134755
},
{
... |
bvn | main | 5bec3683709dec91 | walk straight past the yellow container to find a red car parked in the distance and turn right to find a gray car then stop by it. | [
"walk straight past the yellow container to find a red car parked in the distance and turn right to find a gray car then stop by it."
] | beyond_the_view_navigation | train | images/628d9f3bab0187c5 | images/628d9f3bab0187c5/rgb | 159 | 159 | [
{
"dx": 0.07782861277938964,
"dy": -0.022621817109662837,
"dyaw": 0.015501931307297045
},
{
"dx": 0.10267799883941067,
"dy": -0.0030361735880767293,
"dyaw": 0.005434372004119226
},
{
"dx": 0.37426228764683805,
"dy": 0.0027719478090236505,
"dyaw": -0.009054549833312553
}... |
bvn | main | f5655abe9d646035 | You need to walk forward to find the red fire extinguisher, then stop near it. | [
"You need to walk forward to find the red fire extinguisher, then stop near it."
] | beyond_the_view_navigation | train | images/a9b0cba0e4e1e644 | images/a9b0cba0e4e1e644/rgb | 107 | 107 | [
{
"dx": 0.1449823379772509,
"dy": 0.003971990319578504,
"dyaw": -0.0003185559282150585
},
{
"dx": 0.1753713813144213,
"dy": -0.01627975002113844,
"dyaw": -0.0010293183311058662
},
{
"dx": 0.20824478557245385,
"dy": -0.025525190941751555,
"dyaw": -0.000419011785337986
},... |
bvn | main | a97b72b3c46dd5cd | go straight and pass a wooden bench and turn right a bit and go straight until you find a trash bin then stop | [
"go straight and pass a wooden bench and turn right a bit and go straight until you find a trash bin then stop"
] | beyond_the_view_navigation | train | images/3ccaac8792f0e51c | images/3ccaac8792f0e51c/rgb | 139 | 139 | [
{
"dx": -0.0012146527391375134,
"dy": 0.03239211008598346,
"dyaw": -0.003916345434314739
},
{
"dx": 0.03238690528070114,
"dy": -0.015902964866761415,
"dyaw": -0.004745638087643833
},
{
"dx": -0.0322892613594581,
"dy": -0.036867494285860225,
"dyaw": -0.019623237255994574
... |
bvn | main | e6389da03db0f7fd | go forward and pass the table, then search for a television, go to it and stop | [
"go forward and pass the table, then search for a television, go to it and stop"
] | beyond_the_view_navigation | train | images/2bc7968f3a79554e | images/2bc7968f3a79554e/rgb | 152 | 152 | [
{
"dx": 0.003206979679889036,
"dy": 0.0005377438602273058,
"dyaw": 0.005408864080167497
},
{
"dx": 0.000442340248965296,
"dy": 0.001322759115449684,
"dyaw": 0.0017524406508444557
},
{
"dx": -0.006327852246356468,
"dy": 0.025684409232611366,
"dyaw": 0.030133606736407526
... |
bvn | main | c18fe0c4940897eb | go straight and turn left in front of a green pillow on the sofa, then search for a deer-like metal decoratiion and stop | [
"go straight and turn left in front of a green pillow on the sofa, then search for a deer-like metal decoratiion and stop"
] | beyond_the_view_navigation | train | images/c185246054f90464 | images/c185246054f90464/rgb | 95 | 95 | [
{
"dx": -0.006685540688790864,
"dy": 0.0046917302975939745,
"dyaw": -0.0004972621976500058
},
{
"dx": -0.00021019744806653653,
"dy": -0.005081694994027304,
"dyaw": 0.0020992590245878517
},
{
"dx": 0.055439387549161515,
"dy": -0.02266889661489703,
"dyaw": 0.013852011680427... |
bvn | main | 7fbdfbf83e2ebd65 | You need to walk forward, find the red roadblock, and then stop. | [
"You need to walk forward, find the red roadblock, and then stop."
] | beyond_the_view_navigation | train | images/b9438bf618bf6bd5 | images/b9438bf618bf6bd5/rgb | 123 | 123 | [
{
"dx": 0.1947038229761505,
"dy": 0.004676225033261011,
"dyaw": -0.0010302161623689798
},
{
"dx": 0.24082130520832332,
"dy": -0.03812450884373465,
"dyaw": 0.0001221629873544572
},
{
"dx": 0.2851517212575174,
"dy": -0.046255268542866435,
"dyaw": -0.0011534087258029402
},... |
bvn | main | a564e432737862b5 | You need to walk forward to find a chair and stop. | [
"You need to walk forward to find a chair and stop."
] | beyond_the_view_navigation | train | images/e1fb031fa5ce8cff | images/e1fb031fa5ce8cff/rgb | 81 | 81 | [
{
"dx": 0.19433762312460104,
"dy": 0.00448730538407538,
"dyaw": 0.000309326150417899
},
{
"dx": 0.13314420483271186,
"dy": -0.010164255857340473,
"dyaw": -0.0005780251745037823
},
{
"dx": 0.1864719771825569,
"dy": -0.0410254623070025,
"dyaw": 0.00030297190759842607
},
... |
bvn | main | a139fa3bf5f31804 | try to find a television, after that, try to find a lamp on the ground and stop by it | [
"try to find a television, after that, try to find a lamp on the ground and stop by it"
] | beyond_the_view_navigation | train | images/20e8d63ff9562acf | images/20e8d63ff9562acf/rgb | 117 | 117 | [
{
"dx": 0.009613700266783529,
"dy": -0.014504641724691552,
"dyaw": -0.0063022812738129375
},
{
"dx": -0.007575797056352231,
"dy": -0.016414809332651353,
"dyaw": -0.0736522308535581
},
{
"dx": -0.00724066550509541,
"dy": -0.012868062325942538,
"dyaw": -0.03796886103686514
... |
bvn | main | 8c27de4b0bd750e1 | You need to walk forward and cross the road, then turn right to find the blue motorcycle, and stop near it. | [
"You need to walk forward and cross the road, then turn right to find the blue motorcycle, and stop near it."
] | beyond_the_view_navigation | train | images/463ec5efb020970e | images/463ec5efb020970e/rgb | 119 | 119 | [
{
"dx": 0.18412198710553812,
"dy": -0.020105161487268056,
"dyaw": -0.0009262552905653365
},
{
"dx": 0.1863130391270856,
"dy": -0.020707874129684084,
"dyaw": 0.0012039664617438106
},
{
"dx": 0.2030223870609089,
"dy": -0.00009328912747481877,
"dyaw": -0.0005900709301855933
... |
bvn | main | 612a9aa479362c29 | walk along the paved path to pass the wooden table and benches, then find a blue trash bin near the white column, move past it and stop in front of the wide concrete steps | [
"walk along the paved path to pass the wooden table and benches, then find a blue trash bin near the white column, move past it and stop in front of the wide concrete steps"
] | beyond_the_view_navigation | train | images/9e80065935145886 | images/9e80065935145886/rgb | 147 | 147 | [
{
"dx": 0.1223083135848177,
"dy": -0.01703990633238321,
"dyaw": 0.01070377461670402
},
{
"dx": -0.09208067734127345,
"dy": -0.03892638725259621,
"dyaw": 0.008234515964350209
},
{
"dx": 0.023001299105171374,
"dy": 0.008085980983028172,
"dyaw": 0.0021821131386214887
},
... |
bvn | main | fafb76bf92d018e5 | search for wine glasses in the glass cabinet, then explore for a cooking bench and stop by it | [
"search for wine glasses in the glass cabinet, then explore for a cooking bench and stop by it"
] | beyond_the_view_navigation | train | images/08c3fe657ac4ba79 | images/08c3fe657ac4ba79/rgb | 194 | 194 | [
{
"dx": 0.020655782657935304,
"dy": 0.007643551382363007,
"dyaw": 0.008096435070504171
},
{
"dx": -0.01409403736334287,
"dy": 0.0007269213060337402,
"dyaw": 0.006746753826185614
},
{
"dx": -0.00768113450169037,
"dy": -0.006080993540229292,
"dyaw": -0.0019539006186928276
... |
bvn | main | 8b79339811931c3d | go straignt and turn left at the end of the sofa, then search for a table and stop in front of it | [
"go straignt and turn left at the end of the sofa, then search for a table and stop in front of it"
] | beyond_the_view_navigation | train | images/f02b97a6502af473 | images/f02b97a6502af473/rgb | 99 | 99 | [
{
"dx": 0.010748297479189957,
"dy": -0.004999134145746829,
"dyaw": -0.001517491657622383
},
{
"dx": 0.03203332903329867,
"dy": -0.0277482054104791,
"dyaw": -0.00454664628023993
},
{
"dx": 0.0803013589230305,
"dy": -0.011241881695561557,
"dyaw": 0.007570300489866177
},
... |
bvn | main | 82bcaa9fbfefb7fa | explore forward and find a decorative large picture, then try to reach a bedside table and stop | [
"explore forward and find a decorative large picture, then try to reach a bedside table and stop"
] | beyond_the_view_navigation | train | images/e28cb12b7c043aaa | images/e28cb12b7c043aaa/rgb | 90 | 90 | [
{
"dx": -0.0038954095620923846,
"dy": 0.003612384307894541,
"dyaw": -0.0009499166168831508
},
{
"dx": -0.0018342811822827823,
"dy": 0.021518807287306468,
"dyaw": 0.018810551378208196
},
{
"dx": -0.00919383389390637,
"dy": 0.031357875520983326,
"dyaw": 0.06523574898703188
... |
bvn | main | 839820873abb09cb | explore for a bookcase, then try to find two white lamps sitting together and stop | [
"explore for a bookcase, then try to find two white lamps sitting together and stop"
] | beyond_the_view_navigation | train | images/d821a3f093703d3c | images/d821a3f093703d3c/rgb | 99 | 99 | [
{
"dx": 0.0034996456274827524,
"dy": 0.012080992771479821,
"dyaw": -0.006162700223671713
},
{
"dx": 0.0017186709348967135,
"dy": 0.003644687728369952,
"dyaw": -0.006251037575372376
},
{
"dx": 0.01967322680622737,
"dy": 0.02280233732984324,
"dyaw": -0.010884989799461842
... |
bvn | main | bd05c394f9cabb40 | You need to walk straight ahead to the end, then turn right to find the statue, and stop near it. | [
"You need to walk straight ahead to the end, then turn right to find the statue, and stop near it."
] | beyond_the_view_navigation | train | images/24de42e0ff1ed25c | images/24de42e0ff1ed25c/rgb | 145 | 145 | [
{
"dx": 0.23663414244139247,
"dy": 0.011896396139845167,
"dyaw": 0.0012625920328650508
},
{
"dx": 0.23665017585777395,
"dy": 0.014346508673633268,
"dyaw": 0.002958861008385494
},
{
"dx": 0.2223423202509931,
"dy": -0.02450374654964471,
"dyaw": -0.001442240932862493
},
... |
bvn | main | 69f6ea9c03e5ecc6 | Walk forward down the corridor, go through the door to find the fire hydrant, and then stop. | [
"Walk forward down the corridor, go through the door to find the fire hydrant, and then stop."
] | beyond_the_view_navigation | train | images/8b6fd1dcd5152f50 | images/8b6fd1dcd5152f50/rgb | 97 | 97 | [
{
"dx": 0.11457715844036734,
"dy": 0.01811043501100825,
"dyaw": 0.0003191155636659282
},
{
"dx": 0.07794089330976046,
"dy": 0.00015871541993689106,
"dyaw": -0.0005338248118675892
},
{
"dx": 0.15108695457655663,
"dy": -0.0047589343296764244,
"dyaw": -0.00039701205105791004... |
bvn | main | 587b5a024cfb2fb6 | explore forward and try to find a vase | [
"explore forward and try to find a vase"
] | beyond_the_view_navigation | train | images/deda7582bd63e076 | images/deda7582bd63e076/rgb | 112 | 112 | [
{
"dx": 0.00804695655069591,
"dy": -0.004868693041114658,
"dyaw": 0.0059345735574640734
},
{
"dx": 0.0022419298590346222,
"dy": -0.014414784988493174,
"dyaw": -0.005715664525943076
},
{
"dx": 0.009740926979941417,
"dy": -0.009064700038662115,
"dyaw": -0.018869107420603992... |
bvn | main | 0fb171afc4b51c63 | search for a sofa, you might see a mirro on your way, search for the mirror, go it the mirror and stop | [
"search for a sofa, you might see a mirro on your way, search for the mirror, go it the mirror and stop"
] | beyond_the_view_navigation | train | images/fa417019266308c6 | images/fa417019266308c6/rgb | 141 | 141 | [
{
"dx": 0.002234470892968403,
"dy": -0.017078546267439553,
"dyaw": -0.0022742807920508312
},
{
"dx": 0.006608404675525963,
"dy": -0.007235785122876906,
"dyaw": -0.011625573882181328
},
{
"dx": -0.014784289786896481,
"dy": -0.03606095689844088,
"dyaw": -0.05895788635743670... |
bvn | main | 55409567c0aa4628 | search forward for a red ladder, then explore for a closet and stop | [
"search forward for a red ladder, then explore for a closet and stop"
] | beyond_the_view_navigation | train | images/fead0fd85c89e373 | images/fead0fd85c89e373/rgb | 145 | 145 | [
{
"dx": 0.013727673002080372,
"dy": -0.00029984981103031196,
"dyaw": -0.003810430483315752
},
{
"dx": 0.0042336409468283305,
"dy": -0.0023379936326574915,
"dyaw": -0.009172658185793825
},
{
"dx": 0.0025192271539749827,
"dy": -0.01893334907121292,
"dyaw": -0.02795904385846... |
bvn | main | f32d1938199fc31a | You need to walk forward, find the red roadblock, turn right, find the fire hydrant, and stop nearby. | [
"You need to walk forward, find the red roadblock, turn right, find the fire hydrant, and stop nearby."
] | beyond_the_view_navigation | train | images/6bd54ee079f4bf43 | images/6bd54ee079f4bf43/rgb | 96 | 96 | [
{
"dx": 0.19963898360621216,
"dy": 0.0019548541908951805,
"dyaw": -0.0006278622316893134
},
{
"dx": 0.16809581524404107,
"dy": 0.01664480395966023,
"dyaw": 0.0008082193303367013
},
{
"dx": 0.2089380691059716,
"dy": 0.03212290642014025,
"dyaw": 0.0013490077044693294
},
... |
bvn | main | 7376357807e007b2 | go forward and reach the table, then search for some oranges on an end table and stop by the oranges | [
"go forward and reach the table, then search for some oranges on an end table and stop by the oranges"
] | beyond_the_view_navigation | train | images/7c6ca6a716c64719 | images/7c6ca6a716c64719/rgb | 116 | 116 | [
{
"dx": -0.006613103320746694,
"dy": 0.007388429804466816,
"dyaw": -0.002632797785854013
},
{
"dx": -0.01761726383897258,
"dy": -0.014645256506104043,
"dyaw": -0.024391277432460612
},
{
"dx": 0.012947518306932873,
"dy": -0.0693603975763747,
"dyaw": -0.07461527103512333
... |
bvn | main | 1ca5e951da0b0f67 | search forward for a painting stand, after that, try to find a plant and stop | [
"search forward for a painting stand, after that, try to find a plant and stop"
] | beyond_the_view_navigation | train | images/2522bd3a16172537 | images/2522bd3a16172537/rgb | 289 | 289 | [
{
"dx": 0.022356552033608486,
"dy": -0.03744984658901951,
"dyaw": 0.08582444439658499
},
{
"dx": 0.06782751834693386,
"dy": 0.11957925246597292,
"dyaw": -0.30664133082974043
},
{
"dx": 0.006957237660034567,
"dy": -0.12522892717646494,
"dyaw": 0.0771241842336452
},
{
... |
bvn | main | f72af1abd1a852ec | try to find a bed and then locate the pillow on it, after that reach a sofa and stop | [
"try to find a bed and then locate the pillow on it, after that reach a sofa and stop"
] | beyond_the_view_navigation | train | images/a1a9ce6218636cf0 | images/a1a9ce6218636cf0/rgb | 130 | 130 | [
{
"dx": -0.006253756199028536,
"dy": 0.02807725215585353,
"dyaw": 0.09894878065376655
},
{
"dx": -0.006830661296428186,
"dy": 0.02136380379072688,
"dyaw": 0.02836371399758919
},
{
"dx": -0.013281592697478292,
"dy": 0.03246970951868452,
"dyaw": 0.0830591150119715
},
{
... |
bvn | main | cda5704f2968566e | explore forward and search for a sink, then try to find a cooking bench and stop in front of it | [
"explore forward and search for a sink, then try to find a cooking bench and stop in front of it"
] | beyond_the_view_navigation | train | images/0b7c94e19ab00e61 | images/0b7c94e19ab00e61/rgb | 187 | 187 | [
{
"dx": -0.0018290275434695216,
"dy": 0.005693126004171078,
"dyaw": -0.005819818541501931
},
{
"dx": -0.0003933999866468951,
"dy": 0.0022554240637664437,
"dyaw": -0.0034448687383346055
},
{
"dx": 0.013562959158512569,
"dy": 0.005178821863148462,
"dyaw": -0.002825686217163... |
bvn | main | 9e440fbecc5e42d7 | explore for a set of glasses on a table, then try to find a lamp and stop | [
"explore for a set of glasses on a table, then try to find a lamp and stop"
] | beyond_the_view_navigation | train | images/a23daf0eaa72c35c | images/a23daf0eaa72c35c/rgb | 157 | 157 | [
{
"dx": 0.008254598334860221,
"dy": -0.027913487949316862,
"dyaw": -0.09948779180739309
},
{
"dx": 0.004381429464941316,
"dy": -0.021410318995745557,
"dyaw": -0.03352256145455268
},
{
"dx": -0.013271050308121549,
"dy": -0.053388624593082544,
"dyaw": -0.09525542030736656
... |
bvn | main | 693a37d118735a3e | search forward and try to find a photo frame on a bedside table | [
"search forward and try to find a photo frame on a bedside table"
] | beyond_the_view_navigation | train | images/582b53b4aa80ae23 | images/582b53b4aa80ae23/rgb | 171 | 171 | [
{
"dx": -0.09470384792309071,
"dy": -0.020962566767994947,
"dyaw": 0.006843909649916213
},
{
"dx": 0.005554896025729532,
"dy": -0.0219086369619536,
"dyaw": 0.006450008551442732
},
{
"dx": -0.018353315715540997,
"dy": 0.11198233480324064,
"dyaw": 0.035922884280757295
},
... |
bvn | main | a7a59b19415b8558 | go forward and try to find a decorative picture, then stop | [
"go forward and try to find a decorative picture, then stop"
] | beyond_the_view_navigation | train | images/45e51bda5ded4fb0 | images/45e51bda5ded4fb0/rgb | 132 | 132 | [
{
"dx": 0.022964180178698536,
"dy": -0.003341220766547269,
"dyaw": -0.0015825523069472602
},
{
"dx": 0.025029338666016136,
"dy": -0.019896835732056622,
"dyaw": 0.004822908538410164
},
{
"dx": 0.01103887096948314,
"dy": -0.011186310939814028,
"dyaw": 0.013110011150896828
... |
bvn | main | 38cd19341ffca948 | Try to explore forward and try to find an entrance to the exercise equipment ground then try to find a seesaw and stop | [
"Try to explore forward and try to find an entrance to the exercise equipment ground then try to find a seesaw and stop"
] | beyond_the_view_navigation | train | images/645ebc774b801dc6 | images/645ebc774b801dc6/rgb | 170 | 170 | [
{
"dx": 0.011927638756359965,
"dy": -0.011150891825321214,
"dyaw": -0.0013787374848819312
},
{
"dx": -0.05739664267239637,
"dy": -0.040592476548768935,
"dyaw": -0.003874249662723095
},
{
"dx": -0.016767646123833517,
"dy": -0.016463490156467402,
"dyaw": -0.0268311226284012... |
bvn | main | cf0b5d6c763a253d | go along the three beds, then try to find a spotted lounge chair and stop by it | [
"go along the three beds, then try to find a spotted lounge chair and stop by it"
] | beyond_the_view_navigation | train | images/690fb68f69d3ba39 | images/690fb68f69d3ba39/rgb | 133 | 133 | [
{
"dx": -0.0015798610376043434,
"dy": 0.002554217273317125,
"dyaw": 0.008655122617642341
},
{
"dx": -0.003689958385888276,
"dy": 0.010999391225856709,
"dyaw": 0.016439990045857833
},
{
"dx": 0.005263553782347665,
"dy": 0.020787804473449665,
"dyaw": 0.059523487729661984
... |
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