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false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 645139, "mime_type": "image/jpeg", "width": 1365, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c41ece0d2677c0616eb7"}, "filepath": "data/3e3bf8bf-116b-478e-b966-1a0fdcbbccfb.jpg", "tags": [], "_media_type": "image", "_rand": 0.999215193091119, "split": "test", "sample_id": "3e3bf8bf-116b-478e-b966-1a0fdcbbccfb", "task": "turn left and follow the road", "embodiments": ["Bicycle", "Human", "Legged Robot", "Wheeled Robot"], "category": ["Geometric Terrain"], "context": "building on the left side; stairs in front of the building to the left; sidewalk in the middle; more buildings in the top of the picture; Street crosses to the left; Stairs on shortest path around the corner", "city": "Zurich", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Urban", "weather_conditions": "Clear", "segmentation_mask": 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if we go straight, we must cross some stairs; a longer way on the left side without stairs; some bicycle parked on the left of the building", "city": "Zurich", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Rural", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c41ece0d2677c0616e91"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/107a5be7-08b9-4a75-b531-6540a6d89def.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:22.185Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 532571, "mime_type": "image/jpeg", "width": 1365, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c429ce0d2677c0616ee0"}, "filepath": 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"has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 422076, "mime_type": "image/jpeg", "width": 1365, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c429ce0d2677c0616ee7"}, "filepath": "data/5742886d-7908-434d-a6f7-88072d0bfaba.jpg", "tags": [], "_media_type": "image", "_rand": 0.9990248141718313, "split": "test", "sample_id": "5742886d-7908-434d-a6f7-88072d0bfaba", "task": "go to the end of the road and stop there", "embodiments": ["Bicycle", "Human", "Legged Robot", "Wheeled Robot"], "category": ["Dynamic Obstacle", "Stationary Obstacle"], "context": "outskirts of the city; construction site on left side of the road;", "city": "Zurich", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Urban", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c428ce0d2677c0616ec0"}, 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stairs go to the gravel area; grass field on the right side; bicycle parked on gravel; bench and chair on the gravel field", "city": "Zurich", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Natural", "task_type": "Goal", "urban_rural": "Urban", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c428ce0d2677c0616ec1"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/ea995481-c7b1-4203-8278-084ea4d90372.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:33.100Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 704776, "mime_type": "image/jpeg", "width": 1365, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c429ce0d2677c0616ee9"}, "filepath": 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"Clear", "segmentation_mask": {"_id": {"$oid": "6a14c428ce0d2677c0616ec3"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/95309d2e-e573-419d-bd32-acf92c47503f.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:33.102Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 655346, "mime_type": "image/jpeg", "width": 1365, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c429ce0d2677c0616eeb"}, "filepath": "data/acd58a3b-f416-433a-afbd-bbc141065c2d.jpg", "tags": [], "_media_type": "image", "_rand": 0.9994476557932829, "split": "test", "sample_id": "acd58a3b-f416-433a-afbd-bbc141065c2d", "task": "cross the street and stop next to the excavatorn", "embodiments": ["Bicycle", "Human", "Legged Robot", "Wheeled Robot"], "category": ["Social Norms", 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"created_at": {"$date": "2026-05-25T21:50:33.102Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 553811, "mime_type": "image/jpeg", "width": 1365, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c429ce0d2677c0616eed"}, "filepath": "data/cc4dc5fb-03ec-43b1-a4ee-ea6d4f2aaed3.jpg", "tags": [], "_media_type": "image", "_rand": 0.9994703325323053, "split": "test", "sample_id": "cc4dc5fb-03ec-43b1-a4ee-ea6d4f2aaed3", "task": "Go to the bench next to the green bicycle", "embodiments": ["Bicycle", "Human", "Legged Robot", "Wheeled Robot"], "category": ["Stationary Obstacle", "Geometric Terrain"], "context": "entrance of church; bicycle parking stand on the right side of entrance; benches next to the bicycle stand; football ground on the left; entrance barrier on the start", "city": "Zurich", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Urban", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c428ce0d2677c0616ec6"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/cc4dc5fb-03ec-43b1-a4ee-ea6d4f2aaed3.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:33.102Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 549859, "mime_type": "image/jpeg", "width": 1365, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c429ce0d2677c0616eee"}, "filepath": "data/e7fde97a-fb9e-425d-86f9-9d76736b50eb.jpg", "tags": [], "_media_type": "image", "_rand": 0.9997854228380604, "split": "test", "sample_id": "e7fde97a-fb9e-425d-86f9-9d76736b50eb", "task": "Go to the bus 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"height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c429ce0d2677c0616eef"}, "filepath": "data/d71f4eac-29b5-40cd-9b4b-a775bf244034.jpg", "tags": [], "_media_type": "image", "_rand": 0.9991025130184148, "split": "test", "sample_id": "d71f4eac-29b5-40cd-9b4b-a775bf244034", "task": "Enter the building through the right door", "embodiments": ["Bicycle", "Human", "Legged Robot", "Wheeled Robot"], "category": ["Accessibility", "Geometric Terrain"], "context": "Entrances to building ahead; door on left side and right side of the wooden board on wall;  pillar in front of the wall to support the roof; Ramp to the right", "city": "Zurich", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Urban", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c428ce0d2677c0616ec8"}, "_cls": "Segmentation", "tags": [], "mask_path": 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"sample_id": "6866b72b-a546-4d0b-a27d-bd8773e7b4b5", "task": "Go to the backyard and stop next to the building on the right", "embodiments": ["Bicycle", "Human", "Legged Robot", "Wheeled Robot"], "category": ["Geometric Terrain"], "context": "Tall houses for living; Road ahead leads into backyard and next building on the right; There is a hole in the road at the beginning on the right side", "city": "Zurich", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Directions", "urban_rural": "Urban", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c428ce0d2677c0616eca"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/6866b72b-a546-4d0b-a27d-bd8773e7b4b5.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:33.102Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 722721, "mime_type": "image/jpeg", "width": 1365, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c429ce0d2677c0616ef2"}, "filepath": "data/0b7b1ce9-fc52-4401-9b96-b4dda305745a.jpg", "tags": [], "_media_type": "image", "_rand": 0.9997221837370602, "split": "test", "sample_id": "0b7b1ce9-fc52-4401-9b96-b4dda305745a", "task": "Enter the house after the blue scooter", "embodiments": ["Human", "Legged Robot"], "category": ["Geometric Terrain", "Stationary Obstacle"], "context": "Small road road next to houses on the right side; Motorcycles parked along the road; The second scooter on the right is blue and the entrance to the house is a couple meters behind it; Stairs lead up to the houses", "city": "nan", "country": "Vietnam", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Rural", "weather_conditions": "Clear", 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road from left to right;a underground restaurant on the left side", "city": "Kyoto", "country": "Japan", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Urban", "weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c428ce0d2677c0616ecc"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/0b78aa87-04da-49ad-8887-086f2e962cfc.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:33.102Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 506939, "mime_type": "image/jpeg", "width": 1024, "height": 1360, "num_channels": 3}},{"_id": {"$oid": "6a14c429ce0d2677c0616ef4"}, "filepath": "data/0cbf7c6e-2e7b-46b3-987d-eb34d9542c26.jpg", "tags": [], "_media_type": "image", "_rand": 0.9999184865033893, "split": "test", "sample_id": "0cbf7c6e-2e7b-46b3-987d-eb34d9542c26", "task": "Follow the road until you passed the tall pole to the left", "embodiments": ["Bicycle", "Human", "Legged Robot", "Wheeled Robot"], "category": ["Geometric Terrain", "Dynamic Obstacle"], "context": "in the city center;a road in the middle;on the left side is a huge building;on the right side have a tree and some billboard; there is a tall power supply pole to the left side of the street; driving car in the back of the street", "city": "Tokyo", "country": "Japan", "lighting_conditions": "Night", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Urban", "weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c428ce0d2677c0616ecd"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/0cbf7c6e-2e7b-46b3-987d-eb34d9542c26.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": 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"task_type": "Goal", "urban_rural": "Urban", "weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c428ce0d2677c0616ece"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/00aea7e5-3ab7-48e2-b8af-c82de2ad3e6a.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:33.102Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 781855, "mime_type": "image/jpeg", "width": 1024, "height": 1360, "num_channels": 3}},{"_id": {"$oid": "6a14c429ce0d2677c0616ef6"}, "filepath": "data/01c5e3b3-a2d4-45ed-85ca-cea51651c13a.jpg", "tags": [], "_media_type": "image", "_rand": 0.9997794351730853, "split": "test", "sample_id": "01c5e3b3-a2d4-45ed-85ca-cea51651c13a", "task": "go downstaris", "embodiments": ["Human", "Legged Robot"], "category": ["Geometric 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"metadata": {"_cls": "ImageMetadata", "size_bytes": 502340, "mime_type": "image/jpeg", "width": 1365, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c429ce0d2677c0616f06"}, "filepath": "data/6b0c8acf-47c5-4f91-a57f-32949a57a72d.jpg", "tags": [], "_media_type": "image", "_rand": 0.9997129578884533, "split": "test", "sample_id": "6b0c8acf-47c5-4f91-a57f-32949a57a72d", "task": "Go to the other side of the street to the left", "embodiments": ["Human", "Legged Robot", "Wheeled Robot"], "category": ["Social Norms"], "context": "road junction in outskirts of city: Crosswalk with traffic light in front then another one to the left; Cars driving on the street to the left", "city": "Fujiyoshida", "country": "Japan", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Urban", "weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c429ce0d2677c0616edf"}, "_cls": "Segmentation", "tags": [], "mask_path": 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bench next to the bike; bollards and trees  on the edge of the road", "city": "Okinawa", "country": "Japan", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Urban", "weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c433ce0d2677c0616f07"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/5f99c25b-8e3a-4a31-b6f1-585ec98d8b6b.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:44.383Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 682049, "mime_type": "image/jpeg", "width": 1024, "height": 1360, "num_channels": 3}},{"_id": {"$oid": "6a14c434ce0d2677c0616f2f"}, "filepath": "data/6d96bf3b-c655-4155-a7cc-47736939f4ca.jpg", "tags": [], "_media_type": "image", "_rand": 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"size_bytes": 509434, "mime_type": "image/jpeg", "width": 1365, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c434ce0d2677c0616f30"}, "filepath": "data/7a6e4dd0-9256-4df3-beb3-6955f60dab62.jpg", "tags": [], "_media_type": "image", "_rand": 0.9993700692584149, "split": "test", "sample_id": "7a6e4dd0-9256-4df3-beb3-6955f60dab62", "task": "follow the road to the end", "embodiments": ["Bicycle", "Human", "Legged Robot"], "category": ["Semantic Terrain", "Geometric Terrain"], "context": "hiking trail on mountain; trail road separated by small grass path in between them; trees around the main trail road and small wire fence on border trees ", "city": "Tessin", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Natural", "task_type": "Directions", "urban_rural": "Rural", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c433ce0d2677c0616f09"}, "_cls": "Segmentation", "tags": [], "mask_path": 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side is a food stall", "city": "Zurich", "country": "Switzerland", "lighting_conditions": "Indoor Lighting", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Urban", "weather_conditions": "Unknown", "segmentation_mask": {"_id": {"$oid": "6a14c433ce0d2677c0616f0a"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/381b2a4d-2025-43c1-be1b-8297ced90ec6.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:44.384Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 443543, "mime_type": "image/jpeg", "width": 1365, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c434ce0d2677c0616f32"}, "filepath": "data/1ebff6cd-c705-400a-ba65-1a7f88122946.jpg", "tags": [], "_media_type": "image", "_rand": 0.999229529502572, "split": "test", "sample_id": "1ebff6cd-c705-400a-ba65-1a7f88122946", "task": "Go to the temple straight ahead", "embodiments": ["Bicycle", "Human", "Legged Robot", "Wheeled Robot"], "category": ["Geometric Terrain"], "context": "pathway leading traditional buildings around; right side building have a person standing with blue bottom wear; left side is empty pathway leading to another ; on right side ahead the pathway people are standing in group ", "city": "Kyoto", "country": "Japan", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Rural", "weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c433ce0d2677c0616f0b"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/1ebff6cd-c705-400a-ba65-1a7f88122946.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:44.384Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 749834, "mime_type": "image/jpeg", "width": 1024, "height": 1360, "num_channels": 3}},{"_id": {"$oid": "6a14c434ce0d2677c0616f33"}, "filepath": "data/2ab52be8-58ad-4840-a790-cf0ca539bc07.jpg", "tags": [], "_media_type": "image", "_rand": 0.9998142265063817, "split": "test", "sample_id": "2ab52be8-58ad-4840-a790-cf0ca539bc07", "task": "Follow the hiking trail", "embodiments": ["Human", "Legged Robot"], "category": ["Geometric Terrain", "Semantic Terrain"], "context": "trail going towards right; small fencing on the left side border of the trail; trees in the surrounding", "city": "S\u00e4ntis", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Natural", "task_type": "Directions", "urban_rural": "Rural", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c433ce0d2677c0616f0c"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/2ab52be8-58ad-4840-a790-cf0ca539bc07.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:44.384Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 1142948, "mime_type": "image/jpeg", "width": 1365, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c434ce0d2677c0616f34"}, "filepath": "data/2b1b0df5-037e-45a9-b7f1-9ca3dbbb2103.jpg", "tags": [], "_media_type": "image", "_rand": 0.9997182036957754, "split": "test", "sample_id": "2b1b0df5-037e-45a9-b7f1-9ca3dbbb2103", "task": "Navigate to the stone pillar on the right", "embodiments": ["Bicycle", "Human", "Legged Robot", "Wheeled Robot"], "category": ["Dynamic Obstacle", "Geometric Terrain"], "context": "park area; tall trees around the path; stone pillar to the right side right side behind the tall tree", "city": "Osaka", "country": "Japan", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Rural", "weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c433ce0d2677c0616f0d"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/2b1b0df5-037e-45a9-b7f1-9ca3dbbb2103.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:44.384Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 571956, "mime_type": "image/jpeg", "width": 1024, "height": 1360, "num_channels": 3}},{"_id": {"$oid": "6a14c434ce0d2677c0616f35"}, "filepath": "data/02fb09ff-e102-43c2-b5f7-52f85d27e254.jpg", "tags": [], "_media_type": "image", "_rand": 0.9995460668321917, "split": "test", "sample_id": "02fb09ff-e102-43c2-b5f7-52f85d27e254", "task": "Cross the bridge", "embodiments": ["Bicycle", "Human", "Legged Robot", "Wheeled Robot"], "category": ["Geometric Terrain"], "context": "park area with building in front; bridge ahead to cross the way; after bridge end their is entrance door on the left side ", "city": "Kyoto", "country": "Japan", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Directions", "urban_rural": "Rural", "weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c433ce0d2677c0616f0e"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/02fb09ff-e102-43c2-b5f7-52f85d27e254.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:44.385Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 860525, "mime_type": "image/jpeg", "width": 1024, "height": 1360, "num_channels": 3}},{"_id": {"$oid": "6a14c434ce0d2677c0616f36"}, "filepath": "data/3ad8982a-b805-4a4c-832b-3cfc8a3abec1.jpg", "tags": [], "_media_type": "image", "_rand": 0.9999675804679603, "split": "test", "sample_id": "3ad8982a-b805-4a4c-832b-3cfc8a3abec1", "task": "follow the trail to the end", "embodiments": ["Human", "Legged Robot"], "category": ["Semantic Terrain", "Geometric Terrain"], "context": "forest area with lots of trees around; hiking path ahead heading in the background; stones in between the trail", "city": "Tessin", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Natural", "task_type": "Directions", "urban_rural": "Rural", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c433ce0d2677c0616f0f"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/3ad8982a-b805-4a4c-832b-3cfc8a3abec1.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:44.385Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 1039826, "mime_type": "image/jpeg", "width": 1365, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c434ce0d2677c0616f37"}, "filepath": "data/3a014ced-9048-4750-9a89-1f25157ac26b.jpg", "tags": [], "_media_type": "image", "_rand": 0.9994923655550838, "split": "test", "sample_id": "3a014ced-9048-4750-9a89-1f25157ac26b", "task": "Go into the \"Gamers\" shop", "embodiments": ["Human", "Legged Robot", "Wheeled Robot"], "category": ["Dynamic Obstacle", "Geometric Terrain", "Social Norms"], "context": "in the downtown;some buildings around;the Gamers shop on the right side;the street is crowded", "city": "Tokyo", "country": "Japan", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Urban", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c433ce0d2677c0616f10"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/3a014ced-9048-4750-9a89-1f25157ac26b.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:44.386Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 560402, "mime_type": "image/jpeg", "width": 1024, "height": 1360, "num_channels": 3}},{"_id": {"$oid": "6a14c434ce0d2677c0616f38"}, "filepath": "data/3a97dad3-5c22-4bad-bd91-21f72f697ac7.jpg", "tags": [], "_media_type": "image", "_rand": 0.9991720570260075, "split": "test", "sample_id": "3a97dad3-5c22-4bad-bd91-21f72f697ac7", "task": "go in the yellow shop on the right", "embodiments": ["Bicycle", "Human", "Legged Robot", "Wheeled Robot"], "category": ["Social Norms"], "context": "city street junction; zebra marking to cross the road infront; zebra marking to cross the road on the right side;  people stading in front of yellow shop on the other side of street on right", "city": "Seoul", "country": "South Korea", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Urban", "weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c433ce0d2677c0616f11"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/3a97dad3-5c22-4bad-bd91-21f72f697ac7.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:44.386Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 620964, "mime_type": "image/jpeg", "width": 1360, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c434ce0d2677c0616f39"}, "filepath": "data/7bf0de57-e2f3-47cf-8948-01bb4c5ad664.jpg", "tags": [], "_media_type": "image", "_rand": 0.9991716727098544, "split": "test", "sample_id": "7bf0de57-e2f3-47cf-8948-01bb4c5ad664", "task": "Follow the trail to the end without hurting animals", "embodiments": ["Human", "Legged Robot"], "category": ["Semantic Terrain", "Geometric Terrain", "Dynamic Obstacle"], "context": "in the wild;the path in the middle;some plants around all;the right side is cliff;some goats on the ways", "city": "Tamaro", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Natural", "task_type": "Directions", "urban_rural": "Rural", "weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c433ce0d2677c0616f12"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/7bf0de57-e2f3-47cf-8948-01bb4c5ad664.png"}, "_dataset_id": {"$oid": 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"natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Rural", "weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c433ce0d2677c0616f13"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/7d6a3444-0ab0-41b2-af3d-da19ff1e41ed.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:44.386Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 408932, "mime_type": "image/jpeg", "width": 1024, "height": 1360, "num_channels": 3}},{"_id": {"$oid": "6a14c434ce0d2677c0616f3b"}, "filepath": "data/8b0449d1-bc55-4224-a817-132fb4836325.jpg", "tags": [], "_media_type": "image", "_rand": 0.9991788288463964, "split": "test", "sample_id": "8b0449d1-bc55-4224-a817-132fb4836325", "task": "go to upper floor using the door on the right", "embodiments": ["Human", "Legged Robot"], "category": ["Stationary Obstacle", "Geometric Terrain"], "context": "cycle parking area on the left; main street on the left next to cycle parking area; apartment on the right  with entrance door and stairs on left side inside the door for going to top floor", "city": "Emmen", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Urban", "weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c433ce0d2677c0616f14"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/8b0449d1-bc55-4224-a817-132fb4836325.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:44.386Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 635019, "mime_type": "image/jpeg", "width": 1820, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c434ce0d2677c0616f3c"}, "filepath": "data/7bea995b-e769-4eed-8565-776ce031f254.jpg", "tags": [], "_media_type": "image", "_rand": 0.9994614599968863, "split": "test", "sample_id": "7bea995b-e769-4eed-8565-776ce031f254", "task": "go forward and take the next turn left", "embodiments": ["Human", "Legged Robot"], "category": ["Geometric Terrain", "Visibility"], "context": "park with entrance gate ahead straight; bridge; tree area covered with bollards; drainage grill straight In front; Path crosses ahead", "city": "Kyoto", "country": "Japan", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Directions", "urban_rural": "Rural", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c433ce0d2677c0616f15"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/7bea995b-e769-4eed-8565-776ce031f254.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:44.386Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 945539, "mime_type": "image/jpeg", "width": 1024, "height": 1360, "num_channels": 3}},{"_id": {"$oid": "6a14c434ce0d2677c0616f3d"}, "filepath": "data/8d556aa8-7bee-42cb-b51e-a30dbc0134cf.jpg", "tags": [], "_media_type": "image", "_rand": 0.9999340426303623, "split": "test", "sample_id": "8d556aa8-7bee-42cb-b51e-a30dbc0134cf", "task": "enter the second house to the right", "embodiments": ["Human", "Legged Robot", "Wheeled Robot"], "category": ["Accessibility"], "context": "residential area; bikes parked on the sides of the road; road decorated with flags and night lamps; ramp and stairs have access to the houses; ", "city": "nan", "country": "Vietnam", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Rural", "weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c433ce0d2677c0616f16"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/8d556aa8-7bee-42cb-b51e-a30dbc0134cf.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:44.386Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 436177, "mime_type": "image/jpeg", "width": 1024, "height": 1365, "num_channels": 3}},{"_id": {"$oid": "6a14c434ce0d2677c0616f3e"}, "filepath": "data/8cc8abee-5c8e-42dc-9ab3-e96a4fa679d1.jpg", "tags": [], "_media_type": "image", "_rand": 0.9992867830943759, "split": "test", "sample_id": "8cc8abee-5c8e-42dc-9ab3-e96a4fa679d1", "task": "enter the house in the background", "embodiments": ["Bicycle", "Human", "Legged Robot"], "category": ["Visibility", "Semantic Terrain"], "context": "mountain area; hiking path straight leads towards the house in the background; mountain covered with grass on both sides of road", "city": "S\u00e4ntis", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Natural", "task_type": "Goal", "urban_rural": "Rural", "weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c433ce0d2677c0616f17"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/8cc8abee-5c8e-42dc-9ab3-e96a4fa679d1.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:44.386Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 941667, "mime_type": "image/jpeg", "width": 1365, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c434ce0d2677c0616f3f"}, "filepath": "data/8eed2028-1193-4cb1-8c18-a1d6194c62d0.jpg", "tags": [], "_media_type": "image", "_rand": 0.9996740307628031, "split": "test", "sample_id": "8eed2028-1193-4cb1-8c18-a1d6194c62d0", "task": "change platforms", "embodiments": ["Bicycle", "Human", "Legged Robot", "Wheeled Robot"], "category": ["Geometric Terrain", "Accessibility"], "context": "railway platform; ahead is a ramp heading to the exit; stairs to go to the platform ending after ending the ramp; right side next to ramp  lead straight to the end of the platform; ", "city": "Emmen", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Urban", "weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c433ce0d2677c0616f18"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/8eed2028-1193-4cb1-8c18-a1d6194c62d0.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:44.387Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 593521, "mime_type": "image/jpeg", "width": 1820, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c434ce0d2677c0616f40"}, "filepath": "data/8e0b2a23-8e64-4536-b7ba-7f3269a5cffc.jpg", "tags": [], "_media_type": "image", "_rand": 0.9992388354014298, "split": "test", "sample_id": "8e0b2a23-8e64-4536-b7ba-7f3269a5cffc", "task": "follow the trail and take first turn right", "embodiments": ["Human", "Legged Robot"], "category": ["Semantic Terrain", "Geometric Terrain"], "context": "hiking path in the forest; grass covers the area around the trail; road coming from right merges with the main road heading straight", "city": "Tamaro", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Natural", "task_type": "Directions", "urban_rural": "Rural", "weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c433ce0d2677c0616f19"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/8e0b2a23-8e64-4536-b7ba-7f3269a5cffc.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:44.387Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 1082584, "mime_type": "image/jpeg", "width": 1365, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c434ce0d2677c0616f41"}, "filepath": "data/8f019a7c-8f90-4377-87fa-1247177f8010.jpg", "tags": [], "_media_type": "image", "_rand": 0.9994990019924209, "split": "test", "sample_id": "8f019a7c-8f90-4377-87fa-1247177f8010", "task": "enter the second apartment straight ahead on the right", "embodiments": ["Bicycle", "Human", "Legged Robot", "Wheeled Robot"], "category": ["Stationary Obstacle"], "context": "residential area road; car parked out side the apartment on left; right side has two apartment; second apartment; second apartment is on straight ahead right side; decoration pots ahead in between the road", "city": "Tessin", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Directions", "urban_rural": "Rural", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c433ce0d2677c0616f1a"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/8f019a7c-8f90-4377-87fa-1247177f8010.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:44.387Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 662220, "mime_type": "image/jpeg", "width": 1368, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c434ce0d2677c0616f42"}, "filepath": "data/8ff5570f-83aa-4a68-980c-78cf849be813.jpg", "tags": [], "_media_type": "image", "_rand": 0.9995426353732302, "split": "test", "sample_id": "8ff5570f-83aa-4a68-980c-78cf849be813", "task": "go to the information board on the wall of the big pillar ahead", "embodiments": ["Human", "Legged Robot"], "category": ["Geometric Terrain"], "context": "research facility on top of mountain; some elevation below is the big pillar on the left;  stairs go to the pillar; pillar has black board  displayed", "city": "S\u00e4ntis", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Rural", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c433ce0d2677c0616f1b"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/8ff5570f-83aa-4a68-980c-78cf849be813.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:44.387Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 602124, "mime_type": "image/jpeg", "width": 1365, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c434ce0d2677c0616f43"}, "filepath": "data/8ff7418f-5bda-4aa3-9f5e-c84c5263ed9a.jpg", "tags": [], "_media_type": "image", "_rand": 0.9994493430831985, "split": "test", "sample_id": "8ff7418f-5bda-4aa3-9f5e-c84c5263ed9a", "task": "follow the trail to the end", "embodiments": ["Human", "Legged Robot"], "category": ["Semantic Terrain", "Geometric Terrain"], "context": "forest area; hiking trail in between the forest area; trail has lots of small stones on it", "city": "Tessin", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Natural", "task_type": "Directions", "urban_rural": "Rural", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c433ce0d2677c0616f1c"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/8ff7418f-5bda-4aa3-9f5e-c84c5263ed9a.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:44.387Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 1064221, "mime_type": "image/jpeg", "width": 1365, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c434ce0d2677c0616f44"}, "filepath": "data/9bf0309f-36ae-4989-a1bd-308a6a4c9312.jpg", "tags": [], "_media_type": "image", "_rand": 0.9990623792180146, "split": "test", "sample_id": "9bf0309f-36ae-4989-a1bd-308a6a4c9312", "task": "go to the door of the building in front", "embodiments": ["Bicycle", "Human", "Legged Robot", "Wheeled Robot"], "category": ["Stationary Obstacle", "Geometric Terrain"], "context": "In city; bicycles parking on both side of street; building in front has a door to enter in the middle;", "city": "Emmen", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Urban", "weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c433ce0d2677c0616f1d"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/9bf0309f-36ae-4989-a1bd-308a6a4c9312.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:44.387Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 787419, "mime_type": "image/jpeg", "width": 1820, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c434ce0d2677c0616f45"}, "filepath": "data/09bb6d99-e9c3-416c-9e3e-38537a0e8759.jpg", "tags": [], "_media_type": "image", "_rand": 0.9993611991787089, "split": "test", "sample_id": "09bb6d99-e9c3-416c-9e3e-38537a0e8759", "task": "Follow the road and take the next turn left", "embodiments": ["Bicycle", "Human", "Legged Robot", "Wheeled Robot"], "category": ["Geometric Terrain"], "context": "residential area of city; street on right side heading  straight;  4 way intersection down the street;  Pole ahead partially blocking the sidewalk", "city": "Kyoto", "country": "Japan", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Directions", "urban_rural": "Urban", "weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c433ce0d2677c0616f1e"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/09bb6d99-e9c3-416c-9e3e-38537a0e8759.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:44.387Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 615663, "mime_type": "image/jpeg", "width": 1024, "height": 1360, "num_channels": 3}},{"_id": {"$oid": "6a14c434ce0d2677c0616f46"}, "filepath": "data/9ea7dd96-e18b-4395-886d-3ec212d66d29.jpg", "tags": [], "_media_type": "image", "_rand": 0.9999134277955025, "split": "test", "sample_id": "9ea7dd96-e18b-4395-886d-3ec212d66d29", "task": "follow the trail ", "embodiments": ["Human", "Legged Robot"], "category": ["Stationary Obstacle", "Geometric Terrain"], "context": "forest area with hiking trial heading left; tree fallen in the way of trail ahead; right side of the trail have deep valley; ", "city": "Tamaro", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Natural", "task_type": "Directions", "urban_rural": "Rural", "weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c433ce0d2677c0616f1f"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/9ea7dd96-e18b-4395-886d-3ec212d66d29.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:44.387Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 1055962, "mime_type": "image/jpeg", "width": 1365, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c434ce0d2677c0616f47"}, "filepath": "data/20e96628-4d2a-4f98-8eef-87027d3e94ac.jpg", "tags": [], "_media_type": "image", "_rand": 0.9998520377016473, "split": "test", "sample_id": "20e96628-4d2a-4f98-8eef-87027d3e94ac", "task": "Go to the building with the IKEA advertisement", "embodiments": ["Bicycle", "Human", "Legged Robot", "Wheeled Robot"], "category": ["Dynamic Obstacle", "Social Norms"], "context": "in the downtown;at an intersection;zebra crossing ahead;many people under the building", "city": "Tokyo", "country": "Japan", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Urban", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c434ce0d2677c0616f20"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/20e96628-4d2a-4f98-8eef-87027d3e94ac.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:44.387Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", 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"city": "Zurich", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Urban", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c440ce0d2677c0616f74"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/11800ab7-7111-4105-b257-c08d0c034f91.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:56.495Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 595811, "mime_type": "image/jpeg", "width": 1365, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c440ce0d2677c0616f9c"}, "filepath": "data/9802b083-a7bc-432b-9f9f-49aa636f7208.jpg", "tags": [], "_media_type": "image", "_rand": 0.9991850806760705, "split": "test", "sample_id": 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"height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c440ce0d2677c0616f9d"}, "filepath": "data/49508a5d-e905-405d-9f54-7692462d8566.jpg", "tags": [], "_media_type": "image", "_rand": 0.9990553158455373, "split": "test", "sample_id": "49508a5d-e905-405d-9f54-7692462d8566", "task": "Go to the restaurant on the left", "embodiments": ["Bicycle", "Human", "Legged Robot", "Wheeled Robot"], "category": ["Stationary Obstacle", "Geometric Terrain", "Dynamic Obstacle"], "context": "at a inner city street corner; yellow building with hanging lanterns on the left; motorbikes and cars on the road", "city": "nan", "country": "Vietnam", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Urban", "weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c440ce0d2677c0616f76"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/49508a5d-e905-405d-9f54-7692462d8566.png"}, "_dataset_id": {"$oid": 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branches on the ground; green grass on the left slope; background with more trees", "city": "Tamaro", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Natural", "task_type": "Directions", "urban_rural": "Rural", "weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c440ce0d2677c0616f7b"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/1496919f-0232-46bb-8f83-0dce85c9d9c2.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:50:56.495Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 1093168, "mime_type": "image/jpeg", "width": 1365, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c44cce0d2677c0616fca"}, "filepath": "data/2289959f-1495-4c84-9e33-e1a7b1f6c3d2.jpg", "tags": [], "_media_type": "image", "_rand": 0.9991050151845039, "split": "test", "sample_id": "2289959f-1495-4c84-9e33-e1a7b1f6c3d2", "task": "Pass the black car with the trailer and cross the street to the left", "embodiments": ["Human", "Legged Robot", "Wheeled Robot"], "category": ["Stationary Obstacle", "Geometric Terrain", "Dynamic Obstacle"], "context": "On Pavement beside the narrow road ; warning sign with \"Gartenbau\"; puddle on the ground; metal fence on the right; buildings and parking structure in the background", "city": "Emmen", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Directions", "urban_rural": "Urban", "weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c44ace0d2677c0616fa3"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/2289959f-1495-4c84-9e33-e1a7b1f6c3d2.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:51:08.136Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 696824, "mime_type": "image/jpeg", "width": 1820, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c44cce0d2677c0616fcb"}, "filepath": "data/4366122e-034b-4aa1-9f91-29165bb71b3d.jpg", "tags": [], "_media_type": "image", "_rand": 0.9995314240227618, "split": "test", "sample_id": "4366122e-034b-4aa1-9f91-29165bb71b3d", "task": "enter the train couch for the first class", "embodiments": ["Human", "Legged Robot", "Wheeled Robot"], "category": ["Social Norms"], "context": "at a train platform; red and white train with open doors; display showing \"S1 Zug\";  tactile paving next to the platform; first class on the right, second class on the left", "city": "Emmen", "country": "Switzerland", "lighting_conditions": "Indoor Lighting", "natural_structured": "Structured", "task_type": 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"natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Rural", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c44bce0d2677c0616fa7"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/8270858c-8fee-48e7-b1f1-c6c3c9d283b2.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:51:08.137Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 1005646, "mime_type": "image/jpeg", "width": 1365, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c44cce0d2677c0616fcf"}, "filepath": "data/21039608-50ef-4936-a318-da86d23e5119.jpg", "tags": [], "_media_type": "image", "_rand": 0.9998963846413264, "split": "test", "sample_id": "21039608-50ef-4936-a318-da86d23e5119", "task": "Follow the hiking trail ", "embodiments": 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"metadata": {"_cls": "ImageMetadata", "size_bytes": 401581, "mime_type": "image/jpeg", "width": 1024, "height": 1365, "num_channels": 3}},{"_id": {"$oid": "6a14c458ce0d2677c0617031"}, "filepath": "data/1037735c-352b-44a4-95d9-d61b63d364ad.jpg", "tags": [], "_media_type": "image", "_rand": 0.9990607791248799, "split": "test", "sample_id": "1037735c-352b-44a4-95d9-d61b63d364ad", "task": "Go to the arcade", "embodiments": ["Human", "Legged Robot", "Wheeled Robot"], "category": ["Geometric Terrain", "Semantic Terrain"], "context": " In a garden; Stone walkway; Hedges and trees on either side of the walkway; A fountain is in the center; A building with arched windows is in the background; Orange trees with ripe fruit grow on the right", "city": "Unknown", "country": "Spain", "lighting_conditions": "Daylight", "natural_structured": "Mixed", "task_type": "Goal", "urban_rural": "Urban", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c458ce0d2677c061700b"}, "_cls": 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umbrellas; People are sitting and eating at the tables; Large trees on the right; Lake and mountains in the background", "city": "Tessin", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Urban", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c458ce0d2677c061700c"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/d0b047a1-4da0-45cf-8128-995287517521.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:51:20.526Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 602203, "mime_type": "image/jpeg", "width": 1368, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c458ce0d2677c0617033"}, "filepath": 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"weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c458ce0d2677c061700e"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/d2eb3094-c8e2-4c4c-a5f2-c2cdcc8ea0ce.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:51:20.526Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 644485, "mime_type": "image/jpeg", "width": 1820, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c458ce0d2677c0617035"}, "filepath": "data/d3c4672f-e3ff-459b-8648-4b679380e099.jpg", "tags": [], "_media_type": "image", "_rand": 0.9994122681833646, "split": "test", "sample_id": "d3c4672f-e3ff-459b-8648-4b679380e099", "task": "Follow the trail to the end", "embodiments": ["Human", "Legged Robot"], "category": ["Semantic Terrain", "Geometric Terrain"], "context": "forest hiking trial; grass to both sides of the trail; big bush to the left side; trail continues in the forest", "city": "Tessin", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Natural", "task_type": "Directions", "urban_rural": "Rural", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c458ce0d2677c061700f"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/d3c4672f-e3ff-459b-8648-4b679380e099.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:51:20.526Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 1042023, "mime_type": "image/jpeg", "width": 1365, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c458ce0d2677c0617036"}, "filepath": 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"has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 578880, "mime_type": "image/jpeg", "width": 1024, "height": 1360, "num_channels": 3}},{"_id": {"$oid": "6a14c458ce0d2677c0617037"}, "filepath": "data/d6e6c5eb-11c7-4ea5-82bf-90bd1ed9356f.jpg", "tags": [], "_media_type": "image", "_rand": 0.9990933683626746, "split": "test", "sample_id": "d6e6c5eb-11c7-4ea5-82bf-90bd1ed9356f", "task": "Follow the path forward and turn right where the person is standing", "embodiments": ["Bicycle", "Human", "Legged Robot", "Wheeled Robot"], "category": ["Geometric Terrain", "Stationary Obstacle", "Visibility"], "context": "Concrete walking path; Tall green hedge on the left; Low green hedge on the right; A person is standing down the path in the distance; Buildings are in the background", "city": "Emmen", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Directions", "urban_rural": "Urban", "weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c458ce0d2677c0617011"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/d6e6c5eb-11c7-4ea5-82bf-90bd1ed9356f.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:51:20.526Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 896288, "mime_type": "image/jpeg", "width": 1820, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c458ce0d2677c0617038"}, "filepath": "data/d5d986b1-b046-407c-95b4-31b118e48b0b.jpg", "tags": [], "_media_type": "image", "_rand": 0.9991809765955487, "split": "test", "sample_id": "d5d986b1-b046-407c-95b4-31b118e48b0b", "task": "Go up the stairs in the back", "embodiments": ["Human", "Legged Robot"], "category": ["Geometric Terrain", "Stationary Obstacle"], "context": "In a shopping area; Small shops with colorful signs line the path; A flight of stairs is visible in the background", "city": "Okinawa", "country": "Japan", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Directions", "urban_rural": "Urban", "weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c458ce0d2677c0617012"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/d5d986b1-b046-407c-95b4-31b118e48b0b.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:51:20.526Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 505976, "mime_type": "image/jpeg", "width": 1024, "height": 1360, "num_channels": 3}},{"_id": {"$oid": 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"In a train station; People are walking and waiting on the platform; Trains are visible on the tracks in the background; Directional signs and train information screen are hanging from the ceiling", "city": "Emmen", "country": "Switzerland", "lighting_conditions": "Indoor Lighting", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Urban", "weather_conditions": "Unknown", "segmentation_mask": {"_id": {"$oid": "6a14c458ce0d2677c0617015"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/d83d6405-d7a4-4e51-9fb0-615a195d706b.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:51:20.526Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 576798, "mime_type": "image/jpeg", "width": 1820, "height": 1024, "num_channels": 3}},{"_id": {"$oid": 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"num_channels": 3}},{"_id": {"$oid": "6a14c463ce0d2677c0617077"}, "filepath": "data/1ac4b8a0-e382-4f6e-b542-c6b3705ee60c.jpg", "tags": [], "_media_type": "image", "_rand": 0.9995748610440339, "split": "test", "sample_id": "1ac4b8a0-e382-4f6e-b542-c6b3705ee60c", "task": "Enter the wooden house via the porch.", "embodiments": ["Human", "Legged Robot"], "category": ["Geometric Terrain"], "context": "Cabin in the woods in front; A paved driveway leads to a wooden building with a balcony; A small shed is next to the building; A large boulder is on the right; A dense forest is in the background", "city": "GrandTour Dataset", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Rural", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c463ce0d2677c0617051"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/1ac4b8a0-e382-4f6e-b542-c6b3705ee60c.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:51:31.672Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 471490, "mime_type": "image/jpeg", "width": 1536, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c463ce0d2677c0617078"}, "filepath": "data/e7068fea-f446-4dd2-b566-b264637a1f50.jpg", "tags": [], "_media_type": "image", "_rand": 0.999481859413983, "split": "test", "sample_id": "e7068fea-f446-4dd2-b566-b264637a1f50", "task": "Follow the path to the end", "embodiments": ["Bicycle", "Human", "Legged Robot", "Wheeled Robot"], "category": ["Semantic Terrain", "Geometric Terrain"], "context": "Tree lined stone path in a garden park; Bench to the right of the path;  A single tree with red foliage is in the right", "city": "Kyoto", "country": "Japan", "lighting_conditions": "Daylight", 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"City scene with people walking on a paved area; A yellow building with a blue sign is in the background; Trees with green leaves is on the left; A modern style building with a glass facade is on the right", "city": "Seoul", "country": "South Korea", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Urban", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c463ce0d2677c0617055"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/ec1e9e2f-e30e-4203-9fe5-b4ba5a924127.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:51:31.672Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 468568, "mime_type": "image/jpeg", "width": 1024, "height": 1360, "num_channels": 3}},{"_id": {"$oid": 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"city": "GrandTour Dataset", "country": "Switzerland", "lighting_conditions": "Indoor Lighting", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Urban", "weather_conditions": "Unknown", "segmentation_mask": {"_id": {"$oid": "6a14c463ce0d2677c0617057"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/1d63dfd1-b61c-49fe-bd83-da77b5cfe99a.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:51:31.672Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 239356, "mime_type": "image/jpeg", "width": 1536, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c463ce0d2677c061707e"}, "filepath": "data/1d7f3885-3262-4c9e-824a-1485332a04aa.jpg", "tags": [], "_media_type": "image", "_rand": 0.9993589729203809, "split": "test", "sample_id": 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"tags": [], "_media_type": "image", "_rand": 0.9997760831272869, "split": "test", "sample_id": "fd706ffc-ce9b-4b56-822d-7a229c9252bb", "task": "Go to the yellow post with a sign", "embodiments": ["Human", "Legged Robot"], "category": ["Semantic Terrain", "Geometric Terrain"], "context": "forest hiking area; trail to the left side; person in front walking on trail; trail covered with grass continues in the background; fencing in front ", "city": "Tessin", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Natural", "task_type": "Goal", "urban_rural": "Rural", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c46ece0d2677c06170a0"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/fd706ffc-ce9b-4b56-822d-7a229c9252bb.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:51:43.183Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 1148587, "mime_type": "image/jpeg", "width": 1365, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c46fce0d2677c06170c7"}, "filepath": "data/1a412705-45e6-467d-b7b0-0cdb68d4cb02.jpg", "tags": [], "_media_type": "image", "_rand": 0.9999512386750904, "split": "test", "sample_id": "1a412705-45e6-467d-b7b0-0cdb68d4cb02", "task": "Follow the trail to the end", "embodiments": ["Human", "Legged Robot"], "category": ["Geometric Terrain", "Semantic Terrain", "Visibility"], "context": "in the wild;the path in the middle;the plants of the both sides of  the path;", "city": "La Ca\u00f1ada Flintridge", "country": "USA", "lighting_conditions": "Daylight", "natural_structured": "Natural", "task_type": "Directions", "urban_rural": "Rural", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c46ece0d2677c06170a1"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/1a412705-45e6-467d-b7b0-0cdb68d4cb02.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:51:43.183Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 965873, "mime_type": "image/jpeg", "width": 1365, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c46fce0d2677c06170c8"}, "filepath": "data/2076a3d5-4d6d-456a-93f5-022dcc19f0fc.jpg", "tags": [], "_media_type": "image", "_rand": 0.9999570911627029, "split": "test", "sample_id": "2076a3d5-4d6d-456a-93f5-022dcc19f0fc", "task": "Go under the tree ahead", "embodiments": ["Human", "Legged Robot"], "category": ["Geometric Terrain", "Semantic Terrain"], "context": "Trail follows mountain ridge; Rocky steps lead up mountain; Sheer cliff face on left; Valley visible on right; Mountain ranges in distance", "city": "Zion", "country": "USA", "lighting_conditions": "Daylight", "natural_structured": "Natural", "task_type": "Goal", "urban_rural": "Rural", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c46ece0d2677c06170a2"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/2076a3d5-4d6d-456a-93f5-022dcc19f0fc.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:51:43.183Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 604238, "mime_type": "image/jpeg", "width": 1024, "height": 1365, "num_channels": 3}},{"_id": {"$oid": "6a14c46fce0d2677c06170c9"}, "filepath": "data/2252044a-7e7c-4364-beb2-d8f304fbb036.jpg", "tags": [], "_media_type": "image", "_rand": 0.9990228797046681, "split": "test", "sample_id": 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"size_bytes": 535493, "mime_type": "image/jpeg", "width": 1536, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c46fce0d2677c06170ca"}, "filepath": "data/22dabc4d-7372-473d-a516-9b2130d43bea.jpg", "tags": [], "_media_type": "image", "_rand": 0.9991894023724025, "split": "test", "sample_id": "22dabc4d-7372-473d-a516-9b2130d43bea", "task": "Go to the top of the mountain", "embodiments": ["Human", "Legged Robot"], "category": ["Semantic Terrain", "Geometric Terrain", "Dynamic Obstacle"], "context": "in the wild;the mountain in the middle;a path point to the peak;some people on the way;some grass around of the both sides of the path", "city": "Stoos", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Natural", "task_type": "Goal", "urban_rural": "Rural", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c46ece0d2677c06170a4"}, "_cls": "Segmentation", "tags": [], "mask_path": 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"lighting_conditions": "Indoor Lighting", "natural_structured": "Mixed", "task_type": "Goal", "urban_rural": "Urban", "weather_conditions": "Unknown", "segmentation_mask": {"_id": {"$oid": "6a14c46ece0d2677c06170a5"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/22ed02a3-1436-4a6f-a6dd-4181148be12c.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:51:43.183Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 246581, "mime_type": "image/jpeg", "width": 1536, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c46fce0d2677c06170cc"}, "filepath": "data/2472b593-d164-46ca-b5d6-813be71f8e87.jpg", "tags": [], "_media_type": "image", "_rand": 0.999698930835084, "split": "test", "sample_id": "2472b593-d164-46ca-b5d6-813be71f8e87", "task": "Follow the 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false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 991062, "mime_type": "image/jpeg", "width": 1365, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c46fce0d2677c06170cd"}, "filepath": "data/24798fbc-e280-4310-8d38-f417ba8a90a1.jpg", "tags": [], "_media_type": "image", "_rand": 0.9994440941194132, "split": "test", "sample_id": "24798fbc-e280-4310-8d38-f417ba8a90a1", "task": "Go to the tree on the left", "embodiments": ["Human", "Legged Robot"], "category": ["Geometric Terrain", "Semantic Terrain", "Dynamic Obstacle"], "context": "Gravel path leads through green hills; Cows graze near water and under a tree; Pine trees scattered on right side hillside; Mountains in distance", "city": "Seealpsee", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Natural", "task_type": "Goal", "urban_rural": "Rural", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c46ece0d2677c06170a7"}, "_cls": 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roof;some plants around of the road; In the mountains", "city": "Zermatt", "country": "Switzerland", "lighting_conditions": "Daylight", "natural_structured": "Natural", "task_type": "Goal", "urban_rural": "Rural", "weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c46fce0d2677c06170a8"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/24bf98a3-cafb-4095-bd4a-e5367bec97fa.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:51:43.184Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 417523, "mime_type": "image/jpeg", "width": 1536, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c46fce0d2677c06170cf"}, "filepath": "data/2703125e-c038-46ec-8090-7ade979d545a.jpg", "tags": [], "_media_type": "image", "_rand": 0.9994146390936479, "split": "test", "sample_id": "2703125e-c038-46ec-8090-7ade979d545a", "task": "Follow the left trail to the end", "embodiments": ["Human", "Legged Robot"], "category": ["Geometric Terrain", "Semantic Terrain"], "context": "Trail goes through tall forest; Right side trail is paved; Left side is dirt and roots", "city": "GrandTour Dataset", "country": "Switzerland", "lighting_conditions": "Night", "natural_structured": "Natural", "task_type": "Directions", "urban_rural": "Rural", "weather_conditions": "Clear", "segmentation_mask": {"_id": {"$oid": "6a14c46fce0d2677c06170a9"}, "_cls": "Segmentation", "tags": [], "mask_path": "fields/segmentation_mask/2703125e-c038-46ec-8090-7ade979d545a.png"}, "_dataset_id": {"$oid": "6a14c407ce0d2677c0616e1c"}, "created_at": {"$date": "2026-05-25T21:51:43.184Z"}, "last_modified_at": {"$date": "2026-05-25T22:02:11.887Z"}, "has_bicycle": false, "has_human": false, "has_legged_robot": false, "has_wheeled_robot": false, "metadata": 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"has_legged_robot": false, "has_wheeled_robot": false, "metadata": {"_cls": "ImageMetadata", "size_bytes": 663570, "mime_type": "image/jpeg", "width": 2275, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c49cce0d2677c06171f0"}, "filepath": "data/85b29437-b1ad-48b1-98d9-ba7d08f2dc2e.jpg", "tags": [], "_media_type": "image", "_rand": 0.9995229924188769, "split": "test", "sample_id": "85b29437-b1ad-48b1-98d9-ba7d08f2dc2e", "task": "Go to the end of the road", "embodiments": ["Bicycle", "Human", "Legged Robot", "Wheeled Robot"], "category": ["Social Norms", "Stationary Obstacle", "Semantic Terrain"], "context": "Next to a big road at night; On the left side of the road leads a walkway along; Pollar ahead partially blocks the path; Bike lane on the road leads in opposite direction", "city": "Unknown", "country": "Switzerland", "lighting_conditions": "Night", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Urban", "weather_conditions": "Clear", 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"size_bytes": 416100, "mime_type": "image/jpeg", "width": 2275, "height": 1024, "num_channels": 3}},{"_id": {"$oid": "6a14c49cce0d2677c06171f6"}, "filepath": "data/72538d82-b00c-4d5c-8309-263087b8724e.jpg", "tags": [], "_media_type": "image", "_rand": 0.9992647638758935, "split": "test", "sample_id": "72538d82-b00c-4d5c-8309-263087b8724e", "task": "Go into the supermarket on the left on the fastest possible way", "embodiments": ["Bicycle", "Human", "Legged Robot", "Wheeled Robot"], "category": ["Social Norms", "Geometric Terrain"], "context": "In industrial area with a supermarket to the left;Pedestrian path goes to the left; Road on the right; Pedestrian path has a high curb", "city": "Neckarsulm", "country": "Germany", "lighting_conditions": "Daylight", "natural_structured": "Structured", "task_type": "Goal", "urban_rural": "Rural", "weather_conditions": "Cloudy", "segmentation_mask": {"_id": {"$oid": "6a14c49cce0d2677c06171d0"}, "_cls": "Segmentation", "tags": [], "mask_path": 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