Dataset Preview
The full dataset viewer is not available (click to read why). Only showing a preview of the rows.
The dataset generation failed
Error code: DatasetGenerationError
Exception: TypeError
Message: Couldn't cast array of type
struct<agent_pos: list<item: double>, agent_yaw_deg: double, frontier_positions: list<item: list<item: double>>, bev_size: list<item: int64>, target_position: list<item: double>, candidates: list<item: struct<id: int64, type: string, pos: list<item: double>, semantic: list<item: null>>>, selected_candidate_id: int64>
to
{'agent_pos': List(Value('float64')), 'agent_yaw_deg': Value('float64'), 'frontier_positions': List(List(Value('float64'))), 'bev_size': List(Value('int64')), 'candidates': List({'id': Value('int64'), 'type': Value('string'), 'pos': List(Value('float64')), 'semantic': List(Value('null'))}), 'target_position': List(Value('float64'))}
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1887, in _prepare_split_single
writer.write_table(table)
File "/usr/local/lib/python3.12/site-packages/datasets/arrow_writer.py", line 675, in write_table
pa_table = table_cast(pa_table, self._schema)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2272, in table_cast
return cast_table_to_schema(table, schema)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2224, in cast_table_to_schema
cast_array_to_feature(
File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 1795, in wrapper
return pa.chunked_array([func(chunk, *args, **kwargs) for chunk in array.chunks])
^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2092, in cast_array_to_feature
raise TypeError(f"Couldn't cast array of type\n{_short_str(array.type)}\nto\n{_short_str(feature)}")
TypeError: Couldn't cast array of type
struct<agent_pos: list<item: double>, agent_yaw_deg: double, frontier_positions: list<item: list<item: double>>, bev_size: list<item: int64>, target_position: list<item: double>, candidates: list<item: struct<id: int64, type: string, pos: list<item: double>, semantic: list<item: null>>>, selected_candidate_id: int64>
to
{'agent_pos': List(Value('float64')), 'agent_yaw_deg': Value('float64'), 'frontier_positions': List(List(Value('float64'))), 'bev_size': List(Value('int64')), 'candidates': List({'id': Value('int64'), 'type': Value('string'), 'pos': List(Value('float64')), 'semantic': List(Value('null'))}), 'target_position': List(Value('float64'))}
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1342, in compute_config_parquet_and_info_response
parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 907, in stream_convert_to_parquet
builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1736, in _prepare_split
for job_id, done, content in self._prepare_split_single(
^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1919, in _prepare_split_single
raise DatasetGenerationError("An error occurred while generating the dataset") from e
datasets.exceptions.DatasetGenerationError: An error occurred while generating the datasetNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
id string | image list | width list | height list | conversations list | position_info dict |
|---|---|---|---|---|---|
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-0 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/010.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=171.2 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(311, 251) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(256, 111) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": 171.19872208655568,
"frontier_positions": [
[
256,
111
],
[
311,
251
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
311,
251
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
256,
111
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-1 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/001.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/010.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-158.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(256, 111) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(311, 251) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "0"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -158.80127831059386,
"frontier_positions": [
[
256,
111
],
[
311,
251
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
256,
111
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
311,
251
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-2 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/002.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/010.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-128.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(256, 111) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(311, 251) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "0"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -128.80127630626734,
"frontier_positions": [
[
256,
111
],
[
311,
251
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
256,
111
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
311,
251
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-3 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/003.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/010.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(256, 111) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(311, 251) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "0"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127788436022,
"frontier_positions": [
[
256,
111
],
[
311,
251
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
256,
111
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
311,
251
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-4 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/004.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/010.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-68.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(311, 251) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(256, 111) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -68.80127766173608,
"frontier_positions": [
[
256,
111
],
[
311,
251
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
311,
251
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
256,
111
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-5 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/005.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/010.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(311, 251) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(256, 111) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127343950703,
"frontier_positions": [
[
256,
111
],
[
311,
251
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
311,
251
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
256,
111
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-6 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/006.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/010.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-128.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(256, 111) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(311, 251) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "0"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -128.80127014654795,
"frontier_positions": [
[
256,
111
],
[
311,
251
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
256,
111
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
311,
251
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-7 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/007.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/010.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-128.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(308, 255) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(253, 113) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -128.80127014654795,
"frontier_positions": [
[
253,
113
],
[
308,
255
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
308,
255
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
253,
113
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-8 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/008.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/010.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-128.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(305, 259) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(250, 116) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -128.80127014654795,
"frontier_positions": [
[
250,
116
],
[
305,
259
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
305,
259
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
250,
116
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-9 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/009.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/010.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(250, 116) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(305, 259) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "0"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127343950703,
"frontier_positions": [
[
250,
116
],
[
305,
259
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
250,
116
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
305,
259
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-10 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/010.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/010.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(304, 264) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(249, 121) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127343950703,
"frontier_positions": [
[
249,
121
],
[
304,
264
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
304,
264
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
249,
121
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-11 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/011.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/010.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(304, 269) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(249, 125) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127343950703,
"frontier_positions": [
[
249,
125
],
[
304,
269
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
304,
269
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
249,
125
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-12 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/012.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/010.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(247, 129) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(303, 274) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "0"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127343950703,
"frontier_positions": [
[
247,
129
],
[
303,
274
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
247,
129
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
303,
274
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-13 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/013.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/013.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/013.png"
] | [
448,
224,
224,
224
] | [
448,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(302, 279) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(238, 141) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(249, 129) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127343950703,
"frontier_positions": [
[
238,
141
],
[
249,
129
],
[
302,
279
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
302,
279
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
238,
141
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
249,
129
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-14 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/014.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/013.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/013.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png"
] | [
448,
224,
224,
224
] | [
448,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(237, 146) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(249, 129) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(301, 284) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "0"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127343950703,
"frontier_positions": [
[
237,
146
],
[
249,
129
],
[
301,
284
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
237,
146
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
249,
129
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
301,
284
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-15 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/015.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/013.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/015.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png"
] | [
448,
224,
224,
224
] | [
448,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(237, 151) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(253, 129) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(301, 289) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "0"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127343950703,
"frontier_positions": [
[
237,
151
],
[
253,
129
],
[
301,
289
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
237,
151
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
253,
129
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
301,
289
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-16 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/016.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/013.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/015.png"
] | [
448,
224,
224,
224
] | [
448,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(236, 156) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(300, 294) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(254, 131) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "0"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127343950703,
"frontier_positions": [
[
236,
156
],
[
254,
131
],
[
300,
294
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
236,
156
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
300,
294
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
254,
131
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-17 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/017.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/013.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/015.png"
] | [
448,
224,
224,
224
] | [
448,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(235, 161) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(299, 299) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(256, 132) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "0"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127343950703,
"frontier_positions": [
[
235,
161
],
[
256,
132
],
[
299,
299
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
235,
161
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
299,
299
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
256,
132
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-18 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/018.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/018.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/013.png"
] | [
448,
224,
224,
224
] | [
448,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-128.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(260, 134) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(299, 299) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(235, 161) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "2"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -128.80127014654795,
"frontier_positions": [
[
235,
161
],
[
260,
134
],
[
299,
299
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
260,
134
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
299,
299
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
235,
161
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-19 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/019.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/018.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/013.png"
] | [
448,
224,
224,
224
] | [
448,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-128.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(296, 303) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(258, 137) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(232, 164) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "2"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -128.80127014654795,
"frontier_positions": [
[
232,
164
],
[
258,
137
],
[
296,
303
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
296,
303
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
258,
137
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
232,
164
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-20 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/020.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/018.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-128.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(255, 141) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(293, 307) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "0"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -128.80127014654795,
"frontier_positions": [
[
255,
141
],
[
293,
307
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
255,
141
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
293,
307
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-21 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/021.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/018.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(293, 307) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(255, 141) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127343950703,
"frontier_positions": [
[
255,
141
],
[
293,
307
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
293,
307
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
255,
141
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-22 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/022.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/018.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(254, 146) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(292, 312) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "0"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127343950703,
"frontier_positions": [
[
254,
146
],
[
292,
312
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
254,
146
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
292,
312
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-23 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/023.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/018.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(291, 316) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(254, 150) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127343950703,
"frontier_positions": [
[
254,
150
],
[
291,
316
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
291,
316
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
254,
150
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-24 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/024.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/018.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(291, 321) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(254, 155) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127343950703,
"frontier_positions": [
[
254,
155
],
[
291,
321
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
291,
321
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
254,
155
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-25 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/025.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/018.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(253, 160) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(290, 326) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "0"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127343950703,
"frontier_positions": [
[
253,
160
],
[
290,
326
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
253,
160
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
290,
326
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-26 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/026.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/018.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(289, 331) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(253, 165) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127343950703,
"frontier_positions": [
[
253,
165
],
[
289,
331
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
289,
331
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
253,
165
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-27 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/027.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/018.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(253, 170) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(288, 336) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "0"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127343950703,
"frontier_positions": [
[
253,
170
],
[
288,
336
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
253,
170
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
288,
336
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-28 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/028.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/018.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(253, 174) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(287, 341) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "0"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127343950703,
"frontier_positions": [
[
253,
174
],
[
287,
341
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
253,
174
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
287,
341
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-29 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/029.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/018.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(287, 346) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(254, 179) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127343950703,
"frontier_positions": [
[
254,
179
],
[
287,
346
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
287,
346
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
254,
179
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-30 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/030.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/018.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(286, 349) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(254, 182) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127343950703,
"frontier_positions": [
[
254,
182
],
[
286,
349
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
286,
349
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
254,
182
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-31 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/031.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/018.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-128.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(286, 349) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(254, 182) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -128.80127014654795,
"frontier_positions": [
[
254,
182
],
[
286,
349
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
286,
349
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
254,
182
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-32 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/032.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/018.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-128.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(283, 353) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(251, 186) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -128.80127014654795,
"frontier_positions": [
[
251,
186
],
[
283,
353
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
283,
353
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
251,
186
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-33 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/033.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/018.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-128.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(248, 190) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(280, 357) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "0"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -128.80127014654795,
"frontier_positions": [
[
248,
190
],
[
280,
357
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
248,
190
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
280,
357
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-34 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/034.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/018.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-128.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(245, 194) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(277, 361) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "0"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -128.80127014654795,
"frontier_positions": [
[
245,
194
],
[
277,
361
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
245,
194
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
277,
361
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-35 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/035.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/018.png"
] | [
448,
224,
224
] | [
448,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(277, 361) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(245, 194) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127343950703,
"frontier_positions": [
[
245,
194
],
[
277,
361
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
277,
361
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
245,
194
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-36 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/036.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/018.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/036.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png"
] | [
448,
224,
224,
224
] | [
448,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(246, 198) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(270, 168) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(276, 366) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "0"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127343950703,
"frontier_positions": [
[
246,
198
],
[
270,
168
],
[
276,
366
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
246,
198
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
270,
168
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
276,
366
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-37 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/037.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/037.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/037.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png"
] | [
448,
224,
224,
224
] | [
448,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(254, 196) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(269, 169) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(275, 370) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "0"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127343950703,
"frontier_positions": [
[
254,
196
],
[
269,
169
],
[
275,
370
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
254,
196
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
269,
169
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
275,
370
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-38 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/038.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/037.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/037.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png"
] | [
448,
224,
224,
224
] | [
448,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(269, 174) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(255, 200) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(275, 375) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127343950703,
"frontier_positions": [
[
255,
200
],
[
269,
174
],
[
275,
375
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
269,
174
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
255,
200
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
275,
375
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-39 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/039.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/039.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/037.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/039.png"
] | [
448,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(274, 380) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(239, 225) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(268, 179) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(256, 203) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127343950703,
"frontier_positions": [
[
256,
203
],
[
239,
225
],
[
268,
179
],
[
274,
380
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
274,
380
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
239,
225
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
268,
179
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
256,
203
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-40 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/037.png"
] | [
448,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-128.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(319, 201) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(274, 380) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(276, 227) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(268, 179) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "3"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -128.80127014654795,
"frontier_positions": [
[
276,
227
],
[
268,
179
],
[
274,
380
],
[
319,
201
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
319,
201
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
274,
380
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
276,
227
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
268,
179
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-41 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/041.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/037.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/041.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png"
] | [
448,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-158.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(274, 380) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(268, 179) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(288, 232) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(319, 201) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -158.80127327535786,
"frontier_positions": [
[
288,
232
],
[
268,
179
],
[
274,
380
],
[
319,
201
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
274,
380
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
268,
179
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
288,
232
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
319,
201
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-42 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/042.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/042.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/037.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png"
] | [
448,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-158.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(314, 203) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(293, 239) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(263, 181) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(269, 382) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "2"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -158.80127327535786,
"frontier_positions": [
[
293,
239
],
[
263,
181
],
[
269,
382
],
[
314,
203
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
314,
203
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
293,
239
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
263,
181
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
269,
382
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-43 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/043.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/043.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/041.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/037.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png"
] | [
448,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-158.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(265, 384) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(337, 245) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(277, 244) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(259, 183) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(310, 205) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -158.80127327535786,
"frontier_positions": [
[
277,
244
],
[
259,
183
],
[
265,
384
],
[
310,
205
],
[
337,
245
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
265,
384
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
337,
245
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
277,
244
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
259,
183
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
310,
205
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-44 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/044.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/037.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/044.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/041.png"
] | [
448,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-158.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(260, 386) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(305, 207) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(254, 184) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(337, 245) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(272, 246) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "2"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -158.80127327535786,
"frontier_positions": [
[
272,
246
],
[
254,
184
],
[
260,
386
],
[
305,
207
],
[
337,
245
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
260,
386
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
305,
207
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
254,
184
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
337,
245
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
272,
246
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-45 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/045.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/037.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/045.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/041.png"
] | [
448,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-158.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(248, 184) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(300, 209) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(255, 388) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(336, 245) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(268, 248) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "0"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -158.80127327535786,
"frontier_positions": [
[
268,
248
],
[
248,
184
],
[
255,
388
],
[
300,
209
],
[
336,
245
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
248,
184
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
300,
209
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
255,
388
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
336,
245
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
268,
248
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-46 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/046.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/037.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/041.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/045.png"
] | [
448,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-158.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(244, 185) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(296, 210) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(264, 249) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(251, 389) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(337, 247) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "2"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -158.80127327535786,
"frontier_positions": [
[
264,
249
],
[
244,
185
],
[
251,
389
],
[
296,
210
],
[
337,
247
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
244,
185
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
296,
210
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
264,
249
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
251,
389
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
337,
247
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-47 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/047.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/041.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/047.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/045.png"
] | [
448,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-128.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(264, 249) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(251, 389) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(244, 177) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(296, 210) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(337, 247) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "0"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -128.80127322640763,
"frontier_positions": [
[
264,
249
],
[
244,
177
],
[
251,
389
],
[
296,
210
],
[
337,
247
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
264,
249
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
251,
389
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
244,
177
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
296,
210
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
337,
247
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-48 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/048.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/045.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/041.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/047.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png"
] | [
448,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-128.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(333, 251) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(259, 253) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(239, 175) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(247, 393) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(292, 214) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -128.80127322640763,
"frontier_positions": [
[
259,
253
],
[
239,
175
],
[
247,
393
],
[
292,
214
],
[
333,
251
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
333,
251
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
259,
253
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
239,
175
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
247,
393
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
292,
214
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-49 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/049.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/041.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/049.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/045.png"
] | [
448,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-128.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(244, 397) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(256, 257) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(289, 218) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(236, 161) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(330, 255) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -128.80127322640763,
"frontier_positions": [
[
256,
257
],
[
236,
161
],
[
244,
397
],
[
289,
218
],
[
330,
255
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
244,
397
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
256,
257
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
289,
218
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
236,
161
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
330,
255
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-50 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/045.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/041.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-128.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(286, 222) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(226, 119) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(235, 107) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(225, 192) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(327, 259) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(241, 401) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(253, 261) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "4"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -128.80127322640763,
"frontier_positions": [
[
253,
261
],
[
225,
192
],
[
226,
119
],
[
235,
107
],
[
241,
401
],
[
286,
222
],
[
327,
259
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
286,
222
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
226,
119
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
235,
107
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
225,
192
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
327,
259
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
241,
401
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
253,
261
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-51 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/041.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/045.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-128.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(250, 265) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(223, 123) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(232, 104) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(238, 405) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(283, 226) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(222, 196) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(324, 263) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "6"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -128.80127322640763,
"frontier_positions": [
[
250,
265
],
[
222,
196
],
[
223,
123
],
[
232,
104
],
[
238,
405
],
[
283,
226
],
[
324,
263
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
250,
265
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
223,
123
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
232,
104
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
238,
405
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
283,
226
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
222,
196
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
324,
263
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-52 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/052.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/052.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/045.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/041.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-128.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(219, 199) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(280, 230) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(321, 267) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(220, 127) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(247, 269) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(235, 409) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(227, 102) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "2"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -128.80127322640763,
"frontier_positions": [
[
247,
269
],
[
219,
199
],
[
220,
127
],
[
227,
102
],
[
235,
409
],
[
280,
230
],
[
321,
267
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
219,
199
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
280,
230
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
321,
267
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
220,
127
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
247,
269
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
235,
409
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
227,
102
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-53 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/045.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/041.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(208, 196) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(321, 267) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(280, 230) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(227, 102) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(235, 409) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(247, 269) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(220, 122) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127343950703,
"frontier_positions": [
[
208,
196
],
[
247,
269
],
[
220,
122
],
[
227,
102
],
[
235,
409
],
[
280,
230
],
[
321,
267
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
208,
196
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
321,
267
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
280,
230
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
227,
102
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
235,
409
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
247,
269
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
220,
122
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-54 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/054.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/045.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/041.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-128.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(220, 122) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(280, 230) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(321, 267) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(208, 196) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(227, 102) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(247, 269) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(235, 409) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "2"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -128.80127014654795,
"frontier_positions": [
[
208,
196
],
[
247,
269
],
[
220,
122
],
[
227,
102
],
[
235,
409
],
[
280,
230
],
[
321,
267
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
220,
122
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
280,
230
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
321,
267
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
208,
196
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
227,
102
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
247,
269
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
235,
409
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-55 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/055.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/041.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/045.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-158.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(235, 409) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(247, 269) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(220, 122) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(208, 196) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(280, 230) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(321, 267) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(227, 102) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "5"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -158.80127327535786,
"frontier_positions": [
[
208,
196
],
[
247,
269
],
[
220,
122
],
[
227,
102
],
[
235,
409
],
[
280,
230
],
[
321,
267
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
235,
409
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
247,
269
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
220,
122
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
208,
196
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
280,
230
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
321,
267
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
227,
102
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-56 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/056.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/045.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/056.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=171.2 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(321, 267) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(235, 409) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(267, 283) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(227, 102) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(208, 196) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(220, 122) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(280, 230) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "0"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": 171.1987260156634,
"frontier_positions": [
[
208,
196
],
[
267,
283
],
[
220,
122
],
[
227,
102
],
[
235,
409
],
[
280,
230
],
[
321,
267
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
321,
267
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
235,
409
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
267,
283
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
227,
102
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
208,
196
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
220,
122
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
280,
230
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-57 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/057.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/057.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/045.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/057.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=141.2 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(228, 273) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(235, 409) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(280, 230) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(208, 196) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(220, 122) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(321, 267) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(279, 317) Frontier view <image_ego> <e_cand>\n<cand> id=7 type=frontier pos=(227, 102) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "0"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": 141.19872428059963,
"frontier_positions": [
[
208,
196
],
[
228,
273
],
[
220,
122
],
[
227,
102
],
[
235,
409
],
[
279,
317
],
[
280,
230
],
[
321,
267
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
228,
273
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
235,
409
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
280,
230
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
208,
196
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
220,
122
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
321,
267
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
279,
317
],
"semantic": []
},
{
"id": 7,
"type": "frontier",
"pos": [
227,
102
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-58 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/058.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/045.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/057.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=111.2 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(235, 409) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(321, 267) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(227, 102) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(208, 196) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(279, 318) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(280, 230) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(220, 122) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": 111.19872233826392,
"frontier_positions": [
[
208,
196
],
[
220,
122
],
[
227,
102
],
[
235,
409
],
[
279,
318
],
[
280,
230
],
[
321,
267
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
235,
409
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
321,
267
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
227,
102
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
208,
196
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
279,
318
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
280,
230
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
220,
122
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-59 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/059.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/045.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/057.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=111.2 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(206, 191) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(233, 404) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(225, 97) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(319, 262) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(277, 313) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(218, 117) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(278, 225) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "3"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": 111.19872233826392,
"frontier_positions": [
[
206,
191
],
[
218,
117
],
[
225,
97
],
[
233,
404
],
[
277,
313
],
[
278,
225
],
[
319,
262
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
206,
191
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
233,
404
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
225,
97
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
319,
262
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
277,
313
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
218,
117
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
278,
225
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-60 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/060.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/060.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/045.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=111.2 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(275, 311) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(231, 400) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(317, 258) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(223, 93) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(216, 113) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(204, 187) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(276, 221) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "2"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": 111.19872233826392,
"frontier_positions": [
[
204,
187
],
[
216,
113
],
[
223,
93
],
[
231,
400
],
[
275,
311
],
[
276,
221
],
[
317,
258
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
275,
311
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
231,
400
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
317,
258
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
223,
93
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
216,
113
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
204,
187
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
276,
221
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-61 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/061.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/045.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/060.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=111.2 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(315, 253) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(229, 395) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(214, 108) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(274, 216) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(221, 88) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(274, 307) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(202, 182) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "0"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": 111.19872233826392,
"frontier_positions": [
[
202,
182
],
[
214,
108
],
[
221,
88
],
[
229,
395
],
[
274,
307
],
[
274,
216
],
[
315,
253
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
315,
253
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
229,
395
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
214,
108
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
274,
216
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
221,
88
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
274,
307
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
202,
182
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-62 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/062.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/060.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/062.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=141.2 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(221, 88) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(229, 395) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(202, 182) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(274, 216) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(272, 314) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(313, 281) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(214, 108) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "3"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": 141.19872201180453,
"frontier_positions": [
[
202,
182
],
[
214,
108
],
[
221,
88
],
[
229,
395
],
[
272,
314
],
[
274,
216
],
[
313,
281
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
221,
88
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
229,
395
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
202,
182
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
274,
216
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
272,
314
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
313,
281
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
214,
108
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-63 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/063.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/062.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/063.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=141.2 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(271, 213) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(218, 85) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(199, 179) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(310, 278) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(268, 315) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(211, 105) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(226, 392) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "4"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": 141.19872201180453,
"frontier_positions": [
[
199,
179
],
[
211,
105
],
[
218,
85
],
[
226,
392
],
[
268,
315
],
[
271,
213
],
[
310,
278
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
271,
213
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
218,
85
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
199,
179
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
310,
278
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
268,
315
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
211,
105
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
226,
392
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-64 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/064.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/063.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/062.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=141.2 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(267, 210) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(207, 102) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(195, 176) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(214, 82) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(222, 389) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(265, 314) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(306, 275) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "5"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": 141.19872201180453,
"frontier_positions": [
[
195,
176
],
[
207,
102
],
[
214,
82
],
[
222,
389
],
[
265,
314
],
[
267,
210
],
[
306,
275
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
267,
210
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
207,
102
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
195,
176
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
214,
82
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
222,
389
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
265,
314
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
306,
275
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-65 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/062.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=141.2 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(273, 317) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(263, 206) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(218, 385) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(295, 280) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(203, 98) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(236, 316) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(191, 172) Frontier view <image_ego> <e_cand>\n<cand> id=7 type=frontier pos=(302, 271) Frontier view <image_ego> <e_cand>\n<cand> id=8 type=frontier pos=(210, 78) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": 141.19872201180453,
"frontier_positions": [
[
191,
172
],
[
203,
98
],
[
210,
78
],
[
218,
385
],
[
236,
316
],
[
273,
317
],
[
263,
206
],
[
295,
280
],
[
302,
271
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
273,
317
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
263,
206
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
218,
385
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
295,
280
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
203,
98
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
236,
316
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
191,
172
],
"semantic": []
},
{
"id": 7,
"type": "frontier",
"pos": [
302,
271
],
"semantic": []
},
{
"id": 8,
"type": "frontier",
"pos": [
210,
78
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-66 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/066.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/062.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/066.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/066.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=141.2 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(232, 313) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(206, 75) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(298, 268) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(259, 203) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(285, 302) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(199, 95) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(187, 169) Frontier view <image_ego> <e_cand>\n<cand> id=7 type=frontier pos=(214, 382) Frontier view <image_ego> <e_cand>\n<cand> id=8 type=frontier pos=(292, 277) Frontier view <image_ego> <e_cand>\n<cand> id=9 type=frontier pos=(250, 346) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "3"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": 141.19872201180453,
"frontier_positions": [
[
187,
169
],
[
199,
95
],
[
206,
75
],
[
214,
382
],
[
232,
313
],
[
250,
346
],
[
259,
203
],
[
285,
302
],
[
292,
277
],
[
298,
268
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
232,
313
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
206,
75
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
298,
268
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
259,
203
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
285,
302
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
199,
95
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
187,
169
],
"semantic": []
},
{
"id": 7,
"type": "frontier",
"pos": [
214,
382
],
"semantic": []
},
{
"id": 8,
"type": "frontier",
"pos": [
292,
277
],
"semantic": []
},
{
"id": 9,
"type": "frontier",
"pos": [
250,
346
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-67 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/067.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/067.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/066.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/062.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=141.2 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(183, 166) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(210, 379) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(278, 304) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(246, 343) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(195, 92) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(228, 310) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(255, 200) Frontier view <image_ego> <e_cand>\n<cand> id=7 type=frontier pos=(202, 72) Frontier view <image_ego> <e_cand>\n<cand> id=8 type=frontier pos=(294, 265) Frontier view <image_ego> <e_cand>\n<cand> id=9 type=frontier pos=(288, 275) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "6"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": 141.19872201180453,
"frontier_positions": [
[
183,
166
],
[
195,
92
],
[
202,
72
],
[
210,
379
],
[
228,
310
],
[
246,
343
],
[
255,
200
],
[
278,
304
],
[
288,
275
],
[
294,
265
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
183,
166
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
210,
379
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
278,
304
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
246,
343
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
195,
92
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
228,
310
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
255,
200
],
"semantic": []
},
{
"id": 7,
"type": "frontier",
"pos": [
202,
72
],
"semantic": []
},
{
"id": 8,
"type": "frontier",
"pos": [
294,
265
],
"semantic": []
},
{
"id": 9,
"type": "frontier",
"pos": [
288,
275
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-68 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/068.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/040.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/062.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/067.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/066.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=171.2 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(255, 200) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(294, 265) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(210, 379) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(288, 275) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(278, 304) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(183, 166) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(246, 343) Frontier view <image_ego> <e_cand>\n<cand> id=7 type=frontier pos=(202, 72) Frontier view <image_ego> <e_cand>\n<cand> id=8 type=frontier pos=(228, 310) Frontier view <image_ego> <e_cand>\n<cand> id=9 type=frontier pos=(195, 92) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "0"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": 171.19872208655568,
"frontier_positions": [
[
183,
166
],
[
195,
92
],
[
202,
72
],
[
210,
379
],
[
228,
310
],
[
246,
343
],
[
255,
200
],
[
278,
304
],
[
288,
275
],
[
294,
265
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
255,
200
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
294,
265
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
210,
379
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
288,
275
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
278,
304
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
183,
166
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
246,
343
],
"semantic": []
},
{
"id": 7,
"type": "frontier",
"pos": [
202,
72
],
"semantic": []
},
{
"id": 8,
"type": "frontier",
"pos": [
228,
310
],
"semantic": []
},
{
"id": 9,
"type": "frontier",
"pos": [
195,
92
],
"semantic": []
}
],
"target_position": null
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-69 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/069.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/069.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/069.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/066.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/062.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/069.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/067.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-158.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(210, 379) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(287, 181) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=target pos=(291, 167) Target view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(228, 310) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(195, 92) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(202, 72) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(246, 343) Frontier view <image_ego> <e_cand>\n<cand> id=7 type=frontier pos=(294, 265) Frontier view <image_ego> <e_cand>\n<cand> id=8 type=frontier pos=(268, 181) Frontier view <image_ego> <e_cand>\n<cand> id=9 type=frontier pos=(278, 304) Frontier view <image_ego> <e_cand>\n<cand> id=10 type=frontier pos=(288, 275) Frontier view <image_ego> <e_cand>\n<cand> id=11 type=frontier pos=(183, 166) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "2"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -158.80127831059386,
"frontier_positions": [
[
183,
166
],
[
195,
92
],
[
202,
72
],
[
210,
379
],
[
228,
310
],
[
246,
343
],
[
268,
181
],
[
287,
181
],
[
278,
304
],
[
288,
275
],
[
294,
265
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
210,
379
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
287,
181
],
"semantic": []
},
{
"id": 2,
"type": "target",
"pos": [
291,
167
],
"semantic": null
},
{
"id": 3,
"type": "frontier",
"pos": [
228,
310
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
195,
92
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
202,
72
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
246,
343
],
"semantic": []
},
{
"id": 7,
"type": "frontier",
"pos": [
294,
265
],
"semantic": []
},
{
"id": 8,
"type": "frontier",
"pos": [
268,
181
],
"semantic": []
},
{
"id": 9,
"type": "frontier",
"pos": [
278,
304
],
"semantic": []
},
{
"id": 10,
"type": "frontier",
"pos": [
288,
275
],
"semantic": []
},
{
"id": 11,
"type": "frontier",
"pos": [
183,
166
],
"semantic": []
}
],
"target_position": [
291,
167
]
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-70 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/070.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/067.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/070.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/069.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/069.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/062.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/066.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-158.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(273, 306) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(205, 381) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(263, 179) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(178, 168) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(282, 183) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=target pos=(286, 169) Target view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(223, 312) Frontier view <image_ego> <e_cand>\n<cand> id=7 type=frontier pos=(283, 277) Frontier view <image_ego> <e_cand>\n<cand> id=8 type=frontier pos=(289, 267) Frontier view <image_ego> <e_cand>\n<cand> id=9 type=frontier pos=(241, 345) Frontier view <image_ego> <e_cand>\n<cand> id=10 type=frontier pos=(197, 74) Frontier view <image_ego> <e_cand>\n<cand> id=11 type=frontier pos=(190, 94) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "5"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -158.80127831059386,
"frontier_positions": [
[
178,
168
],
[
190,
94
],
[
197,
74
],
[
205,
381
],
[
223,
312
],
[
241,
345
],
[
263,
179
],
[
282,
183
],
[
273,
306
],
[
283,
277
],
[
289,
267
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
273,
306
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
205,
381
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
263,
179
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
178,
168
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
282,
183
],
"semantic": []
},
{
"id": 5,
"type": "target",
"pos": [
286,
169
],
"semantic": null
},
{
"id": 6,
"type": "frontier",
"pos": [
223,
312
],
"semantic": []
},
{
"id": 7,
"type": "frontier",
"pos": [
283,
277
],
"semantic": []
},
{
"id": 8,
"type": "frontier",
"pos": [
289,
267
],
"semantic": []
},
{
"id": 9,
"type": "frontier",
"pos": [
241,
345
],
"semantic": []
},
{
"id": 10,
"type": "frontier",
"pos": [
197,
74
],
"semantic": []
},
{
"id": 11,
"type": "frontier",
"pos": [
190,
94
],
"semantic": []
}
],
"target_position": [
286,
169
]
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-71 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/071.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/069.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/069.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/067.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/062.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/071.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/066.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/071.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/071.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-158.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(278, 185) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(193, 76) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=target pos=(282, 171) Target view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(269, 308) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(285, 269) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(248, 190) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(201, 383) Frontier view <image_ego> <e_cand>\n<cand> id=7 type=frontier pos=(186, 96) Frontier view <image_ego> <e_cand>\n<cand> id=8 type=frontier pos=(174, 170) Frontier view <image_ego> <e_cand>\n<cand> id=9 type=frontier pos=(237, 347) Frontier view <image_ego> <e_cand>\n<cand> id=10 type=frontier pos=(279, 279) Frontier view <image_ego> <e_cand>\n<cand> id=11 type=frontier pos=(265, 163) Frontier view <image_ego> <e_cand>\n<cand> id=12 type=frontier pos=(304, 165) Frontier view <image_ego> <e_cand>\n<cand> id=13 type=frontier pos=(219, 314) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "2"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -158.80127831059386,
"frontier_positions": [
[
174,
170
],
[
186,
96
],
[
193,
76
],
[
201,
383
],
[
219,
314
],
[
237,
347
],
[
248,
190
],
[
265,
163
],
[
278,
185
],
[
269,
308
],
[
279,
279
],
[
285,
269
],
[
304,
165
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
278,
185
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
193,
76
],
"semantic": []
},
{
"id": 2,
"type": "target",
"pos": [
282,
171
],
"semantic": null
},
{
"id": 3,
"type": "frontier",
"pos": [
269,
308
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
285,
269
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
248,
190
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
201,
383
],
"semantic": []
},
{
"id": 7,
"type": "frontier",
"pos": [
186,
96
],
"semantic": []
},
{
"id": 8,
"type": "frontier",
"pos": [
174,
170
],
"semantic": []
},
{
"id": 9,
"type": "frontier",
"pos": [
237,
347
],
"semantic": []
},
{
"id": 10,
"type": "frontier",
"pos": [
279,
279
],
"semantic": []
},
{
"id": 11,
"type": "frontier",
"pos": [
265,
163
],
"semantic": []
},
{
"id": 12,
"type": "frontier",
"pos": [
304,
165
],
"semantic": []
},
{
"id": 13,
"type": "frontier",
"pos": [
219,
314
],
"semantic": []
}
],
"target_position": [
282,
171
]
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-72 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/072.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/071.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/071.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/071.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/069.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/062.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/066.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/067.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/069.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-158.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(188, 78) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(196, 385) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(274, 281) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(299, 167) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(214, 316) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(243, 191) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(169, 172) Frontier view <image_ego> <e_cand>\n<cand> id=7 type=frontier pos=(261, 161) Frontier view <image_ego> <e_cand>\n<cand> id=8 type=target pos=(277, 173) Target view <image_ego> <e_cand>\n<cand> id=9 type=frontier pos=(280, 271) Frontier view <image_ego> <e_cand>\n<cand> id=10 type=frontier pos=(232, 349) Frontier view <image_ego> <e_cand>\n<cand> id=11 type=frontier pos=(181, 98) Frontier view <image_ego> <e_cand>\n<cand> id=12 type=frontier pos=(264, 310) Frontier view <image_ego> <e_cand>\n<cand> id=13 type=frontier pos=(273, 187) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "8"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -158.80127831059386,
"frontier_positions": [
[
169,
172
],
[
181,
98
],
[
188,
78
],
[
196,
385
],
[
214,
316
],
[
232,
349
],
[
243,
191
],
[
261,
161
],
[
273,
187
],
[
264,
310
],
[
274,
281
],
[
280,
271
],
[
299,
167
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
188,
78
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
196,
385
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
274,
281
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
299,
167
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
214,
316
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
243,
191
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
169,
172
],
"semantic": []
},
{
"id": 7,
"type": "frontier",
"pos": [
261,
161
],
"semantic": []
},
{
"id": 8,
"type": "target",
"pos": [
277,
173
],
"semantic": null
},
{
"id": 9,
"type": "frontier",
"pos": [
280,
271
],
"semantic": []
},
{
"id": 10,
"type": "frontier",
"pos": [
232,
349
],
"semantic": []
},
{
"id": 11,
"type": "frontier",
"pos": [
181,
98
],
"semantic": []
},
{
"id": 12,
"type": "frontier",
"pos": [
264,
310
],
"semantic": []
},
{
"id": 13,
"type": "frontier",
"pos": [
273,
187
],
"semantic": []
}
],
"target_position": [
277,
173
]
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-73 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/073.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/066.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/069.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/062.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/071.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/069.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/071.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/071.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/067.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-158.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(227, 350) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=target pos=(272, 174) Target view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(269, 282) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(275, 272) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(183, 79) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(176, 99) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(294, 168) Frontier view <image_ego> <e_cand>\n<cand> id=7 type=frontier pos=(191, 386) Frontier view <image_ego> <e_cand>\n<cand> id=8 type=frontier pos=(268, 188) Frontier view <image_ego> <e_cand>\n<cand> id=9 type=frontier pos=(256, 162) Frontier view <image_ego> <e_cand>\n<cand> id=10 type=frontier pos=(238, 192) Frontier view <image_ego> <e_cand>\n<cand> id=11 type=frontier pos=(164, 173) Frontier view <image_ego> <e_cand>\n<cand> id=12 type=frontier pos=(209, 317) Frontier view <image_ego> <e_cand>\n<cand> id=13 type=frontier pos=(259, 311) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "1"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -158.80127831059386,
"frontier_positions": [
[
164,
173
],
[
176,
99
],
[
183,
79
],
[
191,
386
],
[
209,
317
],
[
227,
350
],
[
238,
192
],
[
256,
162
],
[
268,
188
],
[
259,
311
],
[
269,
282
],
[
275,
272
],
[
294,
168
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
227,
350
],
"semantic": []
},
{
"id": 1,
"type": "target",
"pos": [
272,
174
],
"semantic": null
},
{
"id": 2,
"type": "frontier",
"pos": [
269,
282
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
275,
272
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
183,
79
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
176,
99
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
294,
168
],
"semantic": []
},
{
"id": 7,
"type": "frontier",
"pos": [
191,
386
],
"semantic": []
},
{
"id": 8,
"type": "frontier",
"pos": [
268,
188
],
"semantic": []
},
{
"id": 9,
"type": "frontier",
"pos": [
256,
162
],
"semantic": []
},
{
"id": 10,
"type": "frontier",
"pos": [
238,
192
],
"semantic": []
},
{
"id": 11,
"type": "frontier",
"pos": [
164,
173
],
"semantic": []
},
{
"id": 12,
"type": "frontier",
"pos": [
209,
317
],
"semantic": []
},
{
"id": 13,
"type": "frontier",
"pos": [
259,
311
],
"semantic": []
}
],
"target_position": [
272,
174
]
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-74 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/074.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/069.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/071.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/069.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/071.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/067.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/071.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/062.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/066.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-158.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(264, 190) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(252, 164) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(172, 101) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=target pos=(268, 176) Target view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(290, 170) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(160, 175) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(179, 81) Frontier view <image_ego> <e_cand>\n<cand> id=7 type=frontier pos=(205, 319) Frontier view <image_ego> <e_cand>\n<cand> id=8 type=frontier pos=(255, 313) Frontier view <image_ego> <e_cand>\n<cand> id=9 type=frontier pos=(187, 388) Frontier view <image_ego> <e_cand>\n<cand> id=10 type=frontier pos=(265, 284) Frontier view <image_ego> <e_cand>\n<cand> id=11 type=frontier pos=(234, 194) Frontier view <image_ego> <e_cand>\n<cand> id=12 type=frontier pos=(271, 274) Frontier view <image_ego> <e_cand>\n<cand> id=13 type=frontier pos=(223, 352) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "3"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -158.80127831059386,
"frontier_positions": [
[
160,
175
],
[
172,
101
],
[
179,
81
],
[
187,
388
],
[
205,
319
],
[
223,
352
],
[
234,
194
],
[
252,
164
],
[
264,
190
],
[
255,
313
],
[
265,
284
],
[
271,
274
],
[
290,
170
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
264,
190
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
252,
164
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
172,
101
],
"semantic": []
},
{
"id": 3,
"type": "target",
"pos": [
268,
176
],
"semantic": null
},
{
"id": 4,
"type": "frontier",
"pos": [
290,
170
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
160,
175
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
179,
81
],
"semantic": []
},
{
"id": 7,
"type": "frontier",
"pos": [
205,
319
],
"semantic": []
},
{
"id": 8,
"type": "frontier",
"pos": [
255,
313
],
"semantic": []
},
{
"id": 9,
"type": "frontier",
"pos": [
187,
388
],
"semantic": []
},
{
"id": 10,
"type": "frontier",
"pos": [
265,
284
],
"semantic": []
},
{
"id": 11,
"type": "frontier",
"pos": [
234,
194
],
"semantic": []
},
{
"id": 12,
"type": "frontier",
"pos": [
271,
274
],
"semantic": []
},
{
"id": 13,
"type": "frontier",
"pos": [
223,
352
],
"semantic": []
}
],
"target_position": [
268,
176
]
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-75 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/075.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/071.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/069.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/062.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/071.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/071.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/069.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/066.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/067.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-158.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(260, 286) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(229, 196) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(259, 192) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(155, 177) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(182, 390) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(167, 103) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(266, 276) Frontier view <image_ego> <e_cand>\n<cand> id=7 type=frontier pos=(174, 83) Frontier view <image_ego> <e_cand>\n<cand> id=8 type=frontier pos=(247, 166) Frontier view <image_ego> <e_cand>\n<cand> id=9 type=frontier pos=(285, 172) Frontier view <image_ego> <e_cand>\n<cand> id=10 type=target pos=(263, 178) Target view <image_ego> <e_cand>\n<cand> id=11 type=frontier pos=(218, 354) Frontier view <image_ego> <e_cand>\n<cand> id=12 type=frontier pos=(200, 321) Frontier view <image_ego> <e_cand>\n<cand> id=13 type=frontier pos=(250, 315) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "10"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -158.80127831059386,
"frontier_positions": [
[
155,
177
],
[
167,
103
],
[
174,
83
],
[
182,
390
],
[
200,
321
],
[
218,
354
],
[
229,
196
],
[
247,
166
],
[
259,
192
],
[
250,
315
],
[
260,
286
],
[
266,
276
],
[
285,
172
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
260,
286
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
229,
196
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
259,
192
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
155,
177
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
182,
390
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
167,
103
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
266,
276
],
"semantic": []
},
{
"id": 7,
"type": "frontier",
"pos": [
174,
83
],
"semantic": []
},
{
"id": 8,
"type": "frontier",
"pos": [
247,
166
],
"semantic": []
},
{
"id": 9,
"type": "frontier",
"pos": [
285,
172
],
"semantic": []
},
{
"id": 10,
"type": "target",
"pos": [
263,
178
],
"semantic": null
},
{
"id": 11,
"type": "frontier",
"pos": [
218,
354
],
"semantic": []
},
{
"id": 12,
"type": "frontier",
"pos": [
200,
321
],
"semantic": []
},
{
"id": 13,
"type": "frontier",
"pos": [
250,
315
],
"semantic": []
}
],
"target_position": [
263,
178
]
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-76 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/076.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/076.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/062.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/069.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/067.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/076.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/071.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/066.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/071.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/069.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-128.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(182, 390) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(245, 158) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(266, 276) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=target pos=(263, 178) Target view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(167, 103) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(250, 315) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(174, 83) Frontier view <image_ego> <e_cand>\n<cand> id=7 type=frontier pos=(200, 321) Frontier view <image_ego> <e_cand>\n<cand> id=8 type=frontier pos=(260, 286) Frontier view <image_ego> <e_cand>\n<cand> id=9 type=frontier pos=(266, 128) Frontier view <image_ego> <e_cand>\n<cand> id=10 type=frontier pos=(228, 196) Frontier view <image_ego> <e_cand>\n<cand> id=11 type=frontier pos=(155, 177) Frontier view <image_ego> <e_cand>\n<cand> id=12 type=frontier pos=(218, 354) Frontier view <image_ego> <e_cand>\n<cand> id=13 type=frontier pos=(285, 172) Frontier view <image_ego> <e_cand>\n<cand> id=14 type=frontier pos=(259, 192) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "3"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -128.80127630626734,
"frontier_positions": [
[
155,
177
],
[
167,
103
],
[
174,
83
],
[
182,
390
],
[
200,
321
],
[
218,
354
],
[
228,
196
],
[
245,
158
],
[
259,
192
],
[
250,
315
],
[
260,
286
],
[
266,
128
],
[
266,
276
],
[
285,
172
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
182,
390
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
245,
158
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
266,
276
],
"semantic": []
},
{
"id": 3,
"type": "target",
"pos": [
263,
178
],
"semantic": null
},
{
"id": 4,
"type": "frontier",
"pos": [
167,
103
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
250,
315
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
174,
83
],
"semantic": []
},
{
"id": 7,
"type": "frontier",
"pos": [
200,
321
],
"semantic": []
},
{
"id": 8,
"type": "frontier",
"pos": [
260,
286
],
"semantic": []
},
{
"id": 9,
"type": "frontier",
"pos": [
266,
128
],
"semantic": []
},
{
"id": 10,
"type": "frontier",
"pos": [
228,
196
],
"semantic": []
},
{
"id": 11,
"type": "frontier",
"pos": [
155,
177
],
"semantic": []
},
{
"id": 12,
"type": "frontier",
"pos": [
218,
354
],
"semantic": []
},
{
"id": 13,
"type": "frontier",
"pos": [
285,
172
],
"semantic": []
},
{
"id": 14,
"type": "frontier",
"pos": [
259,
192
],
"semantic": []
}
],
"target_position": [
263,
178
]
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-77 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/077.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/067.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/076.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/076.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/077.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/071.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/062.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/066.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/069.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/069.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-98.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(174, 83) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(250, 315) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(155, 177) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(266, 128) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(245, 158) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(224, 188) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(285, 172) Frontier view <image_ego> <e_cand>\n<cand> id=7 type=frontier pos=(266, 276) Frontier view <image_ego> <e_cand>\n<cand> id=8 type=frontier pos=(218, 354) Frontier view <image_ego> <e_cand>\n<cand> id=9 type=frontier pos=(182, 390) Frontier view <image_ego> <e_cand>\n<cand> id=10 type=frontier pos=(167, 103) Frontier view <image_ego> <e_cand>\n<cand> id=11 type=frontier pos=(260, 286) Frontier view <image_ego> <e_cand>\n<cand> id=12 type=target pos=(263, 178) Target view <image_ego> <e_cand>\n<cand> id=13 type=frontier pos=(200, 321) Frontier view <image_ego> <e_cand>\n<cand> id=14 type=frontier pos=(259, 192) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "12"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -98.80127788436022,
"frontier_positions": [
[
155,
177
],
[
167,
103
],
[
174,
83
],
[
182,
390
],
[
200,
321
],
[
218,
354
],
[
224,
188
],
[
245,
158
],
[
259,
192
],
[
250,
315
],
[
260,
286
],
[
266,
128
],
[
266,
276
],
[
285,
172
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
174,
83
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
250,
315
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
155,
177
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
266,
128
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
245,
158
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
224,
188
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
285,
172
],
"semantic": []
},
{
"id": 7,
"type": "frontier",
"pos": [
266,
276
],
"semantic": []
},
{
"id": 8,
"type": "frontier",
"pos": [
218,
354
],
"semantic": []
},
{
"id": 9,
"type": "frontier",
"pos": [
182,
390
],
"semantic": []
},
{
"id": 10,
"type": "frontier",
"pos": [
167,
103
],
"semantic": []
},
{
"id": 11,
"type": "frontier",
"pos": [
260,
286
],
"semantic": []
},
{
"id": 12,
"type": "target",
"pos": [
263,
178
],
"semantic": null
},
{
"id": 13,
"type": "frontier",
"pos": [
200,
321
],
"semantic": []
},
{
"id": 14,
"type": "frontier",
"pos": [
259,
192
],
"semantic": []
}
],
"target_position": [
263,
178
]
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-78 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/078.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/071.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/077.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/062.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/069.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/076.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/066.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/067.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/069.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/076.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-68.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(182, 390) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(200, 321) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(285, 172) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(224, 188) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(266, 276) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(174, 83) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=target pos=(263, 178) Target view <image_ego> <e_cand>\n<cand> id=7 type=frontier pos=(245, 158) Frontier view <image_ego> <e_cand>\n<cand> id=8 type=frontier pos=(218, 354) Frontier view <image_ego> <e_cand>\n<cand> id=9 type=frontier pos=(155, 177) Frontier view <image_ego> <e_cand>\n<cand> id=10 type=frontier pos=(250, 315) Frontier view <image_ego> <e_cand>\n<cand> id=11 type=frontier pos=(260, 286) Frontier view <image_ego> <e_cand>\n<cand> id=12 type=frontier pos=(259, 192) Frontier view <image_ego> <e_cand>\n<cand> id=13 type=frontier pos=(265, 127) Frontier view <image_ego> <e_cand>\n<cand> id=14 type=frontier pos=(167, 103) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "6"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -68.80127766173608,
"frontier_positions": [
[
155,
177
],
[
167,
103
],
[
174,
83
],
[
182,
390
],
[
200,
321
],
[
218,
354
],
[
224,
188
],
[
245,
158
],
[
259,
192
],
[
250,
315
],
[
260,
286
],
[
265,
127
],
[
266,
276
],
[
285,
172
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
182,
390
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
200,
321
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
285,
172
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
224,
188
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
266,
276
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
174,
83
],
"semantic": []
},
{
"id": 6,
"type": "target",
"pos": [
263,
178
],
"semantic": null
},
{
"id": 7,
"type": "frontier",
"pos": [
245,
158
],
"semantic": []
},
{
"id": 8,
"type": "frontier",
"pos": [
218,
354
],
"semantic": []
},
{
"id": 9,
"type": "frontier",
"pos": [
155,
177
],
"semantic": []
},
{
"id": 10,
"type": "frontier",
"pos": [
250,
315
],
"semantic": []
},
{
"id": 11,
"type": "frontier",
"pos": [
260,
286
],
"semantic": []
},
{
"id": 12,
"type": "frontier",
"pos": [
259,
192
],
"semantic": []
},
{
"id": 13,
"type": "frontier",
"pos": [
265,
127
],
"semantic": []
},
{
"id": 14,
"type": "frontier",
"pos": [
167,
103
],
"semantic": []
}
],
"target_position": [
263,
178
]
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-79 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/079.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/066.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/069.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/077.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/076.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/067.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/071.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/062.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/076.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/069.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-38.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(260, 286) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(155, 177) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(218, 354) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(259, 192) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(224, 188) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(265, 127) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(250, 315) Frontier view <image_ego> <e_cand>\n<cand> id=7 type=frontier pos=(174, 83) Frontier view <image_ego> <e_cand>\n<cand> id=8 type=frontier pos=(167, 103) Frontier view <image_ego> <e_cand>\n<cand> id=9 type=frontier pos=(200, 321) Frontier view <image_ego> <e_cand>\n<cand> id=10 type=frontier pos=(285, 172) Frontier view <image_ego> <e_cand>\n<cand> id=11 type=frontier pos=(266, 276) Frontier view <image_ego> <e_cand>\n<cand> id=12 type=frontier pos=(245, 158) Frontier view <image_ego> <e_cand>\n<cand> id=13 type=target pos=(263, 178) Target view <image_ego> <e_cand>\n<cand> id=14 type=frontier pos=(182, 390) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "13"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -38.801277988195466,
"frontier_positions": [
[
155,
177
],
[
167,
103
],
[
174,
83
],
[
182,
390
],
[
200,
321
],
[
218,
354
],
[
224,
188
],
[
245,
158
],
[
259,
192
],
[
250,
315
],
[
260,
286
],
[
265,
127
],
[
266,
276
],
[
285,
172
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
260,
286
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
155,
177
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
218,
354
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
259,
192
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
224,
188
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
265,
127
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
250,
315
],
"semantic": []
},
{
"id": 7,
"type": "frontier",
"pos": [
174,
83
],
"semantic": []
},
{
"id": 8,
"type": "frontier",
"pos": [
167,
103
],
"semantic": []
},
{
"id": 9,
"type": "frontier",
"pos": [
200,
321
],
"semantic": []
},
{
"id": 10,
"type": "frontier",
"pos": [
285,
172
],
"semantic": []
},
{
"id": 11,
"type": "frontier",
"pos": [
266,
276
],
"semantic": []
},
{
"id": 12,
"type": "frontier",
"pos": [
245,
158
],
"semantic": []
},
{
"id": 13,
"type": "target",
"pos": [
263,
178
],
"semantic": null
},
{
"id": 14,
"type": "frontier",
"pos": [
182,
390
],
"semantic": []
}
],
"target_position": [
263,
178
]
} |
5q7pvUzZiYa-A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA-bathtub-80 | [
"few_S28/fov/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/080.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/062.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/066.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/053.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/065.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/067.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/071.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/051.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/069.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/076.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/077.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/050.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/076.png",
"few_S28/panoramic_rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/000.png",
"few_S28/rgb/5q7pvUzZiYa/A9K0CV70JWG1W:3XUHV3NRVM1JR5Y0OQ9I1DG86CS5HA_bathtub/069.png"
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
448,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224,
224
] | [
{
"from": "human",
"value": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **bathtub**.\n\n<state> <s> pos=(224, 224) yaw_deg=-68.8 <e_s>\n\n<candidates>\n<cand> id=0 type=frontier pos=(266, 276) Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier pos=(218, 354) Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier pos=(200, 321) Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier pos=(155, 177) Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier pos=(260, 286) Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier pos=(250, 315) Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier pos=(285, 172) Frontier view <image_ego> <e_cand>\n<cand> id=7 type=frontier pos=(174, 83) Frontier view <image_ego> <e_cand>\n<cand> id=8 type=target pos=(263, 178) Target view <image_ego> <e_cand>\n<cand> id=9 type=frontier pos=(265, 127) Frontier view <image_ego> <e_cand>\n<cand> id=10 type=frontier pos=(224, 188) Frontier view <image_ego> <e_cand>\n<cand> id=11 type=frontier pos=(167, 103) Frontier view <image_ego> <e_cand>\n<cand> id=12 type=frontier pos=(245, 158) Frontier view <image_ego> <e_cand>\n<cand> id=13 type=frontier pos=(182, 390) Frontier view <image_ego> <e_cand>\n<cand> id=14 type=frontier pos=(259, 192) Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n"
},
{
"from": "gpt",
"value": "8"
}
] | {
"agent_pos": [
224,
224
],
"agent_yaw_deg": -68.80128329737401,
"frontier_positions": [
[
155,
177
],
[
167,
103
],
[
174,
83
],
[
182,
390
],
[
200,
321
],
[
218,
354
],
[
224,
188
],
[
245,
158
],
[
259,
192
],
[
250,
315
],
[
260,
286
],
[
265,
127
],
[
266,
276
],
[
285,
172
]
],
"bev_size": [
448,
448
],
"candidates": [
{
"id": 0,
"type": "frontier",
"pos": [
266,
276
],
"semantic": []
},
{
"id": 1,
"type": "frontier",
"pos": [
218,
354
],
"semantic": []
},
{
"id": 2,
"type": "frontier",
"pos": [
200,
321
],
"semantic": []
},
{
"id": 3,
"type": "frontier",
"pos": [
155,
177
],
"semantic": []
},
{
"id": 4,
"type": "frontier",
"pos": [
260,
286
],
"semantic": []
},
{
"id": 5,
"type": "frontier",
"pos": [
250,
315
],
"semantic": []
},
{
"id": 6,
"type": "frontier",
"pos": [
285,
172
],
"semantic": []
},
{
"id": 7,
"type": "frontier",
"pos": [
174,
83
],
"semantic": []
},
{
"id": 8,
"type": "target",
"pos": [
263,
178
],
"semantic": null
},
{
"id": 9,
"type": "frontier",
"pos": [
265,
127
],
"semantic": []
},
{
"id": 10,
"type": "frontier",
"pos": [
224,
188
],
"semantic": []
},
{
"id": 11,
"type": "frontier",
"pos": [
167,
103
],
"semantic": []
},
{
"id": 12,
"type": "frontier",
"pos": [
245,
158
],
"semantic": []
},
{
"id": 13,
"type": "frontier",
"pos": [
182,
390
],
"semantic": []
},
{
"id": 14,
"type": "frontier",
"pos": [
259,
192
],
"semantic": []
}
],
"target_position": [
263,
178
]
} |
End of preview.
for d in fov rgb panoramic_rgb; do
echo "Extracting $d..."
for f in "$d"/*.tar; do
tar -xf "$f"
done
done
- Downloads last month
- 61