image imagewidth (px) 1.02k 1.28k | lang_goal stringlengths 47 49 | trajectory_2d stringlengths 10 5.76k | trajectory_3d stringlengths 61 29.7k | camera_params stringclasses 4 values | horizon int64 1 476 | shorter_trajectory_2d stringlengths 10 5.76k | shorter_trajectory_3d stringlengths 61 29.7k | subsampled_trajectory_2d stringlengths 50 65 | goal_2d stringlengths 6 12 | text stringlengths 36 36 | label stringlengths 90 90 | label_list stringlengths 140 140 | curvature float64 1 128 | global_idx int64 0 10.9k | chunk_idx int64 0 21 | reasoning stringlengths 169 1.2k | quality_analysis stringlengths 261 2.12k | diversity_analysis stringlengths 197 919 | terrain_descriptions stringlengths 57 562 | trajectory_descriptions stringlengths 591 1.37k | rankings stringclasses 718 values | trajectory_original stringlengths 83 5.83k | trajectory_mirrored stringlengths 83 5.84k ⌀ | trajectory_noise_04 stringlengths 160 13.2k ⌀ | original_trajectory_type stringclasses 1 value | num_filtered_trajectories int64 1 3 | ranking_threshold int64 3 3 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Navigate to <point x="47.2" y="51.8">goal</point> | [[642, 714], [642, 698], [644, 682], [646, 667], [647, 656], [647, 645], [644, 635], [638, 625], [632, 614], [632, 605], [632, 597], [633, 591], [636, 584], [639, 576], [642, 570], [645, 564], [648, 559], [651, 554], [652, 547], [654, 541], [657, 536], [660, 534], [666, 530], [672, 525], [675, 520], [678, 516], [681, 514], [682, 511], [684, 506], [686, 503], [688, 500], [689, 498], [694, 496], [696, 492], [697, 489], [699, 487], [701, 485], [702, 481], [703, 478], [705, 476], [706, 475], [707, 474], [711, 471], [713, 469], [714, 467], [715, 466], [717, 464], [718, 462], [718, 460], [720, 457], [721, 457], [722, 456], [725, 454], [726, 453], [727, 451], [728, 450], [730, 449], [730, 448], [732, 445], [732, 444], [733, 443], [735, 442], [737, 441], [738, 439], [739, 438], [741, 437], [741, 436], [742, 435], [743, 433], [743, 432], [744, 432], [746, 431], [747, 430], [747, 429], [749, 428], [750, 428], [750, 426], [751, 425], [751, 424], [752, 424], [753, 424], [755, 422], [756, 421], [757, 420], [758, 420], [758, 419], [759, 418], [760, 417], [761, 417], [762, 416], [763, 416], [764, 414], [765, 414], [766, 413], [767, 412], [767, 411], [768, 411], [768, 410], [769, 410], [769, 408], [768, 407], [768, 406], [767, 406], [766, 405], [765, 405], [764, 405], [764, 404], [763, 403], [762, 403], [760, 402], [758, 402], [757, 401], [755, 400], [753, 400], [752, 400], [750, 400], [748, 399], [746, 398], [744, 398], [742, 398], [739, 397], [738, 397], [736, 396], [733, 396], [730, 396], [727, 396], [724, 395], [722, 394], [720, 394], [717, 394], [714, 394], [711, 393], [709, 393], [706, 393], [703, 393], [701, 392], [699, 392], [696, 392], [693, 391], [690, 391], [688, 391], [686, 390], [683, 390], [679, 390], [677, 390], [674, 390], [672, 389], [671, 389], [669, 389], [666, 389], [664, 388], [662, 388], [660, 388], [658, 388], [657, 387], [656, 387], [655, 386], [654, 386], [653, 386], [651, 386], [649, 385], [648, 385], [646, 385], [645, 385], [644, 385], [643, 384], [641, 384], [640, 384], [638, 384], [637, 384], [636, 383], [634, 383], [633, 383], [631, 383], [630, 383], [629, 382], [628, 382], [626, 382], [625, 382], [624, 381], [623, 381], [621, 381], [620, 381], [619, 381], [619, 380], [618, 380], [617, 380], [616, 380], [615, 380], [614, 380], [613, 379], [612, 379], [611, 379], [610, 379], [610, 378], [609, 378], [608, 378], [607, 378], [606, 377], [605, 377], [604, 377], [603, 377], [603, 376], [602, 376], [601, 376], [601, 375], [601, 374], [602, 374], [602, 373], [603, 373], [604, 372], [604, 373]] | [[2.651061858704253, -0.02762453179890656, -0.058711849659975], [2.740744500599561, -0.03174770802399962, -0.06275620660246517], [2.8436704911155744, -0.035416851267143556, -0.0709850877163305], [2.939465816057094, -0.04035656263556575, -0.07571304313071181], [3.0079936823732965, -0.04286881683125898, -0.07353109113918066], [3.0836666973536353, -0.04713877608742223, -0.07066770319180549], [3.164895319057905, -0.048176597840353, -0.07364214204754305], [3.2591242270479484, -0.04870746683675975, -0.080316719352858], [3.346030790261949, -0.049305536958343055, -0.0830747949181081], [3.4243555374020787, -0.055114236847686016, -0.08152076536487485], [3.5017216679127614, -0.060894052116807984, -0.07754856979919467], [3.574941543963604, -0.07222850894740418, -0.08085866162462096], [3.670098795620106, -0.08995243863130042, -0.0879919434159433], [3.7592480562279604, -0.10942606765628682, -0.09254870910389812], [3.8301058043742557, -0.12549199088053342, -0.09109314599006169], [3.903522088479093, -0.14586603011473187, -0.08839512044602671], [3.983271345200194, -0.16537424221976949, -0.09086470752520626], [4.076633164331156, -0.19020921739141272, -0.09728822213973132], [4.1639338228534655, -0.2114847829779194, -0.1003048521877048], [4.242460798189967, -0.23346991773080106, -0.09891427049171142], [4.327467595742235, -0.2554739859066757, -0.09630314680482499], [4.393925761412191, -0.27490233319525714, -0.10023444025261696], [4.484312990001456, -0.3031132669122343, -0.10772141399626278], [4.588198719366034, -0.3372398848824929, -0.1130597425709503], [4.671573359617355, -0.3622746805809527, -0.1092958223113989], [4.75256957549928, -0.3854853626059622, -0.10810851534516175], [4.826700766897886, -0.4081323845541789, -0.11236807216274158], [4.919039955088181, -0.4335950010011942, -0.11837013555052422], [5.0021769994206124, -0.4543375095704363, -0.11920718127985808], [5.066648291164114, -0.4719063721132528, -0.11709584045546961], [5.150683701580135, -0.49304023863979296, -0.1168786590003954], [5.231921920601621, -0.514090967653658, -0.12299615064204517], [5.324113362887033, -0.540441716414719, -0.1308498917815939], [5.406040086131071, -0.5647507433691317, -0.13404842752410673], [5.482339870640715, -0.5855524751655565, -0.1301936909593131], [5.55620231406607, -0.6065505177758439, -0.12880154033012303], [5.657432515544713, -0.6350505943939169, -0.1345887335559972], [5.757951188982332, -0.6616964293880301, -0.138938853963694], [5.840066032999516, -0.6826046288436629, -0.1374072658294061], [5.90934255130648, -0.6995487999294738, -0.13292236403309943], [5.978431342193204, -0.7204239476426153, -0.13565044441032725], [6.074004002158517, -0.7483033301881648, -0.14390382614028496], [6.157555784352468, -0.7756921568406909, -0.15053488380401703], [6.233085985472371, -0.8008397884627954, -0.15218145961881646], [6.309933564356669, -0.8258554617652294, -0.14797912546918468], [6.381511565892282, -0.8473728962689933, -0.14795405584892052], [6.467117658831114, -0.8743786181403266, -0.15323332268954104], [6.574152903964176, -0.9056861283570612, -0.15796678383690477], [6.642167170057121, -0.9246297251731619, -0.15720478605813426], [6.724075628222209, -0.9468812757281739, -0.1523998935813502], [6.785615388576701, -0.9665356192045351, -0.15479161172824263], [6.875908379629493, -0.9927431095159847, -0.16184941342808656], [6.964958811349078, -1.0205692142071285, -0.16875251535734748], [7.040868386757779, -1.0452430333924099, -0.17032163086781438], [7.1142977747315115, -1.0692729878547453, -0.1665908182603708], [7.193309100783608, -1.0928825249070684, -0.1673199473225715], [7.279792109967957, -1.1205912160685614, -0.17330832155793985], [7.364736104934906, -1.1466573329970373, -0.178693346698239], [7.4674382771556225, -1.1769194907727893, -0.17755777856224597], [7.544359868263967, -1.1978739599432373, -0.1743631218131405], [7.6290995574417195, -1.22455558648943, -0.17891163610670446], [7.711092084316562, -1.251159913536526, -0.18541678582434784], [7.8047056144599765, -1.2831550435065537, -0.19031491045809545], [7.893366168570026, -1.3117551247045327, -0.1873713262516361], [7.977513660849269, -1.339623695316888, -0.1858896152994589], [8.064202536931532, -1.3687395989360596, -0.19103811502537127], [8.145618452323475, -1.3947668921566958, -0.19572533647445312], [8.226718594829151, -1.417984640691202, -0.19572229729386592], [8.297496762058614, -1.4394322717212162, -0.1923703949027349], [8.373516412924943, -1.462283054514927, -0.19263640822898154], [8.478251144617303, -1.4948470179417654, -0.20119124669008315], [8.546653235824692, -1.5176455910834505, -0.20696228878520984], [8.63127751330444, -1.547016692420371, -0.2104210320779245], [8.698823649784316, -1.5686901032116083, -0.206888599963996], [8.775845196077256, -1.594308902648578, -0.20602759827983164], [8.857464295664272, -1.6217248830615745, -0.2110001427454158], [8.974176848659937, -1.6584726766317885, -0.2162908150643048], [9.050779744077545, -1.6817251822968018, -0.21476213731632754], [9.129902653592126, -1.7045729527942655, -0.21009855263853794], [9.19927423338848, -1.7280271029581513, -0.21333801265096497], [9.277202555674052, -1.7533542890585494, -0.22005617366733787], [9.377042394539444, -1.7881737760335454, -0.2272756813717507], [9.51603664172336, -1.8370595191967425, -0.2239142641935814], [9.595266487853849, -1.8617176964777116, -0.22460579408414105], [9.673377761407608, -1.8874204741259462, -0.22953141125723064], [9.787526163643292, -1.9225321494667185, -0.2343036901532436], [9.857709014027733, -1.944229099239024, -0.23344070232557357], [9.920481212601715, -1.9607580810257588, -0.22986041106592126], [9.99423680048514, -1.9835161669369938, -0.23252886630636382], [10.085894891701258, -2.010374630879852, -0.23925854054806095], [10.168885537457783, -2.0354237518771185, -0.24426980142646215], [10.270331926377054, -2.0646130054046665, -0.242132065337465], [10.346815138315748, -2.0864603138329016, -0.2389991406818659], [10.444670363450115, -2.109785602093808, -0.24356287622509853], [10.605768112269203, -2.1429864384238186, -0.2519520663707624], [10.687481711563322, -2.157491106896117, -0.25062291135505177], [10.754547416906377, -2.1658568201552555, -0.24895905564629572], [10.936070667427003, -2.1920025457110768, -0.2614927808339793], [11.017813245663604, -2.202489071959093, -0.26480699532694274], [11.09646115673192, -2.2089573351738636, -0.2606416335668271], [11.354374101015594, -2.2171364127485447, -0.2662713389209692], [11.437143057410196, -2.2127486735850255, -0.26862037036530495], [11.509305162066482, -2.207445497930152, -0.26732301389967716], [11.59241510215196, -2.197912951333336, -0.26474940995092666], [11.682600886880607, -2.1882054316967725, -0.26981345746773755], [11.77458094621744, -2.177137329396217, -0.2769033713943152], [11.858156270028928, -2.1669505342426163, -0.2803481752487862], [11.94216134703683, -2.1516799083415634, -0.27653852721071104], [12.013791894021892, -2.138737535585321, -0.2735128058838008], [12.09506622953873, -2.1199122636558343, -0.2759243874186055], [12.189162532141523, -2.095517299374947, -0.2815870653121557], [12.27829966781431, -2.0691983188854834, -0.28357965514907946], [12.350883271069875, -2.046306699243445, -0.28153140361581563], [12.4264887941425, -2.019140566052883, -0.2807359711124313], [12.501236064957425, -1.9922126182857198, -0.2852598451831092], [12.614717059609234, -1.951544934337548, -0.2929850894146071], [12.702835910361586, -1.9192203069506917, -0.2934049348303418], [12.77823210555681, -1.8884262181641844, -0.2870148557510781], [12.848936904012277, -1.855321586102903, -0.2853887263462731], [12.921260725931432, -1.8218117991703764, -0.2890983907406657], [13.017649138327755, -1.7723501287766368, -0.2939954773946205], [13.08322398744997, -1.7349154065931032, -0.2936732567565805], [13.146020727420193, -1.6968471691214972, -0.2897479999452628], [13.213967187327256, -1.6546804070857775, -0.29101005836595917], [13.288380588157537, -1.6051626810181432, -0.29633831382399833], [13.369336063449168, -1.551364808190641, -0.303116871505555], [13.444683094110616, -1.5023482698147888, -0.30508030857116], [13.506471658491847, -1.4616840449895676, -0.3006432262289138], [13.567507713561525, -1.4211267435445052, -0.29939276514492263], [13.644336139845706, -1.3698621210485413, -0.3037129462188055], [13.721777613127216, -1.3159020924012026, -0.3074478877824802], [13.786115232996849, -1.268305962197374, -0.3063459133989248], [13.848484910720714, -1.2227082823340538, -0.3019081678334601], [13.913548250572575, -1.1766714094204218, -0.3031390912763783], [13.985033109821103, -1.1251581568280784, -0.30943647922051554], [14.07201647415124, -1.0662256576739964, -0.31720049498422753], [14.136061506921322, -1.0244737488057183, -0.319623584405317], [14.213293504953555, -0.9726529039411957, -0.31519342357145774], [14.288260474131022, -0.9210061184947449, -0.31606747980903194], [14.373625729552742, -0.8640745493158732, -0.3218827984977146], [14.435647038252966, -0.8222068489930763, -0.3241514866236308], [14.505230589139984, -0.7746494191937501, -0.32273265424469244], [14.585070100388208, -0.7188033342689835, -0.3194756979052755], [14.654646559471786, -0.6733843677324245, -0.3242990903147742], [14.744293991963701, -0.6181384340858216, -0.33249468809593097], [14.819556794774286, -0.5754978733756673, -0.3354105691785456], [14.903844605508311, -0.5307796227778283, -0.3315440810706711], [14.953037455002459, -0.5067681845614089, -0.33112502691078305], [15.03019086643107, -0.46962344232014175, -0.3347303978221525], [15.134833515960452, -0.4194853779313945, -0.34136741760704226], [15.222864743671096, -0.3775737108811512, -0.3408902425133036], [15.29940890415753, -0.34092346176711885, -0.33503191048031056], [15.362813047442074, -0.3140280446364301, -0.3365111370896088], [15.439802303096258, -0.2796984478544289, -0.342034350885811], [15.526318097873286, -0.24326946553350126, -0.34782406089044215], [15.604507607575158, -0.21257639602990253, -0.34868027804851565], [15.680292586133476, -0.18397319499695186, -0.34413696053375276], [15.757222202375004, -0.15298494419930364, -0.34442373085784084], [15.838353655917189, -0.12142809511165353, -0.3498565100625086], [15.924533134673794, -0.08529957800041643, -0.35511099197134044], [16.012135637972705, -0.047359528995400524, -0.3541903031903253], [16.067652016322597, -0.020878569252502643, -0.35005215195706896], [16.141491133044696, 0.010863657806140736, -0.35181225054708776], [16.22295206686232, 0.04907880585565749, -0.3577658213736754], [16.29541532309716, 0.08152361245116424, -0.36262220322429783], [16.38283801489419, 0.12022686134081084, -0.36299525314975156], [16.455774411504336, 0.15168188148416561, -0.35878623911565555], [16.52333198290239, 0.18339985641065937, -0.3593909231631187], [16.624277733314983, 0.22902161254731368, -0.3659502116981628], [16.68951112500892, 0.25972550105812786, -0.36932979042269665], [16.76316396253972, 0.29587755834582197, -0.36823090257293245], [16.84080837618916, 0.3343042086879393, -0.3644750860071291], [16.899930771694244, 0.3607491205911373, -0.36715910547850683], [16.98134237787562, 0.3983999728047678, -0.37346672017007165], [17.065423224098254, 0.43426010660083136, -0.37881226043967686], [17.14163304728976, 0.4652785631283791, -0.37899280499506105], [17.212300205282816, 0.49238020897414003, -0.3749019742773001], [17.304999886773572, 0.5289449726130471, -0.3767275560121739], [17.397498533351836, 0.5640579453771579, -0.3827976773099948], [17.482616927125974, 0.5971345599364923, -0.3843245667361508], [17.55295757058815, 0.6228349221591998, -0.38173650337625986], [17.626114862149677, 0.6510871895682158, -0.37908364726812493], [17.71080321471686, 0.6799415407032399, -0.3838726758731035], [17.791934735620202, 0.7060689790031773, -0.39034073027192306], [17.87458424775332, 0.7311024174446459, -0.393955875749203], [17.950434390229958, 0.7553438340106169, -0.39146782122760726], [18.01945513888265, 0.774525224601561, -0.38931125289700574], [18.09728224490044, 0.7987508219311934, -0.3921761872920051], [18.192794594776927, 0.8281002845411081, -0.3983024427088395], [18.27142060319136, 0.8534153666022917, -0.3996724565488847], [18.36171147773169, 0.8815052726933743, -0.3960306729899159], [18.497093756588043, 0.9215558139074744, -0.3996450434819927], [18.62011058292225, 0.9537589131828668, -0.4091106508617699], [18.702435724529607, 0.9732920965496419, -0.41129837557440396], [18.785098672890797, 0.9931150504064874, -0.4074561660982887], [18.85271075592763, 1.0103252807195418, -0.40754406531776866], [19.029820669201996, 1.0502565487697808, -0.4179055223520791], [19.096038116426314, 1.0671072909130714, -0.416989141541908], [19.176459754364913, 1.085946386674408, -0.41130791480918916], [19.254034380684885, 1.1004879547824231, -0.41319799822900194], [19.51874822796836, 1.1429530643191583, -0.43001205834154277], [19.66325553545758, 1.1628657423991484, -0.4254257434148876], [19.847186163189065, 1.1844970533458081, -0.43423756029397254], [19.925290294697504, 1.194926977479028, -0.4328319885861376], [20.08379055305761, 1.2100901855885269, -0.4278164409452785], [20.26094760613114, 1.2193061625153518, -0.43911749175006065], [20.710876952544396, 1.2127731799767218, -0.4461372088458795], [21.094350084213517, 1.204647593888339, -0.4542064033712201], [21.22236030542257, 1.199022586832541, -0.4552781721220036], [21.608826863603127, 1.1681879189211486, -0.4626978822972916], [21.820794895294853, 1.1194128994962256, -0.4675691822847057], [21.882411772207888, 1.1092094651610438, -0.47028597965697116]] | {"resolution": {"width": 1280, "height": 720}, "camera_matrix": {"data": [608.116, 0.0, 639.186, 0.0, 607.871, 363.069, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9981348, 0.0, 0.0610485, 0.33, 0.0, 1.0, 0.0, 0.0, -0.0610485, 0.0, 0.9981348, 0.65, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.5, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.5, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 212 | [[642, 714], [642, 698], [644, 682], [646, 667], [647, 656], [647, 645], [644, 635], [638, 625], [632, 614], [632, 605], [632, 597], [633, 591], [636, 584], [639, 576], [642, 570], [645, 564], [648, 559], [651, 554], [652, 547], [654, 541], [657, 536], [660, 534], [666, 530], [672, 525], [675, 520], [678, 516], [681, 514], [682, 511], [684, 506], [686, 503], [688, 500], [689, 498], [694, 496], [696, 492], [697, 489], [699, 487], [701, 485], [702, 481], [703, 478], [705, 476], [706, 475], [707, 474], [711, 471], [713, 469], [714, 467], [715, 466], [717, 464], [718, 462], [718, 460], [720, 457], [721, 457], [722, 456], [725, 454], [726, 453], [727, 451], [728, 450], [730, 449], [730, 448], [732, 445], [732, 444], [733, 443], [735, 442], [737, 441], [738, 439], [739, 438], [741, 437], [741, 436], [742, 435], [743, 433], [743, 432], [744, 432], [746, 431], [747, 430], [747, 429], [749, 428], [750, 428], [750, 426], [751, 425], [751, 424], [752, 424], [753, 424], [755, 422], [756, 421], [757, 420], [758, 420], [758, 419], [759, 418], [760, 417], [761, 417], [762, 416], [763, 416], [764, 414], [765, 414], [766, 413], [767, 412], [767, 411], [768, 411], [768, 410], [769, 410], [769, 408], [768, 407], [768, 406], [767, 406], [766, 405], [765, 405], [764, 405], [764, 404], [763, 403], [762, 403], [760, 402], [758, 402], [757, 401], [755, 400], [753, 400], [752, 400], [750, 400], [748, 399], [746, 398], [744, 398], [742, 398], [739, 397], [738, 397], [736, 396], [733, 396], [730, 396], [727, 396], [724, 395], [722, 394], [720, 394], [717, 394], [714, 394], [711, 393], [709, 393], [706, 393], [703, 393], [701, 392], [699, 392], [696, 392], [693, 391], [690, 391], [688, 391], [686, 390], [683, 390], [679, 390], [677, 390], [674, 390], [672, 389], [671, 389], [669, 389], [666, 389], [664, 388], [662, 388], [660, 388], [658, 388], [657, 387], [656, 387], [655, 386], [654, 386], [653, 386], [651, 386], [649, 385], [648, 385], [646, 385], [645, 385], [644, 385], [643, 384], [641, 384], [640, 384], [638, 384], [637, 384], [636, 383], [634, 383], [633, 383], [631, 383], [630, 383], [629, 382], [628, 382], [626, 382], [625, 382], [624, 381], [623, 381], [621, 381], [620, 381], [619, 381], [619, 380], [618, 380], [617, 380], [616, 380], [615, 380], [614, 380], [613, 379], [612, 379], [611, 379], [610, 379], [610, 378], [609, 378], [608, 378], [607, 378], [606, 377], [605, 377], [604, 377], [603, 377], [603, 376], [602, 376], [601, 376], [601, 375], [601, 374], [602, 374], [602, 373], [603, 373], [604, 372], [604, 373]] | [[2.651061858704253, -0.02762453179890656, -0.058711849659975], [2.740744500599561, -0.03174770802399962, -0.06275620660246517], [2.8436704911155744, -0.035416851267143556, -0.0709850877163305], [2.939465816057094, -0.04035656263556575, -0.07571304313071181], [3.0079936823732965, -0.04286881683125898, -0.07353109113918066], [3.0836666973536353, -0.04713877608742223, -0.07066770319180549], [3.164895319057905, -0.048176597840353, -0.07364214204754305], [3.2591242270479484, -0.04870746683675975, -0.080316719352858], [3.346030790261949, -0.049305536958343055, -0.0830747949181081], [3.4243555374020787, -0.055114236847686016, -0.08152076536487485], [3.5017216679127614, -0.060894052116807984, -0.07754856979919467], [3.574941543963604, -0.07222850894740418, -0.08085866162462096], [3.670098795620106, -0.08995243863130042, -0.0879919434159433], [3.7592480562279604, -0.10942606765628682, -0.09254870910389812], [3.8301058043742557, -0.12549199088053342, -0.09109314599006169], [3.903522088479093, -0.14586603011473187, -0.08839512044602671], [3.983271345200194, -0.16537424221976949, -0.09086470752520626], [4.076633164331156, -0.19020921739141272, -0.09728822213973132], [4.1639338228534655, -0.2114847829779194, -0.1003048521877048], [4.242460798189967, -0.23346991773080106, -0.09891427049171142], [4.327467595742235, -0.2554739859066757, -0.09630314680482499], [4.393925761412191, -0.27490233319525714, -0.10023444025261696], [4.484312990001456, -0.3031132669122343, -0.10772141399626278], [4.588198719366034, -0.3372398848824929, -0.1130597425709503], [4.671573359617355, -0.3622746805809527, -0.1092958223113989], [4.75256957549928, -0.3854853626059622, -0.10810851534516175], [4.826700766897886, -0.4081323845541789, -0.11236807216274158], [4.919039955088181, -0.4335950010011942, -0.11837013555052422], [5.0021769994206124, -0.4543375095704363, -0.11920718127985808], [5.066648291164114, -0.4719063721132528, -0.11709584045546961], [5.150683701580135, -0.49304023863979296, -0.1168786590003954], [5.231921920601621, -0.514090967653658, -0.12299615064204517], [5.324113362887033, -0.540441716414719, -0.1308498917815939], [5.406040086131071, -0.5647507433691317, -0.13404842752410673], [5.482339870640715, -0.5855524751655565, -0.1301936909593131], [5.55620231406607, -0.6065505177758439, -0.12880154033012303], [5.657432515544713, -0.6350505943939169, -0.1345887335559972], [5.757951188982332, -0.6616964293880301, -0.138938853963694], [5.840066032999516, -0.6826046288436629, -0.1374072658294061], [5.90934255130648, -0.6995487999294738, -0.13292236403309943], [5.978431342193204, -0.7204239476426153, -0.13565044441032725], [6.074004002158517, -0.7483033301881648, -0.14390382614028496], [6.157555784352468, -0.7756921568406909, -0.15053488380401703], [6.233085985472371, -0.8008397884627954, -0.15218145961881646], [6.309933564356669, -0.8258554617652294, -0.14797912546918468], [6.381511565892282, -0.8473728962689933, -0.14795405584892052], [6.467117658831114, -0.8743786181403266, -0.15323332268954104], [6.574152903964176, -0.9056861283570612, -0.15796678383690477], [6.642167170057121, -0.9246297251731619, -0.15720478605813426], [6.724075628222209, -0.9468812757281739, -0.1523998935813502], [6.785615388576701, -0.9665356192045351, -0.15479161172824263], [6.875908379629493, -0.9927431095159847, -0.16184941342808656], [6.964958811349078, -1.0205692142071285, -0.16875251535734748], [7.040868386757779, -1.0452430333924099, -0.17032163086781438], [7.1142977747315115, -1.0692729878547453, -0.1665908182603708], [7.193309100783608, -1.0928825249070684, -0.1673199473225715], [7.279792109967957, -1.1205912160685614, -0.17330832155793985], [7.364736104934906, -1.1466573329970373, -0.178693346698239], [7.4674382771556225, -1.1769194907727893, -0.17755777856224597], [7.544359868263967, -1.1978739599432373, -0.1743631218131405], [7.6290995574417195, -1.22455558648943, -0.17891163610670446], [7.711092084316562, -1.251159913536526, -0.18541678582434784], [7.8047056144599765, -1.2831550435065537, -0.19031491045809545], [7.893366168570026, -1.3117551247045327, -0.1873713262516361], [7.977513660849269, -1.339623695316888, -0.1858896152994589], [8.064202536931532, -1.3687395989360596, -0.19103811502537127], [8.145618452323475, -1.3947668921566958, -0.19572533647445312], [8.226718594829151, -1.417984640691202, -0.19572229729386592], [8.297496762058614, -1.4394322717212162, -0.1923703949027349], [8.373516412924943, -1.462283054514927, -0.19263640822898154], [8.478251144617303, -1.4948470179417654, -0.20119124669008315], [8.546653235824692, -1.5176455910834505, -0.20696228878520984], [8.63127751330444, -1.547016692420371, -0.2104210320779245], [8.698823649784316, -1.5686901032116083, -0.206888599963996], [8.775845196077256, -1.594308902648578, -0.20602759827983164], [8.857464295664272, -1.6217248830615745, -0.2110001427454158], [8.974176848659937, -1.6584726766317885, -0.2162908150643048], [9.050779744077545, -1.6817251822968018, -0.21476213731632754], [9.129902653592126, -1.7045729527942655, -0.21009855263853794], [9.19927423338848, -1.7280271029581513, -0.21333801265096497], [9.277202555674052, -1.7533542890585494, -0.22005617366733787], [9.377042394539444, -1.7881737760335454, -0.2272756813717507], [9.51603664172336, -1.8370595191967425, -0.2239142641935814], [9.595266487853849, -1.8617176964777116, -0.22460579408414105], [9.673377761407608, -1.8874204741259462, -0.22953141125723064], [9.787526163643292, -1.9225321494667185, -0.2343036901532436], [9.857709014027733, -1.944229099239024, -0.23344070232557357], [9.920481212601715, -1.9607580810257588, -0.22986041106592126], [9.99423680048514, -1.9835161669369938, -0.23252886630636382], [10.085894891701258, -2.010374630879852, -0.23925854054806095], [10.168885537457783, -2.0354237518771185, -0.24426980142646215], [10.270331926377054, -2.0646130054046665, -0.242132065337465], [10.346815138315748, -2.0864603138329016, -0.2389991406818659], [10.444670363450115, -2.109785602093808, -0.24356287622509853], [10.605768112269203, -2.1429864384238186, -0.2519520663707624], [10.687481711563322, -2.157491106896117, -0.25062291135505177], [10.754547416906377, -2.1658568201552555, -0.24895905564629572], [10.936070667427003, -2.1920025457110768, -0.2614927808339793], [11.017813245663604, -2.202489071959093, -0.26480699532694274], [11.09646115673192, -2.2089573351738636, -0.2606416335668271], [11.354374101015594, -2.2171364127485447, -0.2662713389209692], [11.437143057410196, -2.2127486735850255, -0.26862037036530495], [11.509305162066482, -2.207445497930152, -0.26732301389967716], [11.59241510215196, -2.197912951333336, -0.26474940995092666], [11.682600886880607, -2.1882054316967725, -0.26981345746773755], [11.77458094621744, -2.177137329396217, -0.2769033713943152], [11.858156270028928, -2.1669505342426163, -0.2803481752487862], [11.94216134703683, -2.1516799083415634, -0.27653852721071104], [12.013791894021892, -2.138737535585321, -0.2735128058838008], [12.09506622953873, -2.1199122636558343, -0.2759243874186055], [12.189162532141523, -2.095517299374947, -0.2815870653121557], [12.27829966781431, -2.0691983188854834, -0.28357965514907946], [12.350883271069875, -2.046306699243445, -0.28153140361581563], [12.4264887941425, -2.019140566052883, -0.2807359711124313], [12.501236064957425, -1.9922126182857198, -0.2852598451831092], [12.614717059609234, -1.951544934337548, -0.2929850894146071], [12.702835910361586, -1.9192203069506917, -0.2934049348303418], [12.77823210555681, -1.8884262181641844, -0.2870148557510781], [12.848936904012277, -1.855321586102903, -0.2853887263462731], [12.921260725931432, -1.8218117991703764, -0.2890983907406657], [13.017649138327755, -1.7723501287766368, -0.2939954773946205], [13.08322398744997, -1.7349154065931032, -0.2936732567565805], [13.146020727420193, -1.6968471691214972, -0.2897479999452628], [13.213967187327256, -1.6546804070857775, -0.29101005836595917], [13.288380588157537, -1.6051626810181432, -0.29633831382399833], [13.369336063449168, -1.551364808190641, -0.303116871505555], [13.444683094110616, -1.5023482698147888, -0.30508030857116], [13.506471658491847, -1.4616840449895676, -0.3006432262289138], [13.567507713561525, -1.4211267435445052, -0.29939276514492263], [13.644336139845706, -1.3698621210485413, -0.3037129462188055], [13.721777613127216, -1.3159020924012026, -0.3074478877824802], [13.786115232996849, -1.268305962197374, -0.3063459133989248], [13.848484910720714, -1.2227082823340538, -0.3019081678334601], [13.913548250572575, -1.1766714094204218, -0.3031390912763783], [13.985033109821103, -1.1251581568280784, -0.30943647922051554], [14.07201647415124, -1.0662256576739964, -0.31720049498422753], [14.136061506921322, -1.0244737488057183, -0.319623584405317], [14.213293504953555, -0.9726529039411957, -0.31519342357145774], [14.288260474131022, -0.9210061184947449, -0.31606747980903194], [14.373625729552742, -0.8640745493158732, -0.3218827984977146], [14.435647038252966, -0.8222068489930763, -0.3241514866236308], [14.505230589139984, -0.7746494191937501, -0.32273265424469244], [14.585070100388208, -0.7188033342689835, -0.3194756979052755], [14.654646559471786, -0.6733843677324245, -0.3242990903147742], [14.744293991963701, -0.6181384340858216, -0.33249468809593097], [14.819556794774286, -0.5754978733756673, -0.3354105691785456], [14.903844605508311, -0.5307796227778283, -0.3315440810706711], [14.953037455002459, -0.5067681845614089, -0.33112502691078305], [15.03019086643107, -0.46962344232014175, -0.3347303978221525], [15.134833515960452, -0.4194853779313945, -0.34136741760704226], [15.222864743671096, -0.3775737108811512, -0.3408902425133036], [15.29940890415753, -0.34092346176711885, -0.33503191048031056], [15.362813047442074, -0.3140280446364301, -0.3365111370896088], [15.439802303096258, -0.2796984478544289, -0.342034350885811], [15.526318097873286, -0.24326946553350126, -0.34782406089044215], [15.604507607575158, -0.21257639602990253, -0.34868027804851565], [15.680292586133476, -0.18397319499695186, -0.34413696053375276], [15.757222202375004, -0.15298494419930364, -0.34442373085784084], [15.838353655917189, -0.12142809511165353, -0.3498565100625086], [15.924533134673794, -0.08529957800041643, -0.35511099197134044], [16.012135637972705, -0.047359528995400524, -0.3541903031903253], [16.067652016322597, -0.020878569252502643, -0.35005215195706896], [16.141491133044696, 0.010863657806140736, -0.35181225054708776], [16.22295206686232, 0.04907880585565749, -0.3577658213736754], [16.29541532309716, 0.08152361245116424, -0.36262220322429783], [16.38283801489419, 0.12022686134081084, -0.36299525314975156], [16.455774411504336, 0.15168188148416561, -0.35878623911565555], [16.52333198290239, 0.18339985641065937, -0.3593909231631187], [16.624277733314983, 0.22902161254731368, -0.3659502116981628], [16.68951112500892, 0.25972550105812786, -0.36932979042269665], [16.76316396253972, 0.29587755834582197, -0.36823090257293245], [16.84080837618916, 0.3343042086879393, -0.3644750860071291], [16.899930771694244, 0.3607491205911373, -0.36715910547850683], [16.98134237787562, 0.3983999728047678, -0.37346672017007165], [17.065423224098254, 0.43426010660083136, -0.37881226043967686], [17.14163304728976, 0.4652785631283791, -0.37899280499506105], [17.212300205282816, 0.49238020897414003, -0.3749019742773001], [17.304999886773572, 0.5289449726130471, -0.3767275560121739], [17.397498533351836, 0.5640579453771579, -0.3827976773099948], [17.482616927125974, 0.5971345599364923, -0.3843245667361508], [17.55295757058815, 0.6228349221591998, -0.38173650337625986], [17.626114862149677, 0.6510871895682158, -0.37908364726812493], [17.71080321471686, 0.6799415407032399, -0.3838726758731035], [17.791934735620202, 0.7060689790031773, -0.39034073027192306], [17.87458424775332, 0.7311024174446459, -0.393955875749203], [17.950434390229958, 0.7553438340106169, -0.39146782122760726], [18.01945513888265, 0.774525224601561, -0.38931125289700574], [18.09728224490044, 0.7987508219311934, -0.3921761872920051], [18.192794594776927, 0.8281002845411081, -0.3983024427088395], [18.27142060319136, 0.8534153666022917, -0.3996724565488847], [18.36171147773169, 0.8815052726933743, -0.3960306729899159], [18.497093756588043, 0.9215558139074744, -0.3996450434819927], [18.62011058292225, 0.9537589131828668, -0.4091106508617699], [18.702435724529607, 0.9732920965496419, -0.41129837557440396], [18.785098672890797, 0.9931150504064874, -0.4074561660982887], [18.85271075592763, 1.0103252807195418, -0.40754406531776866], [19.029820669201996, 1.0502565487697808, -0.4179055223520791], [19.096038116426314, 1.0671072909130714, -0.416989141541908], [19.176459754364913, 1.085946386674408, -0.41130791480918916], [19.254034380684885, 1.1004879547824231, -0.41319799822900194], [19.51874822796836, 1.1429530643191583, -0.43001205834154277], [19.66325553545758, 1.1628657423991484, -0.4254257434148876], [19.847186163189065, 1.1844970533458081, -0.43423756029397254], [19.925290294697504, 1.194926977479028, -0.4328319885861376], [20.08379055305761, 1.2100901855885269, -0.4278164409452785], [20.26094760613114, 1.2193061625153518, -0.43911749175006065], [20.710876952544396, 1.2127731799767218, -0.4461372088458795], [21.094350084213517, 1.204647593888339, -0.4542064033712201], [21.22236030542257, 1.199022586832541, -0.4552781721220036], [21.608826863603127, 1.1681879189211486, -0.4626978822972916], [21.820794895294853, 1.1194128994962256, -0.4675691822847057], [21.882411772207888, 1.1092094651610438, -0.47028597965697116]] | [[711, 471], [758, 420], [724, 395], [638, 384], [604, 373]] | [604, 373] | Navigate to x=<loc0483>, y=<loc0530> | <loc0568><loc0669><loc0606><loc0597><loc0579><loc0561><loc0510><loc0546><loc0483><loc0530> | [['<loc0568>', '<loc0669>'], ['<loc0606>', '<loc0597>'], ['<loc0579>', '<loc0561>'], ['<loc0510>', '<loc0546>'], ['<loc0483>', '<loc0530>']] | 1.627905 | 0 | 0 | The original (green) is the baseline: short, smooth, and avoids static obstacles. noise_04 (cyan) and mirrored (blue) are safe, reasonably different alternatives. noise_02 (brown) is longer but avoids crowds. noise_03 and noise_01 are close to the original with slightly riskier clearance near the queue. noise_00 (orange) cuts closest to the concession queue and stanchions, making it the least desirable. | Original: smooth center corridor, clear of collisions, physically traversable on flat tiles. noise_04 and mirrored: slightly longer but maintain safe clearance from pillar, people, and furniture and are smooth. noise_02: wide arc along right wall — safe but less efficient. noise_03 and noise_01: similar to original but skirt closer to clustered people and stanchion posts (higher collision risk). noise_00: near-straight left run that passes very close to concession queue and stanchion posts — risky and less realistic. | noise_04 and mirrored offer meaningful deviation from the original (different lateral choices around the pillar) while preserving safety. noise_02 is the most different in heading (wide right arc). noise_03 and noise_01 are minor perturbations of the original (low diversity). noise_00 is visually different but unsafe — diversity with poor quality. | ["Flat tiled indoor floor", "Raised tiled pillar bases", "Hard walls and baseboard along corridor edges", "Flat open lobby-like walkway", "No stairs or significant elevation changes"] | {"original": "Follow the center tiled corridor, pass to the right of the central pillar and between the crowd and wall, avoiding stanchion posts and kiosks.", "mirrored": "Swing left around the pillar, pass near the concession queue while avoiding stanchion posts and standing people, staying on tiled floor toward the hallway.", "noise_00": "Drive a near-straight line across the left side of the hall, cutting close to the concession queue and stanchion posts; stay on tiled floor (risky).", "noise_01": "Curve left around the pillar base, skirt close to queued people and kiosks while avoiding stanchions; maintain steady travel on the tiled floor.", "noise_02": "Take a wide right arc along the wall, keeping clear of the central pillar and crowds and avoiding the cart near the right wall; remain on tiles.", "noise_03": "Follow a slightly left-shifted center line, pass just left of the pillar base, avoiding the crowd and stanchions while remaining on tiled floor.", "noise_04": "Arc right around the pillar, keep a central corridor between pillars and wall, avoiding people and trolleys; remain on the flat tiled floor."} | [{"original": 1}, {"noise_04": 2}, {"mirrored": 3}, {"noise_02": 4}, {"noise_03": 5}, {"noise_01": 6}, {"noise_00": 7}] | {"trajectory_2d": [[642, 714], [642, 698], [644, 682], [646, 667], [647, 656], [647, 645], [644, 635], [638, 625], [632, 614], [632, 605], [632, 597], [633, 591], [636, 584], [639, 576], [642, 570], [645, 564], [648, 559], [651, 554], [652, 547], [654, 541], [657, 536], [660, 534], [666, 530], [672, 525], [675, 520], [678, 516], [681, 514], [682, 511], [684, 506], [686, 503], [688, 500], [689, 498], [694, 496], [696, 492], [697, 489], [699, 487], [701, 485], [702, 481], [703, 478], [705, 476], [706, 475], [707, 474], [711, 471], [713, 469], [714, 467], [715, 466], [717, 464], [718, 462], [718, 460], [720, 457], [721, 457], [722, 456], [725, 454], [726, 453], [727, 451], [728, 450], [730, 449], [730, 448], [732, 445], [732, 444], [733, 443], [735, 442], [737, 441], [738, 439], [739, 438], [741, 437], [741, 436], [742, 435], [743, 433], [743, 432], [744, 432], [746, 431], [747, 430], [747, 429], [749, 428], [750, 428], [750, 426], [751, 425], [751, 424], [752, 424], [753, 424], [755, 422], [756, 421], [757, 420], [758, 420], [758, 419], [759, 418], [760, 417], [761, 417], [762, 416], [763, 416], [764, 414], [765, 414], [766, 413], [767, 412], [767, 411], [768, 411], [768, 410], [769, 410], [769, 408], [768, 407], [768, 406], [767, 406], [766, 405], [765, 405], [764, 405], [764, 404], [763, 403], [762, 403], [760, 402], [758, 402], [757, 401], [755, 400], [753, 400], [752, 400], [750, 400], [748, 399], [746, 398], [744, 398], [742, 398], [739, 397], [738, 397], [736, 396], [733, 396], [730, 396], [727, 396], [724, 395], [722, 394], [720, 394], [717, 394], [714, 394], [711, 393], [709, 393], [706, 393], [703, 393], [701, 392], [699, 392], [696, 392], [693, 391], [690, 391], [688, 391], [686, 390], [683, 390], [679, 390], [677, 390], [674, 390], [672, 389], [671, 389], [669, 389], [666, 389], [664, 388], [662, 388], [660, 388], [658, 388], [657, 387], [656, 387], [655, 386], [654, 386], [653, 386], [651, 386], [649, 385], [648, 385], [646, 385], [645, 385], [644, 385], [643, 384], [641, 384], [640, 384], [638, 384], [637, 384], [636, 383], [634, 383], [633, 383], [631, 383], [630, 383], [629, 382], [628, 382], [626, 382], [625, 382], [624, 381], [623, 381], [621, 381], [620, 381], [619, 381], [619, 380], [618, 380], [617, 380], [616, 380], [615, 380], [614, 380], [613, 379], [612, 379], [611, 379], [610, 379], [610, 378], [609, 378], [608, 378], [607, 378], [606, 377], [605, 377], [604, 377], [603, 377], [603, 376], [602, 376], [601, 376], [601, 375], [601, 374], [602, 374], [602, 373], [603, 373], [604, 372], [604, 373]], "goal_2d": [604, 373], "ranking": 1, "description": ""} | {"trajectory_2d": [[638, 714], [638, 698], [636, 682], [634, 667], [633, 656], [633, 645], [636, 635], [642, 625], [648, 614], [648, 605], [648, 597], [647, 591], [644, 584], [641, 576], [638, 570], [635, 564], [632, 559], [629, 554], [628, 547], [626, 541], [623, 536], [620, 534], [614, 530], [608, 525], [605, 520], [602, 516], [599, 514], [598, 511], [596, 506], [594, 503], [592, 500], [591, 498], [586, 496], [584, 492], [583, 489], [581, 487], [579, 485], [578, 481], [577, 478], [575, 476], [574, 475], [573, 474], [569, 471], [567, 469], [566, 467], [565, 466], [563, 464], [562, 462], [562, 460], [560, 457], [559, 457], [558, 456], [555, 454], [554, 453], [553, 451], [552, 450], [550, 449], [550, 448], [548, 445], [548, 444], [547, 443], [545, 442], [543, 441], [542, 439], [541, 438], [539, 437], [539, 436], [538, 435], [537, 433], [537, 432], [536, 432], [534, 431], [533, 430], [533, 429], [531, 428], [530, 428], [530, 426], [529, 425], [529, 424], [528, 424], [527, 424], [525, 422], [524, 421], [523, 420], [522, 420], [522, 419], [521, 418], [520, 417], [519, 417], [518, 416], [517, 416], [516, 414], [515, 414], [514, 413], [513, 412], [513, 411], [512, 411], [512, 410], [511, 410], [511, 408], [512, 407], [512, 406], [513, 406], [514, 405], [515, 405], [516, 405], [516, 404], [517, 403], [518, 403], [520, 402], [522, 402], [523, 401], [525, 400], [527, 400], [528, 400], [530, 400], [532, 399], [534, 398], [536, 398], [538, 398], [541, 397], [542, 397], [544, 396], [547, 396], [550, 396], [553, 396], [556, 395], [558, 394], [560, 394], [563, 394], [566, 394], [569, 393], [571, 393], [574, 393], [577, 393], [579, 392], [581, 392], [584, 392], [587, 391], [590, 391], [592, 391], [594, 390], [597, 390], [601, 390], [603, 390], [606, 390], [608, 389], [609, 389], [611, 389], [614, 389], [616, 388], [618, 388], [620, 388], [622, 388], [623, 387], [624, 387], [625, 386], [626, 386], [627, 386], [629, 386], [631, 385], [632, 385], [634, 385], [635, 385], [636, 385], [637, 384], [639, 384], [640, 384], [642, 384], [643, 384], [644, 383], [646, 383], [647, 383], [649, 383], [650, 383], [651, 382], [652, 382], [654, 382], [655, 382], [656, 381], [657, 381], [659, 381], [660, 381], [661, 381], [661, 380], [662, 380], [663, 380], [664, 380], [665, 380], [666, 380], [667, 379], [668, 379], [669, 379], [670, 379], [670, 378], [671, 378], [672, 378], [673, 378], [674, 377], [675, 377], [676, 377], [677, 377], [677, 376], [678, 376], [679, 376], [679, 375], [679, 374], [678, 374], [678, 373], [677, 373], [676, 372], [676, 373]], "goal_2d": [676, 373], "ranking": 3, "description": ""} | {"trajectory_2d": [[642.2568061486679, 714.0], [642.5136122973358, 698.0], [644.7704184460038, 682.0], [647.0272245946717, 667.0], [648.2840307433396, 656.0], [648.5408368920075, 645.0], [645.7976430406754, 635.0], [640.0544491893434, 625.0], [634.3112553380113, 614.0], [634.5680614866792, 605.0], [634.8248676353471, 597.0], [636.081673784015, 591.0], [639.338479932683, 584.0], [642.5952860813509, 576.0], [645.8520922300188, 570.0], [649.1088983786867, 564.0], [652.3657045273546, 559.0], [655.6225106760226, 554.0], [656.8793168246905, 547.0], [659.1361229733584, 541.0], [662.3929291220263, 536.0], [665.6497352706942, 534.0], [671.9065414193622, 530.0], [678.1633475680301, 525.0], [681.420153716698, 520.0], [684.6769598653659, 516.0], [687.9337660140338, 514.0], [689.1905721627018, 511.0], [691.4473783113697, 506.0], [693.7041844600376, 503.0], [695.9609906087055, 500.0], [697.2177967573734, 498.0], [702.4746029060414, 496.0], [704.7314090547093, 492.0], [705.9882152033772, 489.0], [708.2450213520451, 487.0], [710.501827500713, 485.0], [711.758633649381, 481.0], [713.0154397980489, 478.0], [715.2722459467168, 476.0], [716.5290520953847, 475.0], [717.7858582440526, 474.0], [722.0426643927206, 471.0], [724.2994705413885, 469.0], [725.5562766900564, 467.0], [726.8130828387243, 466.0], [729.0698889873922, 464.0], [730.3266951360602, 462.0], [730.5835012847281, 460.0], [732.840307433396, 457.0], [734.0971135820639, 457.0], [735.3539197307318, 456.0], [738.6107258793998, 454.0], [739.8675320280677, 453.0], [741.1243381767356, 451.0], [742.3811443254035, 450.0], [744.6379504740714, 449.0], [744.8947566227394, 448.0], [747.1515627714073, 445.0], [747.4083689200752, 444.0], [748.6651750687431, 443.0], [750.921981217411, 442.0], [753.178787366079, 441.0], [754.4355935147469, 439.0], [755.6923996634148, 438.0], [757.9492058120827, 437.0], [758.2060119607506, 436.0], [759.4628181094185, 435.0], [760.7196242580865, 433.0], [760.9764304067544, 432.0], [762.2332365554223, 432.0], [764.4900427040902, 431.0], [765.7468488527581, 430.0], [766.0036550014261, 429.0], [768.260461150094, 428.0], [769.5172672987619, 428.0], [769.7740734474298, 426.0], [771.0308795960977, 425.0], [771.2876857447657, 424.0], [772.5444918934336, 424.0], [773.8012980421015, 424.0], [776.0581041907694, 422.0], [777.3149103394373, 421.0], [778.5717164881053, 420.0], [779.8285226367732, 420.0], [780.0853287854411, 419.0], [781.342134934109, 418.0], [782.598941082777, 417.0], [783.8557472314449, 417.0], [785.1125533801128, 416.0], [786.3693595287807, 416.0], [787.6261656774486, 414.0], [788.8829718261165, 414.0], [790.1397779747845, 413.0], [791.3965841234524, 412.0], [791.6533902721203, 411.0], [792.9101964207882, 411.0], [793.1670025694561, 410.0], [794.4238087181241, 410.0], [794.680614866792, 408.0], [792.3793817359324, 407.0], [791.0781486050728, 406.0], [788.7769154742132, 406.0], [786.4756823433536, 405.0], [784.174449212494, 405.0], [781.8732160816344, 405.0], [780.5719829507748, 404.0], [778.2707498199152, 403.0], [775.9695166890556, 403.0], [772.668283558196, 402.0], [769.3670504273364, 402.0], [767.0658172964768, 401.0], [763.7645841656172, 400.0], [760.4633510347576, 400.0], [758.162117903898, 400.0], [754.8608847730384, 400.0], [751.5596516421788, 399.0], [748.2584185113192, 398.0], [744.9571853804596, 398.0], [741.6559522496, 398.0], [737.3547191187404, 397.0], [735.0534859878808, 397.0], [731.7522528570212, 396.0], [727.4510197261616, 396.0], [723.149786595302, 396.0], [718.8485534644424, 396.0], [714.5473203335828, 395.0], [711.2460872027232, 394.0], [707.9448540718636, 394.0], [703.643620941004, 394.0], [699.3423878101444, 394.0], [695.0411546792848, 393.0], [691.7399215484252, 393.0], [687.4386884175656, 393.0], [683.137455286706, 393.0], [679.8362221558464, 392.0], [676.5349890249868, 392.0], [672.2337558941272, 392.0], [667.9325227632676, 391.0], [663.631289632408, 391.0], [660.3300565015484, 391.0], [657.0288233706888, 390.0], [652.7275902398292, 390.0], [647.4263571089696, 390.0], [644.12512397811, 390.0], [639.8238908472504, 390.0], [636.5226577163908, 389.0], [634.2214245855312, 389.0], [630.9201914546716, 389.0], [626.618958323812, 389.0], [623.3177251929524, 388.0], [620.0164920620928, 388.0], [616.7152589312332, 388.0], [613.4140258003736, 388.0], [611.112792669514, 387.0], [608.8115595386544, 387.0], [606.5103264077948, 386.0], [604.2090932769352, 386.0], [601.9078601460756, 386.0], [598.606627015216, 386.0], [595.3053938843564, 385.0], [593.0041607534968, 385.0], [589.7029276226372, 385.0], [587.4016944917776, 385.0], [585.100461360918, 385.0], [582.7992282300584, 384.0], [579.4979950991988, 384.0], [577.1967619683392, 384.0], [573.8955288374796, 384.0], [571.59429570662, 384.0], [569.2930625757604, 383.0], [565.9918294449008, 383.0], [563.6905963140412, 383.0], [560.3893631831816, 383.0], [558.088130052322, 383.0], [555.7868969214624, 382.0], [553.4856637906028, 382.0], [550.1844306597432, 382.0], [547.8831975288836, 382.0], [545.581964398024, 381.0], [543.2807312671644, 381.0], [539.9794981363048, 381.0], [537.6782650054452, 381.0], [535.3770318745856, 381.0], [534.075798743726, 380.0], [531.7745656128664, 380.0], [529.4733324820068, 380.0], [527.1720993511472, 380.0], [524.8708662202876, 380.0], [522.569633089428, 380.0], [520.2683999585684, 379.0], [517.9671668277088, 379.0], [515.6659336968492, 379.0], [513.3647005659896, 379.0], [512.06346743513, 378.0], [509.76223430427024, 378.0], [507.4610011734105, 378.0], [505.1597680425508, 378.0], [502.8585349116911, 377.0], [500.55730178083144, 377.0], [502.5915685222998, 377.0], [504.6258352637681, 377.0], [507.6601020052365, 376.0], [509.69436874670487, 376.0], [511.72863548817327, 376.0], [514.7629022296417, 375.0], [517.7971689711101, 374.0], [521.8314357125785, 374.0], [524.8657024540469, 373.0], [528.8999691955153, 373.0], [532.9342359369838, 372.0], [535.9685026784522, 373.0]], "goal_2d": [603.4499756246728, 376.0060783869805], "ranking": 2, "description": ""} | original | 3 | 3 | |
Navigate to <point x="37.7" y="60.6">goal</point> | [[1161, 718], [1149, 706], [1138, 694], [1141, 689], [1134, 686], [1138, 686], [1146, 686], [1156, 688], [1166, 690], [1176, 693], [1187, 695], [1201, 697], [1210, 697], [1220, 698], [1224, 699], [1229, 698], [1232, 697], [1237, 697], [1240, 697], [1243, 698], [1245, 697], [1248, 695], [1249, 691], [1248, 688], [1243, 684], [1239, 681], [1232, 677], [1227, 671], [1221, 669], [1214, 669], [1209, 670], [1203, 671], [1195, 674], [1192, 674], [1187, 675], [1185, 678], [1184, 682], [1186, 686], [1189, 692], [1192, 695], [1199, 697], [1204, 700], [1210, 703], [1218, 704], [1223, 705], [1224, 707], [1224, 708], [1224, 709], [1222, 710], [1218, 711], [1215, 712], [1213, 712], [1212, 712], [1210, 712], [1203, 712], [1200, 711], [1196, 708], [1191, 706], [1182, 702], [1172, 697], [1155, 688], [1141, 679], [1133, 673], [1124, 666], [1118, 659], [1112, 651], [1099, 639], [1096, 637], [1093, 634], [1093, 633], [1092, 633], [1089, 633], [1088, 632], [1089, 632], [1092, 634], [1093, 635], [1096, 635], [1099, 635], [1102, 636], [1104, 636], [1107, 635], [1110, 633], [1113, 631], [1117, 629], [1121, 627], [1123, 625], [1126, 623], [1129, 620], [1129, 618], [1130, 616], [1131, 614], [1132, 612], [1132, 610], [1130, 607], [1128, 604], [1127, 601], [1125, 599], [1122, 598], [1120, 597], [1116, 596], [1112, 594], [1109, 593], [1107, 591], [1103, 590], [1102, 588], [1100, 587], [1099, 585], [1099, 584], [1099, 583], [1097, 582], [1095, 581], [1089, 581], [1083, 580], [1077, 577], [1067, 576], [1059, 576], [1048, 575], [1039, 574], [1024, 573], [1015, 571], [1005, 568], [996, 566], [985, 564], [974, 562], [965, 558], [953, 555], [942, 553], [928, 553], [919, 551], [907, 548], [895, 546], [884, 546], [870, 545], [855, 544], [847, 539], [841, 535], [834, 532], [826, 529], [817, 526], [810, 522], [803, 519], [797, 516], [789, 513], [780, 511], [773, 506], [764, 502], [758, 500], [750, 497], [743, 494], [735, 491], [726, 488], [719, 486], [707, 485], [702, 482], [694, 480], [686, 479], [676, 478], [668, 477], [660, 474], [653, 472], [645, 471], [637, 471], [626, 471], [618, 470], [612, 468], [604, 468], [596, 468], [586, 467], [580, 465], [574, 464], [570, 462], [566, 461], [561, 459], [556, 458], [550, 458], [545, 458], [540, 458], [535, 457], [531, 456], [527, 456], [523, 455], [520, 455], [515, 455], [511, 455], [508, 455], [504, 455], [501, 455], [498, 456], [494, 456], [490, 457], [487, 457], [484, 457], [482, 458], [479, 458], [475, 458], [472, 458], [470, 458], [467, 458], [465, 458], [464, 458], [462, 457], [461, 457], [460, 456], [459, 455], [458, 455], [458, 454], [457, 454], [455, 453], [454, 451], [453, 450], [453, 449], [453, 447], [453, 446], [454, 446], [454, 445], [455, 445], [456, 444], [457, 442], [457, 441], [459, 441], [461, 440], [465, 440], [469, 439], [472, 438], [477, 437], [482, 436]] | [[2.455349256842581, -1.5230654270126927, 0.06069876048878342], [2.506108100043207, -1.5191727057582276, 0.06293496489232808], [2.550545561148681, -1.5246843494374853, 0.07066909811862843], [2.5741045888740786, -1.5329173118479944, 0.07299834368766511], [2.593448527276422, -1.550043256495779, 0.07007604945098933], [2.6036255708886813, -1.5664120143694524, 0.06487667480364934], [2.606012600584066, -1.5738378906959918, 0.062211307559827844], [2.6042508784488234, -1.581006264369309, 0.05779896564683895], [2.596768655504974, -1.5850116773490286, 0.05567801982958542], [2.583380987818913, -1.5883318005075835, 0.054440834921095416], [2.5693229379788676, -1.590521577267896, 0.056464474320634395], [2.5540899978001335, -1.5927558605951129, 0.05904946821095791], [2.545287174666015, -1.5935237862436842, 0.06005510522766855], [2.53643070698422, -1.5938743499309593, 0.06024267231396152], [2.5314077017893055, -1.5936902110601827, 0.06120609017246181], [2.527079187866363, -1.5911713089718336, 0.06177366121345074], [2.5252973315559473, -1.5881524065676422, 0.06358229662457404], [2.523356581082311, -1.5856426259220595, 0.06244952472899712], [2.520642139133102, -1.584655789992531, 0.059847387272427], [2.518785371005805, -1.5839766217980475, 0.05625561206880292], [2.519594152162327, -1.5852647721906434, 0.05556489943391796], [2.52537880856282, -1.5864663870546738, 0.0534922850900017], [2.5343214011442683, -1.5868487020276114, 0.05509616621380076], [2.541590310748745, -1.5857832700113854, 0.056207204009581346], [2.5536113495936092, -1.5790944649103702, 0.056763086838778065], [2.5637735497935665, -1.5707780512859233, 0.05555410732895183], [2.5798918448322468, -1.5588618542146722, 0.051860302852709594], [2.5944252939907955, -1.5442494070506414, 0.052160370264303424], [2.602067576532363, -1.5275430651264807, 0.05016620454306775], [2.6044179177322775, -1.5073149121881846, 0.04780188677946029], [2.602818467065376, -1.4911205443953963, 0.0462276004499671], [2.597506430726682, -1.4678741337498273, 0.04478909190802227], [2.5873843120245965, -1.4359008241457718, 0.04244342998276096], [2.5783150890933797, -1.4113469234048832, 0.04328408336730405], [2.5663679234168484, -1.3856922218165972, 0.04352451024671922], [2.5518576480577764, -1.3665679470094454, 0.043074436198558885], [2.5374473463890297, -1.3532338700340167, 0.04125447169545282], [2.519278606815149, -1.34252685975689, 0.04027642895196948], [2.493249901884667, -1.3300460096098514, 0.03975999430571164], [2.473548012922791, -1.3236209224308726, 0.04357184434030614], [2.4531600672459604, -1.3207899331096167, 0.04506617931566126], [2.438071535456416, -1.3222177818287997, 0.04475464484270475], [2.4244677452873873, -1.326921206627349, 0.0455238225977439], [2.412573371821466, -1.3349321759821082, 0.04795596081315523], [2.4033797155386765, -1.33912747243581, 0.0500599059191984], [2.3981833976357763, -1.3401665809053882, 0.04908247409522204], [2.394845822167241, -1.3377895882252018, 0.04796889726734577], [2.392043878050515, -1.3325750192458012, 0.04764242215754422], [2.3898496853782945, -1.3258885477295728, 0.047517714978866366], [2.387247159431496, -1.3162019002760101, 0.04706708478549615], [2.385587862448432, -1.3074778917631145, 0.04645612356361539], [2.384840752388712, -1.2998201260068463, 0.04571527191006197], [2.3846357467437116, -1.2946239428036974, 0.044928821508278816], [2.384961948648808, -1.2906477106952416, 0.04368194807873493], [2.395264391264277, -1.2823861618682355, 0.039890714708249675], [2.3999495618365927, -1.2788657212418082, 0.03779589643234971], [2.414825554686047, -1.2750497697776533, 0.033434445678750535], [2.427052879876655, -1.2727407150658094, 0.032361662928693136], [2.4504291338769946, -1.2690119793808257, 0.03016047397289867], [2.4803729142952733, -1.2646523636822766, 0.027269793659428387], [2.5258618805993365, -1.256443892570422, 0.024544932833876487], [2.5761376787260843, -1.2492222842276508, 0.02393164609829057], [2.6052816117068716, -1.2458754344667917, 0.025250917253572425], [2.642556083271529, -1.2450556660461545, 0.029059940262705197], [2.6751588453361563, -1.2474128824137525, 0.032229065667003454], [2.710561241653366, -1.2537537220108348, 0.033976341755391104], [2.7895794906841616, -1.2730912198037818, 0.0357325793928851], [2.8088794585590477, -1.2776331528385145, 0.03732120236901437], [2.824989777967488, -1.2799666832040355, 0.039795974866287054], [2.8292075976167297, -1.280944514691702, 0.041517391095979406], [2.8296056686206725, -1.2802571706945813, 0.04133372846258254], [2.831801213492483, -1.2729031812039264, 0.04184871075012353], [2.8324199448038456, -1.2692803855480617, 0.041182595942061084], [2.832151004418847, -1.2671678776600577, 0.038856228249976255], [2.8263588571736875, -1.2685769082560578, 0.033512207828714224], [2.8223558672093816, -1.2717430122629203, 0.0334448622907928], [2.8144919222806095, -1.2781461634640503, 0.03750304199338217], [2.810424770983701, -1.2857291390119858, 0.038104664786985154], [2.809110018964631, -1.2951871099548344, 0.037266974589037716], [2.811381057533538, -1.3066612426987931, 0.035513234171119734], [2.8168003043760166, -1.3207765168021441, 0.03544740702621141], [2.8272953551629314, -1.341038663338165, 0.035971256120895134], [2.8391107128045263, -1.3607939087624041, 0.0402395397508144], [2.848979853383355, -1.3802680922301542, 0.0427930532896994], [2.859260677977346, -1.39782103452227, 0.04405469483394597], [2.8692583069369277, -1.4135386445307687, 0.04408168627364262], [2.8792690455696004, -1.4315185563903756, 0.04523629783303562], [2.889620159021547, -1.4503640163251856, 0.04878284157764767], [2.9009722830692226, -1.4636401340657228, 0.05307764836151563], [2.9113282028965983, -1.4748689459563824, 0.05562077991626779], [2.921013398186602, -1.48452829652752, 0.05650202915963831], [2.9299158067569095, -1.4909303100751359, 0.05553885765827715], [2.9385786621441667, -1.493892006034704, 0.05498481413125944], [2.950159304494562, -1.495716337056456, 0.05438276362643535], [2.962187600223544, -1.4954777999140698, 0.05612188243553362], [2.9726210429795685, -1.4950508358422785, 0.05764734670895422], [2.98212899826558, -1.4946767158458405, 0.05745781288355545], [2.9930676892208083, -1.4937976831490793, 0.056921621000391553], [3.0037350558479545, -1.4930235625964703, 0.05634142607285497], [3.0149526018682735, -1.4890439953312549, 0.05543274728750447], [3.0277328333088604, -1.4830760553069062, 0.056390420160632004], [3.038582796958579, -1.4785847159770502, 0.05633984832680028], [3.0495124515906014, -1.4760618170305468, 0.05591907991671974], [3.062593246183013, -1.4748938731833907, 0.05456297360259299], [3.070886624713083, -1.4742558740983815, 0.05532755004794154], [3.081971604531404, -1.4770692931660472, 0.055825378743882936], [3.0945773152956235, -1.4809880753660343, 0.05771803605033199], [3.1042156151343647, -1.4852029291923743, 0.058918086402314884], [3.112167650059419, -1.4885512366326537, 0.058986907598672644], [3.119393781948844, -1.4904044176114941, 0.05907045306055636], [3.126426727917618, -1.4875394643481048, 0.059549727006860564], [3.1360229134782713, -1.4760476338437263, 0.05751654543271911], [3.1499594551671066, -1.4535992967899873, 0.057188330716904545], [3.163628321671027, -1.4316069974758712, 0.05805225752254728], [3.183240018531052, -1.4055377411682595, 0.056763378379329765], [3.201094826929193, -1.387033330237751, 0.053627163944355516], [3.228140526505925, -1.3605839952572842, 0.048673348378642345], [3.2535496888440605, -1.3396436902136153, 0.0435534456767499], [3.293222424795161, -1.3055369784050406, 0.037844696747669104], [3.32462799075374, -1.281144031574375, 0.03530965234795502], [3.3533437090365226, -1.2552181306311363, 0.0366894953134036], [3.381829454952424, -1.23061125547699, 0.03829067214006443], [3.4136942029138027, -1.2049559848319609, 0.03737166582886431], [3.446266178671081, -1.1718311112402233, 0.03462434484588783], [3.477089494113116, -1.141091864407254, 0.034157189793631915], [3.512718031116435, -1.1023093238556756, 0.035517488541280784], [3.5440882471027493, -1.0660312346722267, 0.03433433256997631], [3.5804928332973986, -1.023965276431385, 0.026842821758997104], [3.6102924055930288, -0.9908593411198408, 0.02034771935286983], [3.6522631052302756, -0.9471674447024427, 0.01564163127017082], [3.690915306484982, -0.910204925406727, 0.015909923146914196], [3.7272901296400818, -0.8775485293362077, 0.014100131580896402], [3.7760282173200608, -0.837198434861699, 0.006661265051178589], [3.8275186139149326, -0.7945181297372219, -0.00011671682392488947], [3.881206683204951, -0.7583342612886406, -5.15854678653227e-05], [3.9299196427483736, -0.7352852085714465, 0.0013565229268621692], [3.9863783522991696, -0.7143187779721996, -0.0006196630315571383], [4.053727058831555, -0.6983392708428933, -0.0060729825483818445], [4.127936816244144, -0.6802745413844904, -0.00968441832579714], [4.199228994877458, -0.6636907356447193, -0.009638414507271875], [4.2598917367723175, -0.6478310296367376, -0.007161402088335933], [4.32136389672435, -0.6231068856419348, -0.009261620117243297], [4.402864571336281, -0.5877212588683656, -0.01801173494653341], [4.474338130085101, -0.5521377968376986, -0.025531034685521092], [4.543458791906247, -0.5117442998933037, -0.027494365325559045], [4.62189031374723, -0.461570053997332, -0.026642429384011734], [4.682411580227921, -0.42144647099033516, -0.03204296890201164], [4.760691227578562, -0.36402836259895555, -0.04149734405213934], [4.827753648716154, -0.31266364454828954, -0.047478123778326164], [4.890924855808606, -0.2611054832224142, -0.047542742828262874], [4.965324105025644, -0.19819269450792065, -0.04583162447332256], [5.0156948416212686, -0.15305534069507631, -0.05064057409400391], [5.103676914062632, -0.06942970637899837, -0.06258282305908835], [5.147837408835116, -0.024951347011082703, -0.06636571506074773], [5.208414825439235, 0.03963803059479121, -0.06757390679207731], [5.261561438915365, 0.09693922487004158, -0.0709414370082726], [5.331722920850481, 0.1715234107849386, -0.0824744383208511], [5.394931943988269, 0.2410560753703117, -0.09266757403193537], [5.460248145286698, 0.3126618394184457, -0.09889211791056596], [5.512957425665178, 0.37348066716657735, -0.09798683210438952], [5.566312447902206, 0.43751343861868186, -0.10151318258914444], [5.623849340698158, 0.5087047647149285, -0.11050286668211129], [5.684913455423043, 0.5894235318500138, -0.12207247110122665], [5.7363545721294, 0.6589423655381497, -0.1267486677256855], [5.78387810732994, 0.7186175784976832, -0.12617892445419443], [5.838049583825011, 0.7836066305333849, -0.13186582975089323], [5.897713513796148, 0.8560693362425029, -0.1423850842186951], [5.9782966675965525, 0.9530530099496572, -0.15533904859811543], [6.034859987588078, 1.019569992765144, -0.15730092932624018], [6.094532853886051, 1.082973451578567, -0.15733070597278243], [6.156989840701115, 1.1467547622929275, -0.16388513271279237], [6.216181248362986, 1.2040023250648804, -0.17006722452595113], [6.277805467759137, 1.269937027725609, -0.17581399886014282], [6.319220297104039, 1.3212122075304116, -0.17745654580883752], [6.361904587893349, 1.3814297001190536, -0.1788181752963638], [6.397212223785303, 1.436621406820732, -0.18636581930644525], [6.4326977835047785, 1.4968416141182042, -0.1968638902963562], [6.470577528289667, 1.5622151700817501, -0.2059888058220949], [6.50527500588457, 1.6225545747679768, -0.20890706254192537], [6.533991290801353, 1.667338486951473, -0.20994409226967292], [6.568266079922566, 1.7125471430483405, -0.21387893540204317], [6.604406833516023, 1.7565698369119875, -0.21943528762942321], [6.645089506330265, 1.8066184612322171, -0.22602397061839952], [6.677336592500211, 1.8471840916274633, -0.22894481302962078], [6.7046109276216725, 1.8824049470337028, -0.22902589550075447], [6.729875502164248, 1.9136871690202835, -0.2298595927367515], [6.749525636979257, 1.9399723899799555, -0.2310973841556887], [6.770546008285351, 1.9687016885385553, -0.23528158387818365], [6.793224702968615, 2.0010190846472153, -0.24103030823113158], [6.81664915890525, 2.0297783448625006, -0.24581642715096308], [6.839392420361477, 2.0497690675384006, -0.24837638110296467], [6.8613580198036175, 2.0652027587632236, -0.2513347327583517], [6.878390245322848, 2.0752954924948006, -0.25198487820680526], [6.9016933724590785, 2.0876776114702955, -0.25431550144904236], [6.931456486238261, 2.1045634445453922, -0.2540647049687905], [6.952244627591099, 2.114220344343507, -0.2531573084392349], [6.978170378421709, 2.122275998511016, -0.25129558774656147], [7.0060054824269, 2.1292392692876194, -0.25179154916558133], [7.048665668944437, 2.13781182625994, -0.25493744690057696], [7.09384440195474, 2.1437574005423867, -0.25949481390129847], [7.166375817432609, 2.154836167710962, -0.26341699041997657], [7.2077034386611984, 2.158435056447888, -0.26329592617557296], [7.250654982167589, 2.1632273077191964, -0.26156810788337026], [7.297289829326104, 2.1666972096291706, -0.26042825011209914], [7.34378367091837, 2.168769828230119, -0.26177189378589105], [7.398401484384962, 2.173093931441164, -0.26575102325288213], [7.455561589902942, 2.177621249594782, -0.27014857563159467], [7.510679462772586, 2.1826770559021496, -0.2695873750772435], [7.562690835734259, 2.1857005818848108, -0.26433313178170437], [7.6121897916500245, 2.187395768357218, -0.260838606785569], [7.766342541932929, 2.182599061599615, -0.26848474083583795], [7.869902974508676, 2.172514094215858, -0.26745240931666814], [7.920269460403446, 2.164384949709527, -0.2632939094208311], [7.959761573808279, 2.155368339647581, -0.2625940196351024], [8.015327652345448, 2.141136918344695, -0.26539103270759057], [8.069592870729977, 2.127751100121184, -0.26782964132628706], [8.115013185946765, 2.114301719895106, -0.2675438473156362], [8.167003770482069, 2.0957281045735643, -0.2621863480920936], [8.201003469292715, 2.0826737429176236, -0.2577177346099191], [8.237447860371347, 2.065366668186353, -0.2558114225942276], [8.2808527003467, 2.039503700409545, -0.25730088981946864], [8.337394128730352, 2.0011235561396785, -0.2607183670640012], [8.380594864208817, 1.9709268313041894, -0.2618781678830615], [8.438179928191815, 1.9320676159638603, -0.2571757276142961], [8.48794393654164, 1.896928964459196, -0.25110392245272806], [8.538315262298894, 1.862426884880533, -0.24950647949729188]] | {"resolution": {"width": 1280, "height": 720}, "camera_matrix": {"data": [608.116, 0.0, 639.186, 0.0, 607.871, 363.069, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9981348, 0.0, 0.0610485, 0.33, 0.0, 1.0, 0.0, 0.0, -0.0610485, 0.0, 0.9981348, 0.65, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.5, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.5, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 226 | [[1161, 718], [1149, 706], [1138, 694], [1141, 689], [1134, 686], [1138, 686], [1146, 686], [1156, 688], [1166, 690], [1176, 693], [1187, 695], [1201, 697], [1210, 697], [1220, 698], [1224, 699], [1229, 698], [1232, 697], [1237, 697], [1240, 697], [1243, 698], [1245, 697], [1248, 695], [1249, 691], [1248, 688], [1243, 684], [1239, 681], [1232, 677], [1227, 671], [1221, 669], [1214, 669], [1209, 670], [1203, 671], [1195, 674], [1192, 674], [1187, 675], [1185, 678], [1184, 682], [1186, 686], [1189, 692], [1192, 695], [1199, 697], [1204, 700], [1210, 703], [1218, 704], [1223, 705], [1224, 707], [1224, 708], [1224, 709], [1222, 710], [1218, 711], [1215, 712], [1213, 712], [1212, 712], [1210, 712], [1203, 712], [1200, 711], [1196, 708], [1191, 706], [1182, 702], [1172, 697], [1155, 688], [1141, 679], [1133, 673], [1124, 666], [1118, 659], [1112, 651], [1099, 639], [1096, 637], [1093, 634], [1093, 633], [1092, 633], [1089, 633], [1088, 632], [1089, 632], [1092, 634], [1093, 635], [1096, 635], [1099, 635], [1102, 636], [1104, 636], [1107, 635], [1110, 633], [1113, 631], [1117, 629], [1121, 627], [1123, 625], [1126, 623], [1129, 620], [1129, 618], [1130, 616], [1131, 614], [1132, 612], [1132, 610], [1130, 607], [1128, 604], [1127, 601], [1125, 599], [1122, 598], [1120, 597], [1116, 596], [1112, 594], [1109, 593], [1107, 591], [1103, 590], [1102, 588], [1100, 587], [1099, 585], [1099, 584], [1099, 583], [1097, 582], [1095, 581], [1089, 581], [1083, 580], [1077, 577], [1067, 576], [1059, 576], [1048, 575], [1039, 574], [1024, 573], [1015, 571], [1005, 568], [996, 566], [985, 564], [974, 562], [965, 558], [953, 555], [942, 553], [928, 553], [919, 551], [907, 548], [895, 546], [884, 546], [870, 545], [855, 544], [847, 539], [841, 535], [834, 532], [826, 529], [817, 526], [810, 522], [803, 519], [797, 516], [789, 513], [780, 511], [773, 506], [764, 502], [758, 500], [750, 497], [743, 494], [735, 491], [726, 488], [719, 486], [707, 485], [702, 482], [694, 480], [686, 479], [676, 478], [668, 477], [660, 474], [653, 472], [645, 471], [637, 471], [626, 471], [618, 470], [612, 468], [604, 468], [596, 468], [586, 467], [580, 465], [574, 464], [570, 462], [566, 461], [561, 459], [556, 458], [550, 458], [545, 458], [540, 458], [535, 457], [531, 456], [527, 456], [523, 455], [520, 455], [515, 455], [511, 455], [508, 455], [504, 455], [501, 455], [498, 456], [494, 456], [490, 457], [487, 457], [484, 457], [482, 458], [479, 458], [475, 458], [472, 458], [470, 458], [467, 458], [465, 458], [464, 458], [462, 457], [461, 457], [460, 456], [459, 455], [458, 455], [458, 454], [457, 454], [455, 453], [454, 451], [453, 450], [453, 449], [453, 447], [453, 446], [454, 446], [454, 445], [455, 445], [456, 444], [457, 442], [457, 441], [459, 441], [461, 440], [465, 440], [469, 439], [472, 438], [477, 437], [482, 436]] | [[2.455349256842581, -1.5230654270126927, 0.06069876048878342], [2.506108100043207, -1.5191727057582276, 0.06293496489232808], [2.550545561148681, -1.5246843494374853, 0.07066909811862843], [2.5741045888740786, -1.5329173118479944, 0.07299834368766511], [2.593448527276422, -1.550043256495779, 0.07007604945098933], [2.6036255708886813, -1.5664120143694524, 0.06487667480364934], [2.606012600584066, -1.5738378906959918, 0.062211307559827844], [2.6042508784488234, -1.581006264369309, 0.05779896564683895], [2.596768655504974, -1.5850116773490286, 0.05567801982958542], [2.583380987818913, -1.5883318005075835, 0.054440834921095416], [2.5693229379788676, -1.590521577267896, 0.056464474320634395], [2.5540899978001335, -1.5927558605951129, 0.05904946821095791], [2.545287174666015, -1.5935237862436842, 0.06005510522766855], [2.53643070698422, -1.5938743499309593, 0.06024267231396152], [2.5314077017893055, -1.5936902110601827, 0.06120609017246181], [2.527079187866363, -1.5911713089718336, 0.06177366121345074], [2.5252973315559473, -1.5881524065676422, 0.06358229662457404], [2.523356581082311, -1.5856426259220595, 0.06244952472899712], [2.520642139133102, -1.584655789992531, 0.059847387272427], [2.518785371005805, -1.5839766217980475, 0.05625561206880292], [2.519594152162327, -1.5852647721906434, 0.05556489943391796], [2.52537880856282, -1.5864663870546738, 0.0534922850900017], [2.5343214011442683, -1.5868487020276114, 0.05509616621380076], [2.541590310748745, -1.5857832700113854, 0.056207204009581346], [2.5536113495936092, -1.5790944649103702, 0.056763086838778065], [2.5637735497935665, -1.5707780512859233, 0.05555410732895183], [2.5798918448322468, -1.5588618542146722, 0.051860302852709594], [2.5944252939907955, -1.5442494070506414, 0.052160370264303424], [2.602067576532363, -1.5275430651264807, 0.05016620454306775], [2.6044179177322775, -1.5073149121881846, 0.04780188677946029], [2.602818467065376, -1.4911205443953963, 0.0462276004499671], [2.597506430726682, -1.4678741337498273, 0.04478909190802227], [2.5873843120245965, -1.4359008241457718, 0.04244342998276096], [2.5783150890933797, -1.4113469234048832, 0.04328408336730405], [2.5663679234168484, -1.3856922218165972, 0.04352451024671922], [2.5518576480577764, -1.3665679470094454, 0.043074436198558885], [2.5374473463890297, -1.3532338700340167, 0.04125447169545282], [2.519278606815149, -1.34252685975689, 0.04027642895196948], [2.493249901884667, -1.3300460096098514, 0.03975999430571164], [2.473548012922791, -1.3236209224308726, 0.04357184434030614], [2.4531600672459604, -1.3207899331096167, 0.04506617931566126], [2.438071535456416, -1.3222177818287997, 0.04475464484270475], [2.4244677452873873, -1.326921206627349, 0.0455238225977439], [2.412573371821466, -1.3349321759821082, 0.04795596081315523], [2.4033797155386765, -1.33912747243581, 0.0500599059191984], [2.3981833976357763, -1.3401665809053882, 0.04908247409522204], [2.394845822167241, -1.3377895882252018, 0.04796889726734577], [2.392043878050515, -1.3325750192458012, 0.04764242215754422], [2.3898496853782945, -1.3258885477295728, 0.047517714978866366], [2.387247159431496, -1.3162019002760101, 0.04706708478549615], [2.385587862448432, -1.3074778917631145, 0.04645612356361539], [2.384840752388712, -1.2998201260068463, 0.04571527191006197], [2.3846357467437116, -1.2946239428036974, 0.044928821508278816], [2.384961948648808, -1.2906477106952416, 0.04368194807873493], [2.395264391264277, -1.2823861618682355, 0.039890714708249675], [2.3999495618365927, -1.2788657212418082, 0.03779589643234971], [2.414825554686047, -1.2750497697776533, 0.033434445678750535], [2.427052879876655, -1.2727407150658094, 0.032361662928693136], [2.4504291338769946, -1.2690119793808257, 0.03016047397289867], [2.4803729142952733, -1.2646523636822766, 0.027269793659428387], [2.5258618805993365, -1.256443892570422, 0.024544932833876487], [2.5761376787260843, -1.2492222842276508, 0.02393164609829057], [2.6052816117068716, -1.2458754344667917, 0.025250917253572425], [2.642556083271529, -1.2450556660461545, 0.029059940262705197], [2.6751588453361563, -1.2474128824137525, 0.032229065667003454], [2.710561241653366, -1.2537537220108348, 0.033976341755391104], [2.7895794906841616, -1.2730912198037818, 0.0357325793928851], [2.8088794585590477, -1.2776331528385145, 0.03732120236901437], [2.824989777967488, -1.2799666832040355, 0.039795974866287054], [2.8292075976167297, -1.280944514691702, 0.041517391095979406], [2.8296056686206725, -1.2802571706945813, 0.04133372846258254], [2.831801213492483, -1.2729031812039264, 0.04184871075012353], [2.8324199448038456, -1.2692803855480617, 0.041182595942061084], [2.832151004418847, -1.2671678776600577, 0.038856228249976255], [2.8263588571736875, -1.2685769082560578, 0.033512207828714224], [2.8223558672093816, -1.2717430122629203, 0.0334448622907928], [2.8144919222806095, -1.2781461634640503, 0.03750304199338217], [2.810424770983701, -1.2857291390119858, 0.038104664786985154], [2.809110018964631, -1.2951871099548344, 0.037266974589037716], [2.811381057533538, -1.3066612426987931, 0.035513234171119734], [2.8168003043760166, -1.3207765168021441, 0.03544740702621141], [2.8272953551629314, -1.341038663338165, 0.035971256120895134], [2.8391107128045263, -1.3607939087624041, 0.0402395397508144], [2.848979853383355, -1.3802680922301542, 0.0427930532896994], [2.859260677977346, -1.39782103452227, 0.04405469483394597], [2.8692583069369277, -1.4135386445307687, 0.04408168627364262], [2.8792690455696004, -1.4315185563903756, 0.04523629783303562], [2.889620159021547, -1.4503640163251856, 0.04878284157764767], [2.9009722830692226, -1.4636401340657228, 0.05307764836151563], [2.9113282028965983, -1.4748689459563824, 0.05562077991626779], [2.921013398186602, -1.48452829652752, 0.05650202915963831], [2.9299158067569095, -1.4909303100751359, 0.05553885765827715], [2.9385786621441667, -1.493892006034704, 0.05498481413125944], [2.950159304494562, -1.495716337056456, 0.05438276362643535], [2.962187600223544, -1.4954777999140698, 0.05612188243553362], [2.9726210429795685, -1.4950508358422785, 0.05764734670895422], [2.98212899826558, -1.4946767158458405, 0.05745781288355545], [2.9930676892208083, -1.4937976831490793, 0.056921621000391553], [3.0037350558479545, -1.4930235625964703, 0.05634142607285497], [3.0149526018682735, -1.4890439953312549, 0.05543274728750447], [3.0277328333088604, -1.4830760553069062, 0.056390420160632004], [3.038582796958579, -1.4785847159770502, 0.05633984832680028], [3.0495124515906014, -1.4760618170305468, 0.05591907991671974], [3.062593246183013, -1.4748938731833907, 0.05456297360259299], [3.070886624713083, -1.4742558740983815, 0.05532755004794154], [3.081971604531404, -1.4770692931660472, 0.055825378743882936], [3.0945773152956235, -1.4809880753660343, 0.05771803605033199], [3.1042156151343647, -1.4852029291923743, 0.058918086402314884], [3.112167650059419, -1.4885512366326537, 0.058986907598672644], [3.119393781948844, -1.4904044176114941, 0.05907045306055636], [3.126426727917618, -1.4875394643481048, 0.059549727006860564], [3.1360229134782713, -1.4760476338437263, 0.05751654543271911], [3.1499594551671066, -1.4535992967899873, 0.057188330716904545], [3.163628321671027, -1.4316069974758712, 0.05805225752254728], [3.183240018531052, -1.4055377411682595, 0.056763378379329765], [3.201094826929193, -1.387033330237751, 0.053627163944355516], [3.228140526505925, -1.3605839952572842, 0.048673348378642345], [3.2535496888440605, -1.3396436902136153, 0.0435534456767499], [3.293222424795161, -1.3055369784050406, 0.037844696747669104], [3.32462799075374, -1.281144031574375, 0.03530965234795502], [3.3533437090365226, -1.2552181306311363, 0.0366894953134036], [3.381829454952424, -1.23061125547699, 0.03829067214006443], [3.4136942029138027, -1.2049559848319609, 0.03737166582886431], [3.446266178671081, -1.1718311112402233, 0.03462434484588783], [3.477089494113116, -1.141091864407254, 0.034157189793631915], [3.512718031116435, -1.1023093238556756, 0.035517488541280784], [3.5440882471027493, -1.0660312346722267, 0.03433433256997631], [3.5804928332973986, -1.023965276431385, 0.026842821758997104], [3.6102924055930288, -0.9908593411198408, 0.02034771935286983], [3.6522631052302756, -0.9471674447024427, 0.01564163127017082], [3.690915306484982, -0.910204925406727, 0.015909923146914196], [3.7272901296400818, -0.8775485293362077, 0.014100131580896402], [3.7760282173200608, -0.837198434861699, 0.006661265051178589], [3.8275186139149326, -0.7945181297372219, -0.00011671682392488947], [3.881206683204951, -0.7583342612886406, -5.15854678653227e-05], [3.9299196427483736, -0.7352852085714465, 0.0013565229268621692], [3.9863783522991696, -0.7143187779721996, -0.0006196630315571383], [4.053727058831555, -0.6983392708428933, -0.0060729825483818445], [4.127936816244144, -0.6802745413844904, -0.00968441832579714], [4.199228994877458, -0.6636907356447193, -0.009638414507271875], [4.2598917367723175, -0.6478310296367376, -0.007161402088335933], [4.32136389672435, -0.6231068856419348, -0.009261620117243297], [4.402864571336281, -0.5877212588683656, -0.01801173494653341], [4.474338130085101, -0.5521377968376986, -0.025531034685521092], [4.543458791906247, -0.5117442998933037, -0.027494365325559045], [4.62189031374723, -0.461570053997332, -0.026642429384011734], [4.682411580227921, -0.42144647099033516, -0.03204296890201164], [4.760691227578562, -0.36402836259895555, -0.04149734405213934], [4.827753648716154, -0.31266364454828954, -0.047478123778326164], [4.890924855808606, -0.2611054832224142, -0.047542742828262874], [4.965324105025644, -0.19819269450792065, -0.04583162447332256], [5.0156948416212686, -0.15305534069507631, -0.05064057409400391], [5.103676914062632, -0.06942970637899837, -0.06258282305908835], [5.147837408835116, -0.024951347011082703, -0.06636571506074773], [5.208414825439235, 0.03963803059479121, -0.06757390679207731], [5.261561438915365, 0.09693922487004158, -0.0709414370082726], [5.331722920850481, 0.1715234107849386, -0.0824744383208511], [5.394931943988269, 0.2410560753703117, -0.09266757403193537], [5.460248145286698, 0.3126618394184457, -0.09889211791056596], [5.512957425665178, 0.37348066716657735, -0.09798683210438952], [5.566312447902206, 0.43751343861868186, -0.10151318258914444], [5.623849340698158, 0.5087047647149285, -0.11050286668211129], [5.684913455423043, 0.5894235318500138, -0.12207247110122665], [5.7363545721294, 0.6589423655381497, -0.1267486677256855], [5.78387810732994, 0.7186175784976832, -0.12617892445419443], [5.838049583825011, 0.7836066305333849, -0.13186582975089323], [5.897713513796148, 0.8560693362425029, -0.1423850842186951], [5.9782966675965525, 0.9530530099496572, -0.15533904859811543], [6.034859987588078, 1.019569992765144, -0.15730092932624018], [6.094532853886051, 1.082973451578567, -0.15733070597278243], [6.156989840701115, 1.1467547622929275, -0.16388513271279237], [6.216181248362986, 1.2040023250648804, -0.17006722452595113], [6.277805467759137, 1.269937027725609, -0.17581399886014282], [6.319220297104039, 1.3212122075304116, -0.17745654580883752], [6.361904587893349, 1.3814297001190536, -0.1788181752963638], [6.397212223785303, 1.436621406820732, -0.18636581930644525], [6.4326977835047785, 1.4968416141182042, -0.1968638902963562], [6.470577528289667, 1.5622151700817501, -0.2059888058220949], [6.50527500588457, 1.6225545747679768, -0.20890706254192537], [6.533991290801353, 1.667338486951473, -0.20994409226967292], [6.568266079922566, 1.7125471430483405, -0.21387893540204317], [6.604406833516023, 1.7565698369119875, -0.21943528762942321], [6.645089506330265, 1.8066184612322171, -0.22602397061839952], [6.677336592500211, 1.8471840916274633, -0.22894481302962078], [6.7046109276216725, 1.8824049470337028, -0.22902589550075447], [6.729875502164248, 1.9136871690202835, -0.2298595927367515], [6.749525636979257, 1.9399723899799555, -0.2310973841556887], [6.770546008285351, 1.9687016885385553, -0.23528158387818365], [6.793224702968615, 2.0010190846472153, -0.24103030823113158], [6.81664915890525, 2.0297783448625006, -0.24581642715096308], [6.839392420361477, 2.0497690675384006, -0.24837638110296467], [6.8613580198036175, 2.0652027587632236, -0.2513347327583517], [6.878390245322848, 2.0752954924948006, -0.25198487820680526], [6.9016933724590785, 2.0876776114702955, -0.25431550144904236], [6.931456486238261, 2.1045634445453922, -0.2540647049687905], [6.952244627591099, 2.114220344343507, -0.2531573084392349], [6.978170378421709, 2.122275998511016, -0.25129558774656147], [7.0060054824269, 2.1292392692876194, -0.25179154916558133], [7.048665668944437, 2.13781182625994, -0.25493744690057696], [7.09384440195474, 2.1437574005423867, -0.25949481390129847], [7.166375817432609, 2.154836167710962, -0.26341699041997657], [7.2077034386611984, 2.158435056447888, -0.26329592617557296], [7.250654982167589, 2.1632273077191964, -0.26156810788337026], [7.297289829326104, 2.1666972096291706, -0.26042825011209914], [7.34378367091837, 2.168769828230119, -0.26177189378589105], [7.398401484384962, 2.173093931441164, -0.26575102325288213], [7.455561589902942, 2.177621249594782, -0.27014857563159467], [7.510679462772586, 2.1826770559021496, -0.2695873750772435], [7.562690835734259, 2.1857005818848108, -0.26433313178170437], [7.6121897916500245, 2.187395768357218, -0.260838606785569], [7.766342541932929, 2.182599061599615, -0.26848474083583795], [7.869902974508676, 2.172514094215858, -0.26745240931666814], [7.920269460403446, 2.164384949709527, -0.2632939094208311], [7.959761573808279, 2.155368339647581, -0.2625940196351024], [8.015327652345448, 2.141136918344695, -0.26539103270759057], [8.069592870729977, 2.127751100121184, -0.26782964132628706], [8.115013185946765, 2.114301719895106, -0.2675438473156362], [8.167003770482069, 2.0957281045735643, -0.2621863480920936], [8.201003469292715, 2.0826737429176236, -0.2577177346099191], [8.237447860371347, 2.065366668186353, -0.2558114225942276], [8.2808527003467, 2.039503700409545, -0.25730088981946864], [8.337394128730352, 2.0011235561396785, -0.2607183670640012], [8.380594864208817, 1.9709268313041894, -0.2618781678830615], [8.438179928191815, 1.9320676159638603, -0.2571757276142961], [8.48794393654164, 1.896928964459196, -0.25110392245272806], [8.538315262298894, 1.862426884880533, -0.24950647949729188]] | [[1224, 707], [1131, 614], [841, 535], [523, 455], [482, 436]] | [482, 436] | Navigate to x=<loc0385>, y=<loc0620> | <loc0979><loc1005><loc0904><loc0873><loc0672><loc0760><loc0418><loc0647><loc0385><loc0620> | [['<loc0979>', '<loc1005>'], ['<loc0904>', '<loc0873>'], ['<loc0672>', '<loc0760>'], ['<loc0418>', '<loc0647>'], ['<loc0385>', '<loc0620>']] | 1.737838 | 1 | 0 | Original is the baseline: shortest, smooth, and clearly avoids main obstacles. noise_04 and noise_00 are good, traversable alternatives that explore different corridors (right and slight right) while staying smooth. noise_01 is close to original (low diversity) but acceptable. noise_02 and noise_03 deviate strongly toward the left wall and risk proximity to wooden slats and wall; they are longer routes. Mirrored (blue) makes large loops and tight turns near the left area, increasing collision risk and being less efficient. | Obstacles and locations: horizontal wooden slats / railing along left wall (left side of image), a vertical concrete/stone pillar near center-left, glass doors and metal frames at the far right/entrance, ribbed entrance mat/threshold at the doorway. Terrain: mostly flat carpeted floor in the interior, hard/tiled threshold near doors. All trajectories stay on the floor (no obvious elevation traversal), but quality varies: original is direct and smooth, noise_04 hugs the right side near the door (smooth but risks close pass to door frame), noise_00 is a slightly right-shifted smooth approach, noise_01 is a minor perturbation of the original (smooth but redundant), noise_02 and noise_03 sweep wide left along the wall risking close proximity to slats and pillar and are longer, mirrored has extra loops and tight turns that reduce smoothness and increase collision risk with left-side structure. | noise_01 is low-diversity (minor offset from original). noise_00 and noise_04 provide moderate diversity by using slightly different corridors (right-side approaches). noise_02 and noise_03 are high-diversity, taking pronounced left detours along the wall. mirrored is highest in behavioral difference (large loop and backtrack) but that diversity comes at the cost of poor quality and potential collision risk. Prefer trajectories that balance diversity and safe traversability (noise_04, noise_00). | ["Carpeted flat interior floor", "Hard/tiled threshold at the entrance", "Entrance mat/ribbed doormat near doors", "Vertical concrete/stone pillar (center-left)", "Glass doors and metal frames (far right)", "Decorative horizontal wooden slats/railing along left wall (potential lateral obstacle)"] | {"original": "Move straight along the carpeted floor toward the entrance, staying clear of the pillar and the left wooden slats; cross the threshold to the door area.", "mirrored": "Swing widely left then loop back toward the entrance, skirting near the wooden slats and pillar; requires tight turns along the wall.", "noise_00": "Take a slightly right-shifted direct approach on carpet, avoiding the pillar and left slats, then approach the door threshold smoothly.", "noise_01": "Follow a near-baseline straight path on carpet with a small right offset, keeping clear of the pillar and left slats before the door.", "noise_02": "Sweep left along the wall, passing close to the wooden slats and pillar, then curve back across the carpet toward the entrance.", "noise_03": "Make a pronounced left-side detour along the wall, staying near the slats and away from the central floor, then approach the doorway from left.", "noise_04": "Take a right-side corridor approach, hugging the area near the glass doors and threshold while avoiding the pillar and left slats."} | [{"original": 1}, {"noise_04": 2}, {"noise_00": 3}, {"noise_01": 4}, {"noise_02": 5}, {"noise_03": 6}, {"mirrored": 7}] | {"trajectory_2d": [[1161, 718], [1149, 706], [1138, 694], [1141, 689], [1134, 686], [1138, 686], [1146, 686], [1156, 688], [1166, 690], [1176, 693], [1187, 695], [1201, 697], [1210, 697], [1220, 698], [1224, 699], [1229, 698], [1232, 697], [1237, 697], [1240, 697], [1243, 698], [1245, 697], [1248, 695], [1249, 691], [1248, 688], [1243, 684], [1239, 681], [1232, 677], [1227, 671], [1221, 669], [1214, 669], [1209, 670], [1203, 671], [1195, 674], [1192, 674], [1187, 675], [1185, 678], [1184, 682], [1186, 686], [1189, 692], [1192, 695], [1199, 697], [1204, 700], [1210, 703], [1218, 704], [1223, 705], [1224, 707], [1224, 708], [1224, 709], [1222, 710], [1218, 711], [1215, 712], [1213, 712], [1212, 712], [1210, 712], [1203, 712], [1200, 711], [1196, 708], [1191, 706], [1182, 702], [1172, 697], [1155, 688], [1141, 679], [1133, 673], [1124, 666], [1118, 659], [1112, 651], [1099, 639], [1096, 637], [1093, 634], [1093, 633], [1092, 633], [1089, 633], [1088, 632], [1089, 632], [1092, 634], [1093, 635], [1096, 635], [1099, 635], [1102, 636], [1104, 636], [1107, 635], [1110, 633], [1113, 631], [1117, 629], [1121, 627], [1123, 625], [1126, 623], [1129, 620], [1129, 618], [1130, 616], [1131, 614], [1132, 612], [1132, 610], [1130, 607], [1128, 604], [1127, 601], [1125, 599], [1122, 598], [1120, 597], [1116, 596], [1112, 594], [1109, 593], [1107, 591], [1103, 590], [1102, 588], [1100, 587], [1099, 585], [1099, 584], [1099, 583], [1097, 582], [1095, 581], [1089, 581], [1083, 580], [1077, 577], [1067, 576], [1059, 576], [1048, 575], [1039, 574], [1024, 573], [1015, 571], [1005, 568], [996, 566], [985, 564], [974, 562], [965, 558], [953, 555], [942, 553], [928, 553], [919, 551], [907, 548], [895, 546], [884, 546], [870, 545], [855, 544], [847, 539], [841, 535], [834, 532], [826, 529], [817, 526], [810, 522], [803, 519], [797, 516], [789, 513], [780, 511], [773, 506], [764, 502], [758, 500], [750, 497], [743, 494], [735, 491], [726, 488], [719, 486], [707, 485], [702, 482], [694, 480], [686, 479], [676, 478], [668, 477], [660, 474], [653, 472], [645, 471], [637, 471], [626, 471], [618, 470], [612, 468], [604, 468], [596, 468], [586, 467], [580, 465], [574, 464], [570, 462], [566, 461], [561, 459], [556, 458], [550, 458], [545, 458], [540, 458], [535, 457], [531, 456], [527, 456], [523, 455], [520, 455], [515, 455], [511, 455], [508, 455], [504, 455], [501, 455], [498, 456], [494, 456], [490, 457], [487, 457], [484, 457], [482, 458], [479, 458], [475, 458], [472, 458], [470, 458], [467, 458], [465, 458], [464, 458], [462, 457], [461, 457], [460, 456], [459, 455], [458, 455], [458, 454], [457, 454], [455, 453], [454, 451], [453, 450], [453, 449], [453, 447], [453, 446], [454, 446], [454, 445], [455, 445], [456, 444], [457, 442], [457, 441], [459, 441], [461, 440], [465, 440], [469, 439], [472, 438], [477, 437], [482, 436]], "goal_2d": [482, 436], "ranking": 1, "description": ""} | null | {"trajectory_2d": [[1164.4741109089814, 718.0], [1155.9482218179628, 706.0], [1148.4223327269442, 694.0], [1154.8964436359256, 689.0], [1151.370554544907, 686.0], [1158.8446654538884, 686.0], [1170.3187763628698, 686.0], [1183.7928872718512, 688.0], [1197.2669981808326, 690.0], [1210.741109089814, 693.0], [1225.2152199987954, 695.0], [1242.6893309077768, 697.0], [1255.1634418167582, 697.0], [1268.6375527257396, 698.0], [1276.111663634721, 699.0], [1279.0, 698.0], [1279.0, 697.0], [1279.0, 697.0], [1279.0, 697.0], [1279.0, 698.0], [1279.0, 697.0], [1279.0, 695.0], [1279.0, 691.0], [1279.0, 688.0], [1279.0, 684.0], [1279.0, 681.0], [1279.0, 677.0], [1279.0, 671.0], [1279.0, 669.0], [1279.0, 669.0], [1279.0, 670.0], [1279.0, 671.0], [1279.0, 674.0], [1279.0, 674.0], [1279.0, 675.0], [1279.0, 678.0], [1279.0, 682.0], [1279.0, 686.0], [1279.0, 692.0], [1279.0, 695.0], [1279.0, 697.0], [1279.0, 700.0], [1279.0, 703.0], [1279.0, 704.0], [1279.0, 705.0], [1279.0, 707.0], [1279.0, 708.0], [1279.0, 709.0], [1279.0, 710.0], [1279.0, 711.0], [1279.0, 712.0], [1279.0, 712.0], [1279.0, 712.0], [1279.0, 712.0], [1279.0, 712.0], [1279.0, 711.0], [1279.0, 708.0], [1279.0, 706.0], [1279.0, 702.0], [1279.0, 697.0], [1279.0, 688.0], [1279.0, 679.0], [1279.0, 673.0], [1279.0, 666.0], [1279.0, 659.0], [1279.0, 651.0], [1279.0, 639.0], [1279.0, 637.0], [1279.0, 634.0], [1279.0, 633.0], [1279.0, 633.0], [1279.0, 633.0], [1279.0, 632.0], [1279.0, 632.0], [1279.0, 634.0], [1279.0, 635.0], [1279.0, 635.0], [1279.0, 635.0], [1279.0, 636.0], [1279.0, 636.0], [1279.0, 635.0], [1279.0, 633.0], [1279.0, 631.0], [1279.0, 629.0], [1279.0, 627.0], [1279.0, 625.0], [1279.0, 623.0], [1279.0, 620.0], [1279.0, 618.0], [1279.0, 616.0], [1279.0, 614.0], [1279.0, 612.0], [1279.0, 610.0], [1279.0, 607.0], [1279.0, 604.0], [1279.0, 601.0], [1279.0, 599.0], [1279.0, 598.0], [1279.0, 597.0], [1279.0, 596.0], [1279.0, 594.0], [1279.0, 593.0], [1279.0, 591.0], [1279.0, 590.0], [1279.0, 588.0], [1279.0, 587.0], [1279.0, 585.0], [1279.0, 584.0], [1279.0, 583.0], [1279.0, 582.0], [1279.0, 581.0], [1279.0, 581.0], [1279.0, 580.0], [1279.0, 577.0], [1279.0, 576.0], [1279.0, 576.0], [1279.0, 575.0], [1279.0, 574.0], [1279.0, 573.0], [1279.0, 571.0], [1279.0, 568.0], [1279.0, 566.0], [1279.0, 564.0], [1266.2755878980279, 562.0], [1254.9782752730232, 558.0], [1240.6809626480185, 555.0], [1227.3836500230138, 553.0], [1211.0863373980092, 553.0], [1199.7890247730045, 551.0], [1185.4917121479998, 548.0], [1171.1943995229951, 546.0], [1157.8970868979904, 546.0], [1141.5997742729858, 545.0], [1124.302461647981, 544.0], [1114.0051490229764, 539.0], [1105.7078363979717, 535.0], [1096.410523772967, 532.0], [1086.1132111479624, 529.0], [1074.8158985229577, 526.0], [1065.518585897953, 522.0], [1056.2212732729483, 519.0], [1047.9239606479437, 516.0], [1037.626648022939, 513.0], [1026.3293353979343, 511.0], [1017.0320227729292, 506.0], [1005.734710147924, 502.0], [997.4373975229189, 500.0], [987.1400848979137, 497.0], [977.8427722729085, 494.0], [967.5454596479034, 491.0], [956.2481470228981, 488.0], [946.950834397893, 486.0], [932.6535217728876, 485.0], [925.3562091478826, 482.0], [915.0588965228774, 480.0], [904.7615838978722, 479.0], [892.464271272867, 478.0], [882.1669586478622, 477.0], [871.8696460228574, 474.0], [862.5723333978526, 472.0], [852.2750207728478, 471.0], [841.977708147843, 471.0], [828.6803955228382, 471.0], [818.3830828978334, 470.0], [810.0857702728287, 468.0], [799.7884576478239, 468.0], [789.4911450228191, 468.0], [777.1938323978143, 467.0], [768.8965197728095, 465.0], [760.5992071478047, 464.0], [754.3018945227999, 462.0], [748.0045818977951, 461.0], [740.7072692727903, 459.0], [733.4099566477855, 458.0], [725.1126440227807, 458.0], [717.8153313977759, 458.0], [710.5180187727711, 458.0], [703.2207061477664, 457.0], [696.9233935227616, 456.0], [690.6260808977568, 456.0], [684.328768272752, 455.0], [679.0314556477472, 455.0], [671.7341430227424, 455.0], [665.4368303977376, 455.0], [660.1395177727328, 455.0], [653.842205147728, 455.0], [648.5448925227232, 455.0], [643.2475798977184, 456.0], [636.9502672727136, 456.0], [630.6529546477088, 457.0], [625.355642022704, 457.0], [620.0583293976993, 457.0], [615.7610167726945, 458.0], [610.4637041476897, 458.0], [604.1663915226849, 458.0], [598.8690788976801, 458.0], [594.5717662726753, 458.0], [589.2744536476705, 458.0], [584.9771410226657, 458.0], [581.6798283976609, 458.0], [579.1841031007938, 457.0], [577.6883778039266, 457.0], [576.1926525070595, 456.0], [574.6969272101924, 455.0], [573.2012019133252, 455.0], [572.7054766164581, 454.0], [571.209751319591, 454.0], [568.7140260227238, 453.0], [567.2183007258567, 451.0], [565.7225754289896, 450.0], [565.2268501321224, 449.0], [564.7311248352553, 447.0], [564.2353995383882, 446.0], [564.739674241521, 446.0], [564.2439489446539, 445.0], [564.7482236477867, 445.0], [565.2524983509196, 444.0], [565.7567730540525, 442.0], [565.2610477571853, 441.0], [566.7653224603182, 441.0], [568.2695971634511, 440.0], [571.7738718665839, 440.0], [575.2781465697168, 439.0], [577.7824212728497, 438.0], [582.2866959759825, 437.0], [586.7909706791154, 436.0]], "goal_2d": [480.00914525086614, 435.6605243948391], "ranking": 2, "description": ""} | original | 3 | 3 | |
Navigate to <point x="67.3" y="49.9">goal</point> | [[715, 714], [720, 698], [725, 684], [731, 672], [741, 659], [747, 646], [753, 634], [762, 626], [772, 618], [783, 607], [789, 600], [795, 592], [799, 585], [804, 580], [811, 574], [816, 567], [821, 560], [828, 555], [833, 552], [836, 546], [839, 539], [842, 535], [844, 532], [847, 528], [853, 525], [857, 520], [861, 515], [865, 512], [869, 509], [870, 505], [873, 501], [875, 497], [877, 496], [880, 493], [883, 490], [885, 487], [888, 485], [892, 483], [895, 481], [896, 478], [898, 475], [899, 473], [902, 471], [908, 470], [911, 467], [912, 465], [915, 463], [918, 462], [917, 460], [918, 458], [920, 455], [920, 454], [921, 453], [922, 452], [923, 450], [923, 447], [924, 447], [924, 446], [923, 444], [923, 442], [924, 440], [923, 439], [924, 437], [924, 435], [925, 434], [926, 433], [925, 432], [924, 430], [925, 429], [926, 427], [925, 426], [925, 425], [925, 423], [924, 421], [924, 420], [922, 419], [922, 418], [921, 416], [919, 416], [918, 415], [917, 413], [916, 412], [916, 411], [915, 411], [913, 410], [911, 408], [909, 407], [907, 407], [904, 406], [903, 405], [902, 404], [900, 403], [899, 403], [897, 402], [894, 401], [893, 400], [891, 399], [889, 399], [888, 398], [886, 397], [885, 396], [884, 396], [883, 395], [880, 395], [878, 394], [877, 393], [875, 392], [873, 392], [872, 392], [871, 391], [870, 390], [869, 390], [868, 389], [866, 389], [865, 388], [863, 387], [862, 387], [860, 387], [859, 386], [858, 385], [857, 385], [856, 384], [855, 384], [853, 384], [851, 383], [849, 382], [847, 382], [845, 382], [845, 381], [844, 380], [843, 380], [842, 379], [841, 378], [840, 378], [839, 378], [839, 377], [838, 376], [839, 376], [837, 375], [837, 374], [836, 374], [835, 374], [835, 373], [834, 372], [833, 372], [832, 371], [831, 371], [830, 371], [829, 370], [828, 369], [828, 368], [828, 367], [829, 367], [830, 367], [830, 366], [831, 366], [834, 366], [835, 365], [836, 365], [837, 365], [838, 365], [838, 364], [839, 364], [840, 364], [841, 364], [842, 364], [843, 363], [844, 363], [845, 363], [846, 362], [847, 363], [848, 363], [848, 362], [849, 362], [850, 362], [851, 362], [852, 361], [853, 361], [854, 361], [855, 361], [855, 360], [856, 360], [857, 360], [858, 360], [859, 360], [859, 359], [860, 359], [861, 359], [862, 359]] | [[2.4895493575324394, -0.4454395785793963, 0.015309207585310958], [2.551503727368413, -0.47692643492484876, 0.021158082979795267], [2.618267155442652, -0.5112910827787118, 0.023239040807382594], [2.6930605994988923, -0.5502487906981628, 0.01957273881126298], [2.7773414748720597, -0.5968695464488292, 0.014058164568481857], [2.852231100201095, -0.6404888513617948, 0.013040120362539653], [2.919915023659371, -0.6820195503579498, 0.01877977559671251], [2.985552827820186, -0.7241223386428146, 0.020887627711125845], [3.058505871383659, -0.7720271251422446, 0.01771426132991394], [3.159708485065039, -0.8375015730263158, 0.01288479253319963], [3.2147682930619226, -0.8707791373728924, 0.013873287934892176], [3.2816558795623223, -0.9127744892008423, 0.019575173796177125], [3.3475850534513256, -0.9524624289069266, 0.019985237621753527], [3.422259177925696, -0.9964070334668236, 0.01514273453075532], [3.5036558451956807, -1.0461476813601962, 0.009475361745337807], [3.575198803499063, -1.0913685484184725, 0.009227750648037158], [3.64048541108707, -1.1335343870486554, 0.01505144381880541], [3.7196321899254485, -1.1835726406785056, 0.01585426099133258], [3.7795087003103163, -1.221675058328401, 0.012181801676035775], [3.857968123977173, -1.2706559314564743, 0.00789310274166155], [3.945335935774608, -1.3220045349326028, 0.010829608253331457], [3.9934692389581983, -1.3506829490425503, 0.015833795644162763], [4.057546457717024, -1.3905178810957182, 0.015595194645051436], [4.132135664531802, -1.4358492925921382, 0.01099412259510757], [4.212904223314638, -1.4871003049074716, 0.005245997213513931], [4.287003079009651, -1.536271303495937, 0.005075683613291915], [4.370598271879885, -1.5922276354866085, 0.011775174955616308], [4.438108375171964, -1.6360502287999452, 0.011321909371950767], [4.516793558804238, -1.6865347915919529, 0.007677378750642561], [4.589201274547975, -1.7310813036188506, 0.005964892771373798], [4.661277034665943, -1.7759829811790837, 0.0095229113877906], [4.733239071569869, -1.818015564798543, 0.013862160927416767], [4.795068656569413, -1.8559946904309754, 0.011061721239130407], [4.876200111613059, -1.9054345393948324, 0.005528397813641561], [4.951933686944983, -1.9541044585484428, 0.0025518437823848217], [5.020786125585516, -1.998226377649189, 0.0062498723701480685], [5.080081970592744, -2.040259681694465, 0.01015489999504382], [5.153711255450105, -2.090534620869221, 0.008417239994123804], [5.224413550398424, -2.1378968425690914, 0.004389179054065551], [5.301497910563228, -2.1874102835693634, 0.0022704608014194605], [5.367716554672029, -2.230364628959876, 0.00590359236664284], [5.422212453615884, -2.2632193405164003, 0.009573152624952286], [5.525903997140631, -2.329982929809603, 0.003755888889855896], [5.601925308928173, -2.3795843909360883, -0.0012726744814344215], [5.687239785217741, -2.434499413224273, -0.0006713616175559878], [5.742349194092469, -2.4693702471406027, 0.005455819859960798], [5.807705947249133, -2.50866434910688, 0.008201538026384014], [5.889155668510739, -2.556540998829746, 0.005050008385282467], [5.958644587238325, -2.593866579353687, 0.0017421112444750975], [6.035804189551527, -2.633425378967104, 0.0022350426574178073], [6.106441266023296, -2.669810412907168, 0.007651327568432009], [6.169451802551123, -2.7020342098549577, 0.007049796679787335], [6.24251165403814, -2.7363201628292018, 0.002638696923739303], [6.339528215930329, -2.7832597841976963, -0.0033803023468266247], [6.403146994619306, -2.815145616785685, -0.0035902771413205414], [6.495146252734571, -2.8613707553541303, 0.00374154388936887], [6.540076025770588, -2.8821588698840515, 0.00435633313190209], [6.612232401220012, -2.916937592417071, 0.0011905534940623852], [6.701046047856835, -2.957623308762038, -0.0023462492497117182], [6.779711086707721, -2.991980185294949, 0.0005048435824335229], [6.8393273180610095, -3.0181681327089223, 0.006653181848037093], [6.913226251770993, -3.0529577662869087, 0.005780535666175979], [7.062004100937656, -3.1213969608776893, -0.0020356068497946467], [7.1546849468982145, -3.165575540864836, 0.0017047268865297838], [7.224281326214168, -3.2002255022592294, 0.009409174612393656], [7.315702915667146, -3.2405827750365006, 0.009932438900428053], [7.3813823418727225, -3.267423421919375, 0.0075697154586862325], [7.46534096805874, -3.3000703768830135, 0.005440974839835633], [7.5405910910325815, -3.329349016175115, 0.008236571971231399], [7.604024529859885, -3.3523924746247644, 0.013970497735947163], [7.7700319101948025, -3.4137410375499257, 0.010436150077374862], [7.854626628044798, -3.44231753499281, 0.008976331740335297], [7.929746923481275, -3.4692094595275194, 0.012577668122062846], [8.009959273491404, -3.4976869148765672, 0.021147085130422738], [8.15739013161783, -3.5421918443568075, 0.01914481530789658], [8.243455646672373, -3.5648831164396597, 0.01598713072844049], [8.317552041993395, -3.582456088945605, 0.017522953794063767], [8.393855114869439, -3.5996055249211736, 0.0226157520566872], [8.48908382754297, -3.6231614333190123, 0.018976131921121464], [8.646816037589076, -3.6590394351617874, 0.011451052818500784], [8.726786160832432, -3.67726655344876, 0.014406750565484572], [8.78964001664417, -3.6929930697223767, 0.020925752959257693], [8.877995536590731, -3.7114559299612893, 0.02301227016690177], [8.972877999885384, -3.729566908099571, 0.02042877884300509], [9.060864706071811, -3.74270967971853, 0.019550174836297174], [9.139898700278422, -3.75323951212323, 0.02412636391255063], [9.226078913169317, -3.7621348997777204, 0.030528581324780646], [9.290079690865468, -3.77029690274901, 0.029349889456916856], [9.384080721546411, -3.7790331399440333, 0.025677447849723478], [9.476081586321243, -3.790004396782308, 0.023324720861062076], [9.547351959253717, -3.798940443933475, 0.02645774879205476], [9.636106080555976, -3.812810692626101, 0.034606356292506746], [9.725125788142691, -3.8267740750862913, 0.03581622013719965], [9.810807125893518, -3.838869050276969, 0.03426766326437303], [9.913927315969318, -3.8503327552292035, 0.03393984888428747], [9.985534581030151, -3.8606883352458112, 0.0381433761184411], [10.064870177546993, -3.8677851062675472, 0.04404245149572006], [10.153364916750036, -3.8775385142295704, 0.04215785737728339], [10.229544232378487, -3.885913405410804, 0.0388336921118011], [10.322569482961626, -3.89635644930911, 0.03725987569301026], [10.399333286069862, -3.904188662830677, 0.04184391041695079], [10.474314290931375, -3.9145064088433514, 0.046941767605090945], [10.554453457442321, -3.9236571681815917, 0.04633845550715421], [10.666808054505395, -3.9344879529042487, 0.04223908962143952], [10.763620384800731, -3.9415141402714085, 0.04377570963774957], [10.840159783791023, -3.947226373495198, 0.05060837278217889], [10.911008084372725, -3.9530311392093154, 0.05249940141638376], [11.004922027792134, -3.9607946693007534, 0.04906288320020735], [11.105179661552256, -3.9709051401311513, 0.044534707509981786], [11.177659017183089, -3.979826477051688, 0.044439605096243895], [11.256055145203902, -3.988280522302034, 0.051204156721155414], [11.336588691114684, -3.9975645268647213, 0.055145291052589585], [11.42186050839706, -4.007885328319446, 0.05345417295472288], [11.516108520982584, -4.01715018476483, 0.050959638182710876], [11.6034614306011, -4.023353507448633, 0.05394846708788492], [11.675778866205462, -4.029007976868627, 0.0610853229260897], [11.762765277207336, -4.036836494381532, 0.06236909765944887], [11.83707388069746, -4.042527542321579, 0.05933640771723958], [11.936197640566093, -4.051130653622295, 0.055062814747657285], [12.039993011298634, -4.06138770599847, 0.05825870867553817], [12.092990750224715, -4.068245643867613, 0.063618005724976], [12.170844140193537, -4.075276645603537, 0.06676069359062353], [12.258614535770334, -4.083778130237079, 0.06453160078376641], [12.357132670779947, -4.0905631536994065, 0.061964553927019494], [12.432330021031817, -4.094052400611133, 0.06497242709505002], [12.524516429743926, -4.101108232721003, 0.07413363500877068], [12.614436544665466, -4.111611299047297, 0.07414027064031359], [12.707441057420908, -4.12316682264202, 0.07081997164977594], [12.799103347056018, -4.136187185122026, 0.06874629238199503], [12.884957526400854, -4.149780013773807, 0.07248282739379164], [12.96696834073299, -4.166980957694705, 0.07825053393649029], [13.213341481321038, -4.217741909015899, 0.07335752292950559], [13.292697504662556, -4.233793512401178, 0.07682223836907554], [13.469887772239417, -4.268852192557802, 0.07992269436326893], [13.563220900097292, -4.289149252926052, 0.07497515560076806], [13.663701740392355, -4.31311506663269, 0.0738208355012091], [13.7290970868454, -4.32827883167738, 0.079501571074303], [13.898020574663462, -4.3715687001794095, 0.08141839726490474], [14.083746075919294, -4.411050604738307, 0.08192494043894527], [14.162219626874446, -4.426648252151267, 0.08985012565943862], [14.241326297826163, -4.44470845958466, 0.09029452061361098], [14.326000009036306, -4.461240461156478, 0.08698643273121576], [14.514802433244427, -4.502932900281166, 0.08675800922564036], [14.822823842893001, -4.573754526660082, 0.09242496666799838], [14.913445625871361, -4.591621898072447, 0.09627887247781075], [15.01123426679652, -4.6097157233000985, 0.10475264483859092], [15.121146871649955, -4.632236363558945, 0.1021508640571156], [15.193863914335168, -4.647379346030505, 0.09874812068453309], [15.2776111149455, -4.667358806656182, 0.09676453395012885], [15.614141161406621, -4.7813383918550585, 0.10066568589722635], [15.759306399546688, -4.837180628503745, 0.10594133900144698], [16.072885970328684, -4.977860617734336, 0.10388338615236847], [16.201422851490975, -5.046591333980587, 0.11296280388197744], [16.360760008858506, -5.132512039032747, 0.10657163408206571], [16.432446750813313, -5.170931733961368, 0.10615749621820214], [16.555677073268555, -5.240803817602568, 0.114505053750932], [16.725195669326524, -5.3494990128677955, 0.10407890421309673], [16.852217607599812, -5.432810003296595, 0.10789307488870037], [16.919721933022174, -5.475642025063053, 0.11178914253244443], [16.97909093040448, -5.5120409550585805, 0.11025456795112376], [17.143134700242, -5.605952847440562, 0.10793946296797685], [17.206175426181346, -5.641672598086927, 0.11337276221598103], [17.274172826258734, -5.680779593648936, 0.11548139134837498], [17.347258495766482, -5.7235188442298295, 0.11159697094304022], [17.426050684192433, -5.771947595525091, 0.10607625857057457], [17.56763237791978, -5.861711696543011, 0.11096742566282813], [17.636689291592518, -5.906520444458806, 0.114164213827749], [17.705742241856058, -5.95127129767053, 0.11197862187442098], [17.792898089863, -6.004259916191074, 0.10804818549022599], [17.94299511454642, -6.092041044918403, 0.11649744395710826], [18.078561416617447, -6.170218250640971, 0.1134656105398335], [18.17099535075471, -6.224021383357126, 0.10815509792000455], [18.237371491741953, -6.265000130270096, 0.10761876609400645], [18.301893828474476, -6.304694969459149, 0.113248488568793], [18.370842890127335, -6.347961812761298, 0.11570974801687584], [18.435625016928725, -6.389011708616465, 0.11291253971742066], [18.613026789303206, -6.496521519188377, 0.1115480811367604], [18.721690477340644, -6.561832068412059, 0.11722895117039656], [18.86757150387143, -6.651265418798971, 0.10776169132721236], [18.94134789427943, -6.698666959352352, 0.1070598277857826], [19.00942784596583, -6.742186568636669, 0.11433405074394187], [19.074156158749304, -6.782699767915062, 0.11777719912704043], [19.147399859709935, -6.8271973706499125, 0.11549267460105739], [19.301627739855576, -6.913509646198463, 0.11356346239016091], [19.665282613545003, -7.063730422359868, 0.10652622662743028], [19.712600988333975, -7.081128705630647, 0.10920345117368413], [19.83654250035528, -7.125048251514272, 0.10465266015323493], [19.900813884875276, -7.150991467567053, 0.10416766607826133], [19.97884707292843, -7.175346457762828, 0.10857949058644323]] | {"resolution": {"width": 1280, "height": 720}, "camera_matrix": {"data": [608.116, 0.0, 639.186, 0.0, 607.871, 363.069, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9981348, 0.0, 0.0610485, 0.33, 0.0, 1.0, 0.0, 0.0, -0.0610485, 0.0, 0.9981348, 0.65, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.5, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.5, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 189 | [[715, 714], [720, 698], [725, 684], [731, 672], [741, 659], [747, 646], [753, 634], [762, 626], [772, 618], [783, 607], [789, 600], [795, 592], [799, 585], [804, 580], [811, 574], [816, 567], [821, 560], [828, 555], [833, 552], [836, 546], [839, 539], [842, 535], [844, 532], [847, 528], [853, 525], [857, 520], [861, 515], [865, 512], [869, 509], [870, 505], [873, 501], [875, 497], [877, 496], [880, 493], [883, 490], [885, 487], [888, 485], [892, 483], [895, 481], [896, 478], [898, 475], [899, 473], [902, 471], [908, 470], [911, 467], [912, 465], [915, 463], [918, 462], [917, 460], [918, 458], [920, 455], [920, 454], [921, 453], [922, 452], [923, 450], [923, 447], [924, 447], [924, 446], [923, 444], [923, 442], [924, 440], [923, 439], [924, 437], [924, 435], [925, 434], [926, 433], [925, 432], [924, 430], [925, 429], [926, 427], [925, 426], [925, 425], [925, 423], [924, 421], [924, 420], [922, 419], [922, 418], [921, 416], [919, 416], [918, 415], [917, 413], [916, 412], [916, 411], [915, 411], [913, 410], [911, 408], [909, 407], [907, 407], [904, 406], [903, 405], [902, 404], [900, 403], [899, 403], [897, 402], [894, 401], [893, 400], [891, 399], [889, 399], [888, 398], [886, 397], [885, 396], [884, 396], [883, 395], [880, 395], [878, 394], [877, 393], [875, 392], [873, 392], [872, 392], [871, 391], [870, 390], [869, 390], [868, 389], [866, 389], [865, 388], [863, 387], [862, 387], [860, 387], [859, 386], [858, 385], [857, 385], [856, 384], [855, 384], [853, 384], [851, 383], [849, 382], [847, 382], [845, 382], [845, 381], [844, 380], [843, 380], [842, 379], [841, 378], [840, 378], [839, 378], [839, 377], [838, 376], [839, 376], [837, 375], [837, 374], [836, 374], [835, 374], [835, 373], [834, 372], [833, 372], [832, 371], [831, 371], [830, 371], [829, 370], [828, 369], [828, 368], [828, 367], [829, 367], [830, 367], [830, 366], [831, 366], [834, 366], [835, 365], [836, 365], [837, 365], [838, 365], [838, 364], [839, 364], [840, 364], [841, 364], [842, 364], [843, 363], [844, 363], [845, 363], [846, 362], [847, 363], [848, 363], [848, 362], [849, 362], [850, 362], [851, 362], [852, 361], [853, 361], [854, 361], [855, 361], [855, 360], [856, 360], [857, 360], [858, 360], [859, 360], [859, 359], [860, 359], [861, 359], [862, 359]] | [[2.4895493575324394, -0.4454395785793963, 0.015309207585310958], [2.551503727368413, -0.47692643492484876, 0.021158082979795267], [2.618267155442652, -0.5112910827787118, 0.023239040807382594], [2.6930605994988923, -0.5502487906981628, 0.01957273881126298], [2.7773414748720597, -0.5968695464488292, 0.014058164568481857], [2.852231100201095, -0.6404888513617948, 0.013040120362539653], [2.919915023659371, -0.6820195503579498, 0.01877977559671251], [2.985552827820186, -0.7241223386428146, 0.020887627711125845], [3.058505871383659, -0.7720271251422446, 0.01771426132991394], [3.159708485065039, -0.8375015730263158, 0.01288479253319963], [3.2147682930619226, -0.8707791373728924, 0.013873287934892176], [3.2816558795623223, -0.9127744892008423, 0.019575173796177125], [3.3475850534513256, -0.9524624289069266, 0.019985237621753527], [3.422259177925696, -0.9964070334668236, 0.01514273453075532], [3.5036558451956807, -1.0461476813601962, 0.009475361745337807], [3.575198803499063, -1.0913685484184725, 0.009227750648037158], [3.64048541108707, -1.1335343870486554, 0.01505144381880541], [3.7196321899254485, -1.1835726406785056, 0.01585426099133258], [3.7795087003103163, -1.221675058328401, 0.012181801676035775], [3.857968123977173, -1.2706559314564743, 0.00789310274166155], [3.945335935774608, -1.3220045349326028, 0.010829608253331457], [3.9934692389581983, -1.3506829490425503, 0.015833795644162763], [4.057546457717024, -1.3905178810957182, 0.015595194645051436], [4.132135664531802, -1.4358492925921382, 0.01099412259510757], [4.212904223314638, -1.4871003049074716, 0.005245997213513931], [4.287003079009651, -1.536271303495937, 0.005075683613291915], [4.370598271879885, -1.5922276354866085, 0.011775174955616308], [4.438108375171964, -1.6360502287999452, 0.011321909371950767], [4.516793558804238, -1.6865347915919529, 0.007677378750642561], [4.589201274547975, -1.7310813036188506, 0.005964892771373798], [4.661277034665943, -1.7759829811790837, 0.0095229113877906], [4.733239071569869, -1.818015564798543, 0.013862160927416767], [4.795068656569413, -1.8559946904309754, 0.011061721239130407], [4.876200111613059, -1.9054345393948324, 0.005528397813641561], [4.951933686944983, -1.9541044585484428, 0.0025518437823848217], [5.020786125585516, -1.998226377649189, 0.0062498723701480685], [5.080081970592744, -2.040259681694465, 0.01015489999504382], [5.153711255450105, -2.090534620869221, 0.008417239994123804], [5.224413550398424, -2.1378968425690914, 0.004389179054065551], [5.301497910563228, -2.1874102835693634, 0.0022704608014194605], [5.367716554672029, -2.230364628959876, 0.00590359236664284], [5.422212453615884, -2.2632193405164003, 0.009573152624952286], [5.525903997140631, -2.329982929809603, 0.003755888889855896], [5.601925308928173, -2.3795843909360883, -0.0012726744814344215], [5.687239785217741, -2.434499413224273, -0.0006713616175559878], [5.742349194092469, -2.4693702471406027, 0.005455819859960798], [5.807705947249133, -2.50866434910688, 0.008201538026384014], [5.889155668510739, -2.556540998829746, 0.005050008385282467], [5.958644587238325, -2.593866579353687, 0.0017421112444750975], [6.035804189551527, -2.633425378967104, 0.0022350426574178073], [6.106441266023296, -2.669810412907168, 0.007651327568432009], [6.169451802551123, -2.7020342098549577, 0.007049796679787335], [6.24251165403814, -2.7363201628292018, 0.002638696923739303], [6.339528215930329, -2.7832597841976963, -0.0033803023468266247], [6.403146994619306, -2.815145616785685, -0.0035902771413205414], [6.495146252734571, -2.8613707553541303, 0.00374154388936887], [6.540076025770588, -2.8821588698840515, 0.00435633313190209], [6.612232401220012, -2.916937592417071, 0.0011905534940623852], [6.701046047856835, -2.957623308762038, -0.0023462492497117182], [6.779711086707721, -2.991980185294949, 0.0005048435824335229], [6.8393273180610095, -3.0181681327089223, 0.006653181848037093], [6.913226251770993, -3.0529577662869087, 0.005780535666175979], [7.062004100937656, -3.1213969608776893, -0.0020356068497946467], [7.1546849468982145, -3.165575540864836, 0.0017047268865297838], [7.224281326214168, -3.2002255022592294, 0.009409174612393656], [7.315702915667146, -3.2405827750365006, 0.009932438900428053], [7.3813823418727225, -3.267423421919375, 0.0075697154586862325], [7.46534096805874, -3.3000703768830135, 0.005440974839835633], [7.5405910910325815, -3.329349016175115, 0.008236571971231399], [7.604024529859885, -3.3523924746247644, 0.013970497735947163], [7.7700319101948025, -3.4137410375499257, 0.010436150077374862], [7.854626628044798, -3.44231753499281, 0.008976331740335297], [7.929746923481275, -3.4692094595275194, 0.012577668122062846], [8.009959273491404, -3.4976869148765672, 0.021147085130422738], [8.15739013161783, -3.5421918443568075, 0.01914481530789658], [8.243455646672373, -3.5648831164396597, 0.01598713072844049], [8.317552041993395, -3.582456088945605, 0.017522953794063767], [8.393855114869439, -3.5996055249211736, 0.0226157520566872], [8.48908382754297, -3.6231614333190123, 0.018976131921121464], [8.646816037589076, -3.6590394351617874, 0.011451052818500784], [8.726786160832432, -3.67726655344876, 0.014406750565484572], [8.78964001664417, -3.6929930697223767, 0.020925752959257693], [8.877995536590731, -3.7114559299612893, 0.02301227016690177], [8.972877999885384, -3.729566908099571, 0.02042877884300509], [9.060864706071811, -3.74270967971853, 0.019550174836297174], [9.139898700278422, -3.75323951212323, 0.02412636391255063], [9.226078913169317, -3.7621348997777204, 0.030528581324780646], [9.290079690865468, -3.77029690274901, 0.029349889456916856], [9.384080721546411, -3.7790331399440333, 0.025677447849723478], [9.476081586321243, -3.790004396782308, 0.023324720861062076], [9.547351959253717, -3.798940443933475, 0.02645774879205476], [9.636106080555976, -3.812810692626101, 0.034606356292506746], [9.725125788142691, -3.8267740750862913, 0.03581622013719965], [9.810807125893518, -3.838869050276969, 0.03426766326437303], [9.913927315969318, -3.8503327552292035, 0.03393984888428747], [9.985534581030151, -3.8606883352458112, 0.0381433761184411], [10.064870177546993, -3.8677851062675472, 0.04404245149572006], [10.153364916750036, -3.8775385142295704, 0.04215785737728339], [10.229544232378487, -3.885913405410804, 0.0388336921118011], [10.322569482961626, -3.89635644930911, 0.03725987569301026], [10.399333286069862, -3.904188662830677, 0.04184391041695079], [10.474314290931375, -3.9145064088433514, 0.046941767605090945], [10.554453457442321, -3.9236571681815917, 0.04633845550715421], [10.666808054505395, -3.9344879529042487, 0.04223908962143952], [10.763620384800731, -3.9415141402714085, 0.04377570963774957], [10.840159783791023, -3.947226373495198, 0.05060837278217889], [10.911008084372725, -3.9530311392093154, 0.05249940141638376], [11.004922027792134, -3.9607946693007534, 0.04906288320020735], [11.105179661552256, -3.9709051401311513, 0.044534707509981786], [11.177659017183089, -3.979826477051688, 0.044439605096243895], [11.256055145203902, -3.988280522302034, 0.051204156721155414], [11.336588691114684, -3.9975645268647213, 0.055145291052589585], [11.42186050839706, -4.007885328319446, 0.05345417295472288], [11.516108520982584, -4.01715018476483, 0.050959638182710876], [11.6034614306011, -4.023353507448633, 0.05394846708788492], [11.675778866205462, -4.029007976868627, 0.0610853229260897], [11.762765277207336, -4.036836494381532, 0.06236909765944887], [11.83707388069746, -4.042527542321579, 0.05933640771723958], [11.936197640566093, -4.051130653622295, 0.055062814747657285], [12.039993011298634, -4.06138770599847, 0.05825870867553817], [12.092990750224715, -4.068245643867613, 0.063618005724976], [12.170844140193537, -4.075276645603537, 0.06676069359062353], [12.258614535770334, -4.083778130237079, 0.06453160078376641], [12.357132670779947, -4.0905631536994065, 0.061964553927019494], [12.432330021031817, -4.094052400611133, 0.06497242709505002], [12.524516429743926, -4.101108232721003, 0.07413363500877068], [12.614436544665466, -4.111611299047297, 0.07414027064031359], [12.707441057420908, -4.12316682264202, 0.07081997164977594], [12.799103347056018, -4.136187185122026, 0.06874629238199503], [12.884957526400854, -4.149780013773807, 0.07248282739379164], [12.96696834073299, -4.166980957694705, 0.07825053393649029], [13.213341481321038, -4.217741909015899, 0.07335752292950559], [13.292697504662556, -4.233793512401178, 0.07682223836907554], [13.469887772239417, -4.268852192557802, 0.07992269436326893], [13.563220900097292, -4.289149252926052, 0.07497515560076806], [13.663701740392355, -4.31311506663269, 0.0738208355012091], [13.7290970868454, -4.32827883167738, 0.079501571074303], [13.898020574663462, -4.3715687001794095, 0.08141839726490474], [14.083746075919294, -4.411050604738307, 0.08192494043894527], [14.162219626874446, -4.426648252151267, 0.08985012565943862], [14.241326297826163, -4.44470845958466, 0.09029452061361098], [14.326000009036306, -4.461240461156478, 0.08698643273121576], [14.514802433244427, -4.502932900281166, 0.08675800922564036], [14.822823842893001, -4.573754526660082, 0.09242496666799838], [14.913445625871361, -4.591621898072447, 0.09627887247781075], [15.01123426679652, -4.6097157233000985, 0.10475264483859092], [15.121146871649955, -4.632236363558945, 0.1021508640571156], [15.193863914335168, -4.647379346030505, 0.09874812068453309], [15.2776111149455, -4.667358806656182, 0.09676453395012885], [15.614141161406621, -4.7813383918550585, 0.10066568589722635], [15.759306399546688, -4.837180628503745, 0.10594133900144698], [16.072885970328684, -4.977860617734336, 0.10388338615236847], [16.201422851490975, -5.046591333980587, 0.11296280388197744], [16.360760008858506, -5.132512039032747, 0.10657163408206571], [16.432446750813313, -5.170931733961368, 0.10615749621820214], [16.555677073268555, -5.240803817602568, 0.114505053750932], [16.725195669326524, -5.3494990128677955, 0.10407890421309673], [16.852217607599812, -5.432810003296595, 0.10789307488870037], [16.919721933022174, -5.475642025063053, 0.11178914253244443], [16.97909093040448, -5.5120409550585805, 0.11025456795112376], [17.143134700242, -5.605952847440562, 0.10793946296797685], [17.206175426181346, -5.641672598086927, 0.11337276221598103], [17.274172826258734, -5.680779593648936, 0.11548139134837498], [17.347258495766482, -5.7235188442298295, 0.11159697094304022], [17.426050684192433, -5.771947595525091, 0.10607625857057457], [17.56763237791978, -5.861711696543011, 0.11096742566282813], [17.636689291592518, -5.906520444458806, 0.114164213827749], [17.705742241856058, -5.95127129767053, 0.11197862187442098], [17.792898089863, -6.004259916191074, 0.10804818549022599], [17.94299511454642, -6.092041044918403, 0.11649744395710826], [18.078561416617447, -6.170218250640971, 0.1134656105398335], [18.17099535075471, -6.224021383357126, 0.10815509792000455], [18.237371491741953, -6.265000130270096, 0.10761876609400645], [18.301893828474476, -6.304694969459149, 0.113248488568793], [18.370842890127335, -6.347961812761298, 0.11570974801687584], [18.435625016928725, -6.389011708616465, 0.11291253971742066], [18.613026789303206, -6.496521519188377, 0.1115480811367604], [18.721690477340644, -6.561832068412059, 0.11722895117039656], [18.86757150387143, -6.651265418798971, 0.10776169132721236], [18.94134789427943, -6.698666959352352, 0.1070598277857826], [19.00942784596583, -6.742186568636669, 0.11433405074394187], [19.074156158749304, -6.782699767915062, 0.11777719912704043], [19.147399859709935, -6.8271973706499125, 0.11549267460105739], [19.301627739855576, -6.913509646198463, 0.11356346239016091], [19.665282613545003, -7.063730422359868, 0.10652622662743028], [19.712600988333975, -7.081128705630647, 0.10920345117368413], [19.83654250035528, -7.125048251514272, 0.10465266015323493], [19.900813884875276, -7.150991467567053, 0.10416766607826133], [19.97884707292843, -7.175346457762828, 0.10857949058644323]] | [[892, 483], [922, 419], [868, 389], [828, 368], [862, 359]] | [862, 359] | Navigate to x=<loc0689>, y=<loc0510> | <loc0713><loc0686><loc0737><loc0595><loc0694><loc0553><loc0662><loc0523><loc0689><loc0510> | [['<loc0713>', '<loc0686>'], ['<loc0737>', '<loc0595>'], ['<loc0694>', '<loc0553>'], ['<loc0662>', '<loc0523>'], ['<loc0689>', '<loc0510>']] | 1.422407 | 2 | 0 | Original is the baseline and safest sidewalk route (rank 1). noise_04 and noise_00 are small, high-quality variations that stay on pavement. noise_03 is a modest variant but redundant. mirrored and noise_01 provide useful off-pavement diversity by using grass/vegetation but are less smooth; noise_02 goes into the road/shoulder near the lamp post and is the riskiest, so ranked last. Best kept: original, noise_04, noise_00, mirrored, noise_01 (balance of quality and diversity). | Original, noise_04, noise_00 and noise_03 remain fully on the concrete sidewalk, avoid the hedge and lamp post, and are smooth and highly traversable. Mirrored and noise_01 leave the paved sidewalk to cross low shrubs/grass — physically possible given the robot's capabilities but less smooth and may encounter uneven terrain. noise_02 moves toward the road shoulder near the lamp post, which is traversable but risky due to traffic and lamp-post proximity; it's the lowest-quality route. | noise_04, noise_00 and noise_03 are low-diversity, near-duplicate pavement variations. Mirrored (blue) and noise_01 (purple) are high-diversity because they traverse vegetation/grass and cross the hedge area. noise_02 is diverse (goes toward the road) but undesirable due to safety risk. Keeping a mix of small pavement variations and off-pavement alternatives yields useful training variety. | ["Flat concrete sidewalk (primary path)", "Grassy slope / lawn to the left (elevated above sidewalk)", "Low hedge / shrubs along left sidewalk edge", "Road/paved shoulder to the right", "Lamp post and street furniture near right sidewalk edge", "Scattered trees (canopy) and pedestrians"] | {"original": "Stay on the concrete sidewalk near its inner edge; avoid the left hedge and the right lamp post, pass pedestrians on the path.", "mirrored": "Cut wide left onto the grassy slope, cross low shrubs as needed, avoid large trees, then re-enter the sidewalk ahead.", "noise_00": "Remain on the sidewalk slightly right of center; avoid the hedge and lamp post, maintain a smooth path around pedestrians.", "noise_01": "Swing left off the sidewalk into vegetation, traverse low bushes and uneven grass, then return to the sidewalk beyond pedestrians.", "noise_02": "Veer right off the sidewalk toward the road shoulder, pass around the lamp post, and avoid oncoming traffic and pedestrians.", "noise_03": "Take a tighter inner curve on the sidewalk, stay on concrete near the hedge, and avoid the lamp post and pedestrians.", "noise_04": "Follow the inner sidewalk edge close to the hedge, stay on pavement, and smoothly avoid the lamp post and pedestrians."} | [{"original": 1}, {"noise_04": 2}, {"noise_00": 3}, {"noise_03": 4}, {"mirrored": 5}, {"noise_01": 6}, {"noise_02": 7}] | {"trajectory_2d": [[715, 714], [720, 698], [725, 684], [731, 672], [741, 659], [747, 646], [753, 634], [762, 626], [772, 618], [783, 607], [789, 600], [795, 592], [799, 585], [804, 580], [811, 574], [816, 567], [821, 560], [828, 555], [833, 552], [836, 546], [839, 539], [842, 535], [844, 532], [847, 528], [853, 525], [857, 520], [861, 515], [865, 512], [869, 509], [870, 505], [873, 501], [875, 497], [877, 496], [880, 493], [883, 490], [885, 487], [888, 485], [892, 483], [895, 481], [896, 478], [898, 475], [899, 473], [902, 471], [908, 470], [911, 467], [912, 465], [915, 463], [918, 462], [917, 460], [918, 458], [920, 455], [920, 454], [921, 453], [922, 452], [923, 450], [923, 447], [924, 447], [924, 446], [923, 444], [923, 442], [924, 440], [923, 439], [924, 437], [924, 435], [925, 434], [926, 433], [925, 432], [924, 430], [925, 429], [926, 427], [925, 426], [925, 425], [925, 423], [924, 421], [924, 420], [922, 419], [922, 418], [921, 416], [919, 416], [918, 415], [917, 413], [916, 412], [916, 411], [915, 411], [913, 410], [911, 408], [909, 407], [907, 407], [904, 406], [903, 405], [902, 404], [900, 403], [899, 403], [897, 402], [894, 401], [893, 400], [891, 399], [889, 399], [888, 398], [886, 397], [885, 396], [884, 396], [883, 395], [880, 395], [878, 394], [877, 393], [875, 392], [873, 392], [872, 392], [871, 391], [870, 390], [869, 390], [868, 389], [866, 389], [865, 388], [863, 387], [862, 387], [860, 387], [859, 386], [858, 385], [857, 385], [856, 384], [855, 384], [853, 384], [851, 383], [849, 382], [847, 382], [845, 382], [845, 381], [844, 380], [843, 380], [842, 379], [841, 378], [840, 378], [839, 378], [839, 377], [838, 376], [839, 376], [837, 375], [837, 374], [836, 374], [835, 374], [835, 373], [834, 372], [833, 372], [832, 371], [831, 371], [830, 371], [829, 370], [828, 369], [828, 368], [828, 367], [829, 367], [830, 367], [830, 366], [831, 366], [834, 366], [835, 365], [836, 365], [837, 365], [838, 365], [838, 364], [839, 364], [840, 364], [841, 364], [842, 364], [843, 363], [844, 363], [845, 363], [846, 362], [847, 363], [848, 363], [848, 362], [849, 362], [850, 362], [851, 362], [852, 361], [853, 361], [854, 361], [855, 361], [855, 360], [856, 360], [857, 360], [858, 360], [859, 360], [859, 359], [860, 359], [861, 359], [862, 359]], "goal_2d": [862, 359], "ranking": 1, "description": ""} | null | {"trajectory_2d": [[715.8609858840665, 714.0], [721.721971768133, 698.0], [727.5829576521995, 684.0], [734.443943536266, 672.0], [745.3049294203325, 659.0], [752.165915304399, 646.0], [759.0269011884656, 634.0], [768.8878870725321, 626.0], [779.7488729565986, 618.0], [791.6098588406651, 607.0], [798.4708447247316, 600.0], [805.3318306087981, 592.0], [810.1928164928646, 585.0], [816.0538023769311, 580.0], [823.9147882609976, 574.0], [829.7757741450641, 567.0], [835.6367600291306, 560.0], [843.4977459131972, 555.0], [849.3587317972637, 552.0], [853.2197176813302, 546.0], [857.0807035653967, 539.0], [860.9416894494632, 535.0], [863.8026753335297, 532.0], [867.6636612175962, 528.0], [874.5246471016627, 525.0], [879.3856329857292, 520.0], [884.2466188697957, 515.0], [889.1076047538622, 512.0], [893.9685906379287, 509.0], [895.8295765219953, 505.0], [899.6905624060618, 501.0], [902.5515482901283, 497.0], [905.4125341741948, 496.0], [909.2735200582613, 493.0], [913.1345059423278, 490.0], [915.9954918263943, 487.0], [919.8564777104608, 485.0], [924.7174635945273, 483.0], [928.5784494785938, 481.0], [930.4394353626603, 478.0], [933.3004212467268, 475.0], [935.1614071307934, 473.0], [939.0223930148599, 471.0], [945.8833788989264, 470.0], [949.7443647829929, 467.0], [951.6053506670594, 465.0], [955.4663365511259, 463.0], [959.3273224351924, 462.0], [959.1883083192589, 460.0], [961.0492942033254, 458.0], [963.9102800873919, 455.0], [964.7712659714584, 454.0], [966.6322518555249, 453.0], [968.4932377395915, 452.0], [970.354223623658, 450.0], [971.2152095077245, 447.0], [973.076195391791, 447.0], [973.9371812758575, 446.0], [973.798167159924, 444.0], [974.6591530439905, 442.0], [976.520138928057, 440.0], [976.3811248121235, 439.0], [978.24211069619, 437.0], [979.1030965802565, 435.0], [980.964082464323, 434.0], [982.8250683483896, 433.0], [982.6860542324561, 432.0], [982.5470401165226, 430.0], [984.4080260005891, 429.0], [986.2690118846556, 427.0], [986.1299977687221, 426.0], [986.9909836527886, 425.0], [987.8519695368551, 423.0], [987.7129554209216, 421.0], [988.5739413049881, 420.0], [987.4349271890546, 419.0], [988.2959130731211, 418.0], [988.1568989571877, 416.0], [987.0178848412542, 416.0], [986.8788707253207, 415.0], [986.7398566093872, 413.0], [986.6008424934537, 412.0], [987.4618283775202, 411.0], [987.3228142615867, 411.0], [986.1838001456532, 410.0], [985.0447860297197, 408.0], [983.9057719137862, 407.0], [982.7667577978527, 407.0], [980.6277436819192, 406.0], [980.4887295659858, 405.0], [980.3497154500523, 404.0], [979.2107013341188, 403.0], [979.0716872181853, 403.0], [977.9326731022518, 402.0], [975.7936589863183, 401.0], [975.6546448703848, 400.0], [974.5156307544513, 399.0], [973.3766166385178, 399.0], [973.2376025225843, 398.0], [972.0985884066508, 397.0], [965.6334766453073, 396.0], [959.1683648839637, 396.0], [952.7032531226201, 395.0], [944.2381413612766, 395.0], [936.773029599933, 394.0], [930.3079178385894, 393.0], [922.8428060772459, 392.0], [915.3776943159023, 392.0], [908.9125825545588, 392.0], [902.4474707932152, 391.0], [895.9823590318716, 390.0], [889.5172472705281, 390.0], [883.0521355091845, 389.0], [875.5870237478409, 389.0], [869.1219119864974, 388.0], [861.6568002251538, 387.0], [855.1916884638102, 387.0], [847.7265767024667, 387.0], [841.2614649411231, 386.0], [834.7963531797795, 385.0], [828.331241418436, 385.0], [821.8661296570924, 384.0], [815.4010178957489, 384.0], [807.9359061344053, 384.0], [800.4707943730617, 383.0], [793.0056826117182, 382.0], [785.5405708503746, 382.0], [778.075459089031, 382.0], [772.6103473276875, 381.0], [766.1452355663439, 380.0], [759.6801238050003, 380.0], [753.2150120436568, 379.0], [746.7499002823132, 378.0], [740.2847885209696, 378.0], [733.8196767596261, 378.0], [728.3545649982825, 377.0], [721.889453236939, 376.0], [717.4243414755954, 376.0], [709.9592297142518, 375.0], [704.4941179529083, 374.0], [698.0290061915647, 374.0], [691.5638944302211, 374.0], [686.0987826688776, 373.0], [679.633670907534, 372.0], [673.1685591461904, 372.0], [666.7034473848469, 371.0], [660.2383356235033, 371.0], [653.7732238621597, 371.0], [647.3081121008162, 370.0], [640.8430003394726, 369.0], [635.377888578129, 368.0], [629.9127768167855, 367.0], [625.4476650554419, 367.0], [620.9825532940984, 367.0], [615.5174415327548, 366.0], [611.0523297714112, 366.0], [608.5872180100677, 366.0], [604.1221062487241, 365.0], [599.6569944873805, 365.0], [595.191882726037, 365.0], [590.7267709646934, 365.0], [585.2616592033498, 364.0], [580.7965474420063, 364.0], [576.3314356806627, 364.0], [571.8663239193191, 364.0], [567.4012121579756, 364.0], [562.936100396632, 363.0], [558.4709886352884, 363.0], [554.0058768739449, 363.0], [549.5407651126013, 362.0], [545.0756533512578, 363.0], [540.6105415899142, 363.0], [535.1454298285706, 362.0], [530.6803180672271, 362.0], [526.2152063058835, 362.0], [521.7500945445399, 362.0], [517.2849827831964, 361.0], [512.8198710218528, 361.0], [508.3547592605093, 361.0], [503.8896474991658, 361.0], [498.4245357378223, 360.0], [493.9594239764788, 360.0], [489.49431221513527, 360.0], [485.0292004537917, 360.0], [480.5640886924482, 360.0], [475.0989769311047, 359.0], [470.6338651697612, 359.0], [466.1687534084177, 359.0], [461.70364164707416, 359.0]], "goal_2d": [866.3499729670662, 363.0117246365709], "ranking": 2, "description": ""} | original | 3 | 3 | |
Navigate to <point x="99.7" y="8.5">goal</point> | "[[503, 520], [503, 487], [503, 454], [503, 426], [506, 404], [504, 383], [504, 366], [505, 351], [5(...TRUNCATED) | "[[4.721923317155728, 0.08038661770359568, 0.017482298379746908], [5.009822731554607, 0.081747528586(...TRUNCATED) | "{\"resolution\": {\"width\": 1024, \"height\": 544}, \"camera_matrix\": {\"data\": [477.60494995117(...TRUNCATED) | 350 | "[[503, 520], [503, 487], [503, 454], [503, 426], [506, 404], [504, 383], [504, 366], [505, 351], [5(...TRUNCATED) | "[[4.721923317155728, 0.08038661770359568, 0.017482298379746908], [5.009822731554607, 0.081747528586(...TRUNCATED) | [[492, 250], [466, 188], [442, 157], [423, 136], [409, 124]] | [409, 124] | Navigate to x=<loc0409>, y=<loc0233> | <loc0492><loc0470><loc0466><loc0353><loc0442><loc0295><loc0423><loc0256><loc0409><loc0233> | "[['<loc0492>', '<loc0470>'], ['<loc0466>', '<loc0353>'], ['<loc0442>', '<loc0295>'], ['<loc0423>', (...TRUNCATED) | 1.060081 | 3 | 0 | "Original stays centered on the clear dirt/rock trail and is the safest baseline (required rank 1). (...TRUNCATED) | "Original: high quality — centered on compact dirt/rock, avoids bushes and loose rocks. Mirrored: (...TRUNCATED) | "Original vs noise_02: low diversity (similar center/near-center track). Mirrored and noise_04: high(...TRUNCATED) | "[\"Compact dirt/rock trail (center)\", \"Grassy shoulders along trail\", \"Dense bushes/underbrush (...TRUNCATED) | "{\"original\": \"Follow the center of the rocky dirt trail uphill, staying on the cleared track and(...TRUNCATED) | "[{\"original\": 1}, {\"mirrored\": 2}, {\"noise_02\": 3}, {\"noise_04\": 4}, {\"noise_00\": 5}, {\"(...TRUNCATED) | "{\"trajectory_2d\": [[503, 520], [503, 487], [503, 454], [503, 426], [506, 404], [504, 383], [504, (...TRUNCATED) | "{\"trajectory_2d\": [[521, 520], [521, 487], [521, 454], [521, 426], [518, 404], [520, 383], [520, (...TRUNCATED) | null | original | 3 | 3 | |
Navigate to <point x="99.9" y="39.2">goal</point> | "[[1021, 268], [1014, 267], [1013, 264], [1010, 263], [1006, 263], [1003, 263], [1000, 263], [998, 2(...TRUNCATED) | "[[7.804182434174654, -6.394318869687704, 0.7567472047049519], [7.893439992625213, -6.45959460636130(...TRUNCATED) | "{\"resolution\": {\"width\": 1024, \"height\": 544}, \"camera_matrix\": {\"data\": [477.60494995117(...TRUNCATED) | 40 | "[[1021, 268], [1014, 267], [1013, 264], [1010, 263], [1006, 263], [1003, 263], [1000, 263], [998, 2(...TRUNCATED) | "[[7.804182434174654, -6.394318869687704, 0.7567472047049519], [7.893439992625213, -6.45959460636130(...TRUNCATED) | [[998, 262], [987, 243], [983, 234], [994, 225], [1023, 213]] | [1023, 213] | Navigate to x=<loc1023>, y=<loc0400> | <loc0998><loc0493><loc0987><loc0457><loc0983><loc0440><loc0994><loc0423><loc1023><loc0400> | "[['<loc0998>', '<loc0493>'], ['<loc0987>', '<loc0457>'], ['<loc0983>', '<loc0440>'], ['<loc0994>', (...TRUNCATED) | 1.941889 | 4 | 0 | "Original is the most direct, smooth and stays on drier meadow ground so it is the safest baseline. (...TRUNCATED) | "Obstacles and locations: tall reeds/cattails at left/foreground-center (marshy), dense tall grass c(...TRUNCATED) | "noise_00 and noise_02 are moderate perturbations of the original (useful low-level variability). no(...TRUNCATED) | "[\"Tall reeds / cattails (marsh) at left/foreground-center\", \"Dense tall grasses and meadow veget(...TRUNCATED) | "{\"original\": \"Traverse the drier grassy hummocks across the right-side meadow, curve slightly to(...TRUNCATED) | "[{\"original\": 1}, {\"noise_00\": 2}, {\"noise_02\": 3}, {\"noise_03\": 4}, {\"noise_01\": 5}, {\"(...TRUNCATED) | "{\"trajectory_2d\": [[1021, 268], [1014, 267], [1013, 264], [1010, 263], [1006, 263], [1003, 263], (...TRUNCATED) | null | null | original | 3 | 3 | |
Navigate to <point x="35.0" y="53.5">goal</point> | "[[728, 718], [715, 701], [704, 684], [692, 671], [675, 661], [660, 655], [649, 644], [638, 633], [6(...TRUNCATED) | "[[2.469905018975254, -0.00812123265110376, 0.0027357449878842033], [2.562276407307742, 0.0193795418(...TRUNCATED) | "{\"resolution\": {\"width\": 1280, \"height\": 720}, \"camera_matrix\": {\"data\": [608.116, 0.0, 6(...TRUNCATED) | 192 | "[[728, 718], [715, 701], [704, 684], [692, 671], [675, 661], [660, 655], [649, 644], [638, 633], [6(...TRUNCATED) | "[[2.469905018975254, -0.00812123265110376, 0.0027357449878842033], [2.562276407307742, 0.0193795418(...TRUNCATED) | [[552, 491], [523, 439], [458, 422], [459, 399], [448, 385]] | [448, 385] | Navigate to x=<loc0358>, y=<loc0547> | <loc0441><loc0698><loc0418><loc0624><loc0366><loc0600><loc0367><loc0567><loc0358><loc0547> | "[['<loc0441>', '<loc0698>'], ['<loc0418>', '<loc0624>'], ['<loc0366>', '<loc0600>'], ['<loc0367>', (...TRUNCATED) | 1.375208 | 5 | 0 | "Original stays centered on the paved walkway and is the smoothest, so it is ranked 1 by requirement(...TRUNCATED) | "Obstacles identified: metal pole (left foreground near sidewalk edge), narrow gravel strip (center-(...TRUNCATED) | "Most different from original: mirrored (right-side routing around vehicle), noise_01 (extreme left-(...TRUNCATED) | "[\"Paved sidewalk (main walkway)\", \"Curb and ramp / slight elevation change at crossing\", \"Asph(...TRUNCATED) | "{\"original\": \"Follow center sidewalk straight ahead, stay on paved path between gravel strip and(...TRUNCATED) | "[{\"original\": 1}, {\"mirrored\": 2}, {\"noise_02\": 3}, {\"noise_03\": 4}, {\"noise_00\": 5}, {\"(...TRUNCATED) | "{\"trajectory_2d\": [[728, 718], [715, 701], [704, 684], [692, 671], [675, 661], [660, 655], [649, (...TRUNCATED) | "{\"trajectory_2d\": [[552, 718], [565, 701], [576, 684], [588, 671], [605, 661], [620, 655], [631, (...TRUNCATED) | null | original | 3 | 3 | |
Navigate to <point x="53.7" y="50.1">goal</point> | "[[649, 709], [648, 695], [646, 682], [645, 674], [643, 665], [642, 652], [641, 643], [639, 634], [6(...TRUNCATED) | "[[2.588914698801119, -0.025247806738065037, 0.0015700469840709275], [2.6498209769892185, -0.0231081(...TRUNCATED) | "{\"resolution\": {\"width\": 1280, \"height\": 720}, \"camera_matrix\": {\"data\": [608.116, 0.0, 6(...TRUNCATED) | 188 | "[[649, 709], [648, 695], [646, 682], [645, 674], [643, 665], [642, 652], [641, 643], [639, 634], [6(...TRUNCATED) | "[[2.588914698801119, -0.025247806738065037, 0.0015700469840709275], [2.6498209769892185, -0.0231081(...TRUNCATED) | [[646, 502], [637, 426], [682, 394], [702, 372], [687, 361]] | [687, 361] | Navigate to x=<loc0549>, y=<loc0513> | <loc0516><loc0713><loc0509><loc0605><loc0545><loc0560><loc0561><loc0529><loc0549><loc0513> | "[['<loc0516>', '<loc0713>'], ['<loc0509>', '<loc0605>'], ['<loc0545>', '<loc0560>'], ['<loc0561>', (...TRUNCATED) | 1.30526 | 6 | 0 | "Original is the baseline and safest centerline route. noise_00 is a distinct, smooth curb-hugging a(...TRUNCATED) | "Obstacles visible: clusters of pedestrians centered toward background-right, a parked colorful food(...TRUNCATED) | "noise_00 is the most different from the original, providing a right-curb alternative useful for div(...TRUNCATED) | "[\"Flat asphalt roadway\", \"Raised curbs and sidewalks (right and left)\", \"Patched/uneven paveme(...TRUNCATED) | "{\"original\": \"Proceed up the center of the road on asphalt, pass between pedestrian groups and a(...TRUNCATED) | "[{\"original\": 1}, {\"noise_00\": 2}, {\"mirrored\": 3}, {\"noise_04\": 4}, {\"noise_02\": 5}, {\"(...TRUNCATED) | "{\"trajectory_2d\": [[649, 709], [648, 695], [646, 682], [645, 674], [643, 665], [642, 652], [641, (...TRUNCATED) | "{\"trajectory_2d\": [[631, 709], [632, 695], [634, 682], [635, 674], [637, 665], [638, 652], [639, (...TRUNCATED) | null | original | 3 | 3 | |
Navigate to <point x="49.1" y="49.4">goal</point> | "[[641, 709], [642, 694], [643, 677], [641, 662], [640, 645], [639, 633], [638, 624], [639, 613], [6(...TRUNCATED) | "[[2.576164390922571, -0.008291859587583161, 0.011429603476216244], [2.651680711348945, -0.008158422(...TRUNCATED) | "{\"resolution\": {\"width\": 1280, \"height\": 720}, \"camera_matrix\": {\"data\": [608.116, 0.0, 6(...TRUNCATED) | 160 | "[[641, 709], [642, 694], [643, 677], [641, 662], [640, 645], [639, 633], [638, 624], [639, 613], [6(...TRUNCATED) | "[[2.576164390922571, -0.008291859587583161, 0.011429603476216244], [2.651680711348945, -0.008158422(...TRUNCATED) | [[641, 483], [639, 423], [633, 400], [637, 377], [629, 356]] | [629, 356] | Navigate to x=<loc0503>, y=<loc0506> | <loc0512><loc0686><loc0511><loc0601><loc0506><loc0568><loc0509><loc0536><loc0503><loc0506> | "[['<loc0512>', '<loc0686>'], ['<loc0511>', '<loc0601>'], ['<loc0506>', '<loc0568>'], ['<loc0509>', (...TRUNCATED) | 1.131214 | 7 | 0 | "Original is the baseline, safest and most direct on the brick walkway. noise_04, noise_00, and nois(...TRUNCATED) | "Most trajectories stay on the brick paved walkway and are physically traversable. Original and the (...TRUNCATED) | "noise_04, noise_00, and noise_02 are similar moderate left deviations from the original (low-to-mod(...TRUNCATED) | "[\"Brick paved pedestrian walkway (main route)\", \"Concrete sidewalk/path to the right\", \"Mulch/(...TRUNCATED) | "{\"original\": \"Proceed straight up the central brick walkway, between trees and hedges, avoiding (...TRUNCATED) | "[{\"original\": 1}, {\"noise_04\": 2}, {\"noise_00\": 3}, {\"noise_02\": 4}, {\"mirrored\": 5}, {\"(...TRUNCATED) | "{\"trajectory_2d\": [[641, 709], [642, 694], [643, 677], [641, 662], [640, 645], [639, 633], [638, (...TRUNCATED) | null | "{\"trajectory_2d\": [[637.8716322666567, 709.0], [635.7432645333133, 694.0], [633.61489679997, 677.(...TRUNCATED) | original | 3 | 3 | |
Navigate to <point x="49.7" y="51.9">goal</point> | "[[624, 708], [624, 689], [623, 676], [622, 663], [627, 650], [628, 637], [627, 625], [628, 617], [6(...TRUNCATED) | "[[2.643498355669749, 0.049290735100385064, -0.03423237998105222], [2.7351698779555136, 0.0514544706(...TRUNCATED) | "{\"resolution\": {\"width\": 1280, \"height\": 720}, \"camera_matrix\": {\"data\": [608.116, 0.0, 6(...TRUNCATED) | 135 | "[[624, 708], [624, 689], [623, 676], [622, 663], [627, 650], [628, 637], [627, 625], [628, 617], [6(...TRUNCATED) | "[[2.643498355669749, 0.049290735100385064, -0.03423237998105222], [2.7351698779555136, 0.0514544706(...TRUNCATED) | [[632, 504], [634, 447], [635, 417], [636, 394], [636, 374]] | [636, 374] | Navigate to x=<loc0508>, y=<loc0531> | <loc0505><loc0716><loc0507><loc0635><loc0508><loc0593><loc0508><loc0560><loc0508><loc0531> | "[['<loc0505>', '<loc0716>'], ['<loc0507>', '<loc0635>'], ['<loc0508>', '<loc0593>'], ['<loc0508>', (...TRUNCATED) | 1.102873 | 8 | 0 | "Original is the safe, direct baseline (rank 1). noise_01 and noise_03 provide safe, clearly differe(...TRUNCATED) | "Original: straight, centered on the paved brick path, smooth and clearly traversable. noise_01 (pur(...TRUNCATED) | "noise_01 and noise_03 are the most diverse from the original, taking the right-side corridor around(...TRUNCATED) | "[\"Brick paved walkway (herringbone pattern) - main path, flat\", \"Concrete sidewalk/edge to the r(...TRUNCATED) | "{\"original\": \"Go straight on the brick paved walkway, stay centered to avoid pedestrians, trees,(...TRUNCATED) | "[{\"original\": 1}, {\"noise_01\": 2}, {\"noise_03\": 3}, {\"noise_04\": 4}, {\"noise_00\": 5}, {\"(...TRUNCATED) | "{\"trajectory_2d\": [[624, 708], [624, 689], [623, 676], [622, 663], [627, 650], [628, 637], [627, (...TRUNCATED) | null | null | original | 3 | 3 | |
Navigate to <point x="52.1" y="40.2">goal</point> | "[[719, 977], [711, 927], [710, 890], [710, 857], [706, 823], [703, 794], [700, 768], [697, 745], [6(...TRUNCATED) | "[[1.2202409621933423, -0.04164643378034327, 0.014123036780106624], [1.3189157278882533, -0.04043438(...TRUNCATED) | "{\"resolution\": {\"width\": 1224, \"height\": 1024}, \"camera_matrix\": {\"data\": [728.7329, 0.0,(...TRUNCATED) | 244 | "[[719, 977], [711, 927], [710, 890], [710, 857], [706, 823], [703, 794], [700, 768], [697, 745], [6(...TRUNCATED) | "[[1.2202409621933423, -0.04164643378034327, 0.014123036780106624], [1.3189157278882533, -0.04043438(...TRUNCATED) | [[686, 505], [709, 451], [729, 428], [699, 415], [638, 412]] | [638, 412] | Navigate to x=<loc0533>, y=<loc0412> | <loc0573><loc0505><loc0593><loc0451><loc0609><loc0428><loc0584><loc0415><loc0533><loc0412> | "[['<loc0573>', '<loc0505>'], ['<loc0593>', '<loc0451>'], ['<loc0609>', '<loc0428>'], ['<loc0584>', (...TRUNCATED) | 1.275272 | 9 | 0 | "Original (green) is the baseline, staying central and smooth on the paved walkway. I prioritize tra(...TRUNCATED) | "Most trajectories stay on the brick-paved path and avoid major obstacles, so are physically travers(...TRUNCATED) | "noise_04 is the most different from original (wide right arc) and thus most valuable for diversity.(...TRUNCATED) | "[\"Brick pavers (herringbone) - main walkway\", \"Asphalt/road surface (left side where vehicles ar(...TRUNCATED) | "{\"original\": \"Proceed forward on the brick-paved walkway, veer slightly right between parked van(...TRUNCATED) | "[{\"original\": 1}, {\"noise_04\": 2}, {\"noise_00\": 3}, {\"noise_01\": 4}, {\"noise_02\": 5}, {\"(...TRUNCATED) | "{\"trajectory_2d\": [[719, 977], [711, 927], [710, 890], [710, 857], [706, 823], [703, 794], [700, (...TRUNCATED) | null | "{\"trajectory_2d\": [[723.025994075501, 977.0], [719.051988151002, 927.0], [722.077982226503, 890.0(...TRUNCATED) | original | 3 | 3 |
End of preview. Expand
in Data Studio
README.md exists but content is empty.
- Downloads last month
- 5