batch_id string | seq_id string | chunk_id int32 | frame_idx_start int32 | frame_idx_end int32 | priority_frame_idx int32 | L1_task string | L2_subtask list | L3_atomic list | L4_pixel_atomic list | L5_keypoint_atomic list | L6_preference list | L7_negation list | L8_combinations list | images_rgb images list | actions array 2D | action_tokens array 2D | cam2world array 3D | camera_type string | camera_parameters list |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
batch_20260620_full | 29d4wi4y7pb0d08c6olavf | 4 | 113 | 122 | 2 | navigate the roundabout | [
{
"text": "approach the roundabout entrance",
"frames": [
0,
1,
2,
3
],
"instruction_type": "ROUTE"
},
{
"text": "enter and navigate the roundabout",
"frames": [
4,
5,
6,
7,
8
],
"instruction_type": "ROUTE"
},
{
"text"... | [
{
"primitive": "go straight",
"frames": [
0,
1,
2,
3
],
"instruction_type": "SPATIAL"
},
{
"primitive": "turn left",
"frames": [
4,
5
],
"instruction_type": "SPATIAL"
},
{
"primitive": "go straight",
"frames": [
6
],
"... | [
{
"text": "approach the crosswalk",
"frames": [
2,
3
],
"instruction_type": "LANDMARK"
},
{
"text": "turn left at the roundabout entrance",
"frames": [
4,
5
],
"instruction_type": "LANDMARK"
},
{
"text": "turn right at the exit",
"frames": [
... | [
{
"text": "go straight towards the crosswalk",
"frames": [
0,
1,
2,
3
],
"referenced_landmarks": [
""
],
"instruction_type": "LANDMARK"
},
{
"text": "turn left at the roundabout",
"frames": [
4,
5
],
"referenced_landmarks": [
... | [
{
"text": "follow the paved sidewalk",
"evidence_frames": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9
]
}
] | [] | [
{
"style": "landmark_heavy",
"text": "Go straight past the railing and the crosswalk, turn left at the roundabout, then turn right at the exit.",
"referenced_landmarks": [
"railing",
"crosswalk",
"roundabout",
"exit"
],
"referenced_preferences": [],
"referenced_negati... | [
[
-0.03893526643514633,
3.7465858459472656,
-1.3105778694152832
],
[
-0.638857901096344,
3.9549038410186768,
-17.402536392211914
],
[
0.010974504984915257,
3.999462842941284,
-2.665121555328369
],
[
-0.22592659294605255,
3.7300732135772705,
-4.743637561798... | [
[
7,
8,
6
],
[
2,
9,
1
],
[
8,
9,
5
],
[
4,
8,
4
],
[
5,
8,
2
],
[
3,
8,
1
],
[
8,
8,
6
],
[
8,
8,
13
],
[
14,
8,
15
]
] | [
[
[
0.8594381555203743,
0.16928632632203075,
-0.4823983795123362,
-88.7650944546834
],
[
-0.2063119473237951,
0.9781846520355456,
-0.02429335122131754,
0.006753054450086893
],
[
0.46776215882347794,
0.12040318202809103,
0.87561500... | fisheye | [
0.44085235827975,
0.054562132198156,
0.0040294377894702
] | |
batch_20260620_full | 29d4wi4y7pb0d08c6olavf | 5 | 143 | 152 | 2 | navigate the park entrance | [
{
"text": "approach the park entrance",
"frames": [
0,
1,
2
],
"instruction_type": "ROUTE"
},
{
"text": "turn right into the park",
"frames": [
3,
4,
5,
6
],
"instruction_type": "ROUTE"
},
{
"text": "proceed along the park path",
... | [
{
"primitive": "go straight",
"frames": [
0,
1,
2
],
"instruction_type": "SPATIAL"
},
{
"primitive": "turn right",
"frames": [
3,
4,
5,
6
],
"instruction_type": "SPATIAL"
},
{
"primitive": "go straight",
"frames": [
7,
... | [
{
"text": "approach the park entrance",
"frames": [
0,
1,
2
],
"instruction_type": "LANDMARK"
},
{
"text": "turn right at the curb",
"frames": [
3,
4,
5,
6
],
"instruction_type": "LANDMARK"
},
{
"text": "pass the grass patch",
... | [
{
"text": "go straight towards the park entrance",
"frames": [
0,
1,
2
],
"referenced_landmarks": [
""
],
"instruction_type": "LANDMARK"
},
{
"text": "turn right at the curb",
"frames": [
3,
4,
5,
6
],
"referenced_landmarks"... | [
{
"text": "stay on the paved path",
"evidence_frames": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9
]
}
] | [
{
"text": "do not go straight past the park entrance",
"evidence_frames": [
2,
3,
4,
5,
6
]
}
] | [
{
"style": "landmark_heavy",
"text": "Go straight towards the park entrance, then turn right at the curb, and finally pass the grass patch.",
"referenced_landmarks": [
"park_entrance",
"curb",
"grass_patch"
],
"referenced_preferences": [],
"referenced_negations": [],
"i... | [
[
-0.20074526965618134,
6.637640476226807,
-2.7476863861083984
],
[
-0.3924357295036316,
6.583890438079834,
-5.892991065979004
],
[
-0.14282231032848358,
6.595513820648193,
-2.6095545291900635
],
[
0.23678718507289886,
6.662205219268799,
4.990110874176025
... | [
[
5,
13,
5
],
[
3,
13,
4
],
[
5,
13,
5
],
[
11,
13,
11
],
[
14,
13,
14
],
[
14,
12,
15
],
[
14,
13,
15
],
[
10,
12,
11
],
[
2,
12,
3
]
] | [
[
[
0.8812787957238057,
-0.005699198421913049,
-0.4725623803742173,
-153.0997720497205
],
[
-0.010949033284585269,
0.9994126744641373,
-0.03247190771379965,
0.014584521699219977
],
[
0.47246989626613434,
0.03379090495663212,
0.880... | fisheye | [
0.44085235827975,
0.054562132198156,
0.0040294377894702
] | |
batch_20260620_full | 29d4wi4y7pb0d08c6olavf | 6 | 173 | 182 | 2 | walk along the park path | [
{
"text": "turn left onto the path",
"frames": [
0
],
"instruction_type": "ROUTE"
},
{
"text": "walk straight along the path",
"frames": [
1,
2,
3,
4,
5,
6,
7,
8,
9
],
"instruction_type": "ROUTE"
}
] | [
{
"primitive": "turn left",
"frames": [
0
],
"instruction_type": "SPATIAL"
},
{
"primitive": "go straight",
"frames": [
1,
2,
3,
4,
5,
6,
7,
8,
9
],
"instruction_type": "SPATIAL"
}
] | [
{
"text": "turn left at the path entrance",
"frames": [
0
],
"instruction_type": "LANDMARK"
},
{
"text": "pass the people on the path",
"frames": [
1,
2,
3
],
"instruction_type": "LANDMARK"
},
{
"text": "pass the child on the bike",
"frames": [... | [
{
"text": "turn left at the path entrance",
"frames": [
0
],
"referenced_landmarks": [
""
],
"instruction_type": "LANDMARK"
},
{
"text": "pass the people on the path",
"frames": [
1,
2,
3
],
"referenced_landmarks": [
""
],
"inst... | [
{
"text": "stay on the paved path",
"evidence_frames": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9
]
}
] | [] | [
{
"style": "landmark_heavy",
"text": "Turn left at the path entrance, then go straight past the group of people and the child on the bike.",
"referenced_landmarks": [
"path_entrance",
"people",
"child_on_bike"
],
"referenced_preferences": [],
"referenced_negations": [],
... | [
[
-0.3500882685184479,
1.9608442783355713,
-22.890396118164062
],
[
0.22804512083530426,
1.9407068490982056,
5.281132221221924
],
[
0.024235805496573448,
2.4627485275268555,
2.4507832527160645
],
[
-0.3701454699039459,
2.985466957092285,
-12.09249496459961... | [
[
3,
4,
0
],
[
11,
4,
11
],
[
8,
5,
10
],
[
3,
7,
2
],
[
7,
7,
6
],
[
9,
8,
11
],
[
6,
8,
7
],
[
8,
8,
11
],
[
4,
8,
4
]
] | [
[
[
0.6318454182507445,
-0.0917072377012676,
0.7696500178579511,
-258.61243286036347
],
[
0.1411740232762499,
0.9899826442049119,
0.002063813229716549,
0.026766154463530256
],
[
-0.762129426401801,
0.10735057860232289,
0.638462677... | fisheye | [
0.44126617483908,
0.049657601509223,
0.0076245102428847
] | |
batch_20260620_full | 29d4wi4y7pb0d08c6olavf | 7 | 235 | 244 | 2 | navigate the paved path from the start point to the end point | [
{
"text": "travel straight along the initial path",
"frames": [
0,
1,
2,
3
],
"instruction_type": "ROUTE"
},
{
"text": "execute a right turn at the junction",
"frames": [
4,
5
],
"instruction_type": "ROUTE"
},
{
"text": "execute a left ... | [
{
"primitive": "go straight",
"frames": [
0,
1,
2,
3
],
"instruction_type": "SPATIAL"
},
{
"primitive": "turn right",
"frames": [
4,
5
],
"instruction_type": "SPATIAL"
},
{
"primitive": "turn left",
"frames": [
6,
7
... | [
{
"text": "approach the junction",
"frames": [
3,
4
],
"instruction_type": "LANDMARK"
},
{
"text": "pass the tree on the right",
"frames": [
4,
5
],
"instruction_type": "LANDMARK"
},
{
"text": "approach the next junction",
"frames": [
5,
... | [
{
"text": "turn right at the tree",
"frames": [
4,
5
],
"referenced_landmarks": [
""
],
"instruction_type": "LANDMARK"
},
{
"text": "turn left at the tree",
"frames": [
6,
7
],
"referenced_landmarks": [
""
],
"instruction_type":... | [
{
"text": "follow the paved path",
"evidence_frames": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9
]
}
] | [] | [
{
"style": "landmark_heavy",
"text": "Go straight past the first tree, turn right at the second tree, then turn left at the third tree to reach the end.",
"referenced_landmarks": [
"tree"
],
"referenced_preferences": [],
"referenced_negations": [],
"instruction_type": "MULTI-CLAUSE... | [
[
-0.09794916212558746,
3.8712968826293945,
-2.985490560531616
],
[
0.18181273341178894,
3.70869779586792,
9.242202758789062
],
[
-0.29251399636268616,
3.640031576156616,
-1.4699316024780273
],
[
-0.1130465567111969,
3.514721155166626,
-2.8788270950317383
... | [
[
6,
9,
5
],
[
10,
8,
13
],
[
4,
8,
6
],
[
6,
8,
5
],
[
12,
7,
14
],
[
12,
7,
12
],
[
6,
8,
5
],
[
4,
8,
1
],
[
3,
8,
3
]
] | [
[
[
0.48614248815453875,
-0.05554083126907389,
-0.8721127778406036,
-326.2604691748417
],
[
0.02359835557696266,
0.9984486556025012,
-0.0504321300325572,
0.046596841359587415
],
[
0.8735608729933919,
0.00393677374226542,
0.4866989... | fisheye | [
0.44173188785221,
0.054593314037732,
0.004423004518934
] | |
batch_20260620_full | 29d4wi4y7pb0d08c6olavf | 8 | 270 | 279 | 2 | navigate to the building entrance | [
{
"text": "walk straight along the path",
"frames": [
0,
1,
2
],
"instruction_type": "ROUTE"
},
{
"text": "turn right to approach the building",
"frames": [
3,
4,
5,
6
],
"instruction_type": "ROUTE"
},
{
"text": "approach the buil... | [
{
"primitive": "go straight",
"frames": [
0,
1,
2
],
"instruction_type": "SPATIAL"
},
{
"primitive": "turn right",
"frames": [
3,
4,
5,
6
],
"instruction_type": "SPATIAL"
},
{
"primitive": "go straight",
"frames": [
7,
... | [
{
"text": "approach the building",
"frames": [
7,
8,
9
],
"instruction_type": "LANDMARK"
}
] | [
{
"text": "turn right at the building",
"frames": [
3,
4,
5,
6
],
"referenced_landmarks": [
""
],
"instruction_type": "LANDMARK"
}
] | [
{
"text": "stay on the paved path",
"evidence_frames": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9
]
}
] | [
{
"text": "do not go off the path",
"evidence_frames": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9
]
}
] | [
{
"style": "landmark_heavy",
"text": "Go straight past the trees, then turn right at the building and approach the entrance.",
"referenced_landmarks": [
"tree",
"building"
],
"referenced_preferences": [],
"referenced_negations": [],
"instruction_type": "MULTI-CLAUSE"
},
{... | [
[
-0.2055976837873459,
4.548145771026611,
-2.406735897064209
],
[
0.032898664474487305,
4.47298526763916,
2.50787353515625
],
[
0.2344038486480713,
4.356095314025879,
9.529288291931152
],
[
0.34313780069351196,
4.1786274909973145,
12.721620559692383
],
... | [
[
5,
10,
5
],
[
8,
10,
10
],
[
11,
10,
13
],
[
12,
9,
14
],
[
13,
9,
15
],
[
12,
9,
15
],
[
14,
9,
15
],
[
11,
10,
13
],
[
13,
10,
14
]
] | [
[
[
0.5087160007866176,
-0.023863197674262704,
-0.8606036127860659,
-453.74543452556253
],
[
0.002366726489693771,
0.9996507736897015,
-0.026319750517506735,
0.06343695459912624
],
[
0.8609311407710797,
0.011352464857460609,
0.508... | fisheye | [
0.44173188785221,
0.054593314037732,
0.004423004518934
] | |
batch_20260620_full | 29d4wi4y7pb0d08c6olavf | 9 | 301 | 310 | 2 | reach the building entrance | [
{
"text": "approach the building from the open path",
"frames": [
0,
1,
2,
3
],
"instruction_type": "ROUTE"
},
{
"text": "navigate the leftward curve along the building facade",
"frames": [
4,
5,
6,
7
],
"instruction_type": "ROUTE"
... | [
{
"primitive": "turn right",
"frames": [
0
],
"instruction_type": "SPATIAL"
},
{
"primitive": "go straight",
"frames": [
1,
2,
3
],
"instruction_type": "SPATIAL"
},
{
"primitive": "turn left",
"frames": [
4,
5,
6,
7
... | [
{
"text": "approach the building",
"frames": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9
],
"instruction_type": "LANDMARK"
}
] | [
{
"text": "turn left at the building",
"frames": [
4,
5,
6,
7
],
"referenced_landmarks": [
""
],
"instruction_type": "LANDMARK"
},
{
"text": "go straight past the building",
"frames": [
8,
9
],
"referenced_landmarks": [
""
... | [
{
"text": "follow the paved path",
"evidence_frames": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9
]
}
] | [] | [
{
"style": "landmark_heavy",
"text": "Turn right at the start, go straight past the grass patch, then turn left at the building and follow the paved path to the end.",
"referenced_landmarks": [
"building",
"grass_patch"
],
"referenced_preferences": [],
"referenced_negations": [],... | [
[
0.7567017674446106,
3.3589420318603516,
28.245458602905273
],
[
0.06707334518432617,
3.8625590801239014,
5.67533016204834
],
[
-0.22572219371795654,
4.034753322601318,
-3.7570126056671143
],
[
-0.1499806046485901,
4.110401153564453,
-1.2767828702926636
... | [
[
14,
8,
15
],
[
9,
9,
11
],
[
4,
9,
5
],
[
5,
9,
6
],
[
2,
9,
1
],
[
1,
8,
0
],
[
2,
8,
0
],
[
3,
8,
1
],
[
10,
8,
9
]
] | [
[
[
0.9344290510495048,
-0.35330306166020803,
0.04493656836302892,
-401.8250179603282
],
[
0.3508314949556788,
0.9348427356892244,
0.05464724765484924,
0.06585358265431296
],
[
-0.0613156644087417,
-0.03529881231160864,
0.99749405... | fisheye | [
0.44419670516464,
0.055938180993232,
0.0037977679320775
] | |
batch_20260620_full | 29d4wi4y7pb0d08c6olavf | 10 | 311 | 320 | 2 | navigate the paved loop around the building | [
{
"text": "approach the building entrance",
"frames": [
0,
1,
2
],
"instruction_type": "ROUTE"
},
{
"text": "turn right to follow the path",
"frames": [
3,
4,
5
],
"instruction_type": "ROUTE"
},
{
"text": "turn left to continue the loop... | [
{
"primitive": "go straight",
"frames": [
0,
1,
2
],
"instruction_type": "SPATIAL"
},
{
"primitive": "turn right",
"frames": [
3,
4,
5
],
"instruction_type": "SPATIAL"
},
{
"primitive": "turn left",
"frames": [
6,
7,
... | [
{
"text": "approach the building",
"frames": [
0,
1,
2
],
"instruction_type": "LANDMARK"
},
{
"text": "turn right at the corner",
"frames": [
3,
4,
5
],
"instruction_type": "LANDMARK"
},
{
"text": "turn left at the curve",
"frames":... | [
{
"text": "go straight towards the building",
"frames": [
0,
1,
2
],
"referenced_landmarks": [
""
],
"instruction_type": "LANDMARK"
},
{
"text": "turn right at the lamp post",
"frames": [
3,
4,
5
],
"referenced_landmarks": [
... | [
{
"text": "stay on the paved path",
"evidence_frames": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9
]
}
] | [] | [
{
"style": "landmark_heavy",
"text": "Approach the building, turn right at the lamp post, then turn left at the next lamp post to complete the loop.",
"referenced_landmarks": [
"building",
"lamp_post"
],
"referenced_preferences": [],
"referenced_negations": [],
"instruction_t... | [
[
-0.06277924031019211,
3.177431344985962,
-1.7017971277236938
],
[
-0.2234087884426117,
3.0857112407684326,
-3.6464219093322754
],
[
-0.06193583086133003,
2.99043345451355,
-3.8524820804595947
],
[
0.07329031080007553,
2.263540506362915,
-1.59417021274566... | [
[
7,
7,
6
],
[
4,
7,
5
],
[
7,
7,
5
],
[
9,
5,
6
],
[
10,
3,
13
],
[
11,
2,
15
],
[
1,
2,
0
],
[
10,
2,
15
],
[
4,
4,
1
]
] | [
[
[
0.5036261573321207,
-0.02269714367294995,
-0.8636234904864338,
-402.53732879524784
],
[
-0.011040221133041594,
0.9994041102174599,
-0.03270379179515459,
0.06986577686723194
],
[
0.8638511487335162,
0.026005079302642953,
0.5030... | fisheye | [
0.44419670516464,
0.055938180993232,
0.0037977679320775
] | |
batch_20260620_full | 29d4wi4y7pb0d08c6olavf | 11 | 331 | 340 | 2 | navigate the leftward curve of the path | [
{
"text": "approach the curve",
"frames": [
0
],
"instruction_type": "ROUTE"
},
{
"text": "execute the left turn",
"frames": [
1,
2,
3,
4,
5
],
"instruction_type": "ROUTE"
},
{
"text": "straighten out and continue",
"frames": [
... | [
{
"primitive": "go straight",
"frames": [
0
],
"instruction_type": "SPATIAL"
},
{
"primitive": "turn left",
"frames": [
1,
2,
3,
4,
5
],
"instruction_type": "SPATIAL"
},
{
"primitive": "go straight",
"frames": [
6,
7,
... | [
{
"text": "approach the curve",
"frames": [
0
],
"instruction_type": "LANDMARK"
},
{
"text": "turn left at the curb",
"frames": [
1,
2,
3,
4,
5
],
"instruction_type": "LANDMARK"
},
{
"text": "pass the building on the left",
"frames"... | [
{
"text": "turn left at the curb",
"frames": [
1,
2,
3,
4,
5
],
"referenced_landmarks": [
""
],
"instruction_type": "LANDMARK"
},
{
"text": "pass the building",
"frames": [
6,
7,
8,
9
],
"referenced_landmarks": [... | [
{
"text": "follow the paved path",
"evidence_frames": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9
]
}
] | [] | [
{
"style": "landmark_heavy",
"text": "Turn left at the curb and pass the building on your left.",
"referenced_landmarks": [
"curb",
"building"
],
"referenced_preferences": [],
"referenced_negations": [],
"instruction_type": "MULTI-CLAUSE"
},
{
"style": "task_only",
... | [
[
-0.1766560822725296,
3.7730164527893066,
-3.9223294258117676
],
[
-0.4410959482192993,
3.704216241836548,
-10.381035804748535
],
[
-0.24181976914405823,
3.724097490310669,
-7.5932793617248535
],
[
-0.4715800881385803,
3.6167545318603516,
-13.703082084655... | [
[
5,
8,
5
],
[
3,
8,
2
],
[
4,
8,
3
],
[
3,
8,
1
],
[
2,
8,
0
],
[
5,
8,
2
],
[
5,
8,
3
],
[
6,
8,
5
],
[
7,
8,
6
]
] | [
[
[
0.4521533291121249,
-0.015707655118583352,
-0.8918019043170395,
-454.26805895886685
],
[
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0.9987492112209031,
-0.03546250061784162,
0.07724661813546163
],
[
0.8912434812312902,
0.04746875452652588,
0.45103... | fisheye | [
0.44419670516464,
0.055938180993232,
0.0037977679320775
] | |
batch_20260620_full | 29d4wi4y7pb0d08c6olavf | 12 | 351 | 360 | 2 | navigate the park path | [
{
"text": "walk straight along the path",
"frames": [
0,
1,
2,
3
],
"instruction_type": "ROUTE"
},
{
"text": "turn right to follow the path",
"frames": [
4,
5
],
"instruction_type": "ROUTE"
},
{
"text": "turn left to follow the path",
... | [
{
"primitive": "go straight",
"frames": [
0,
1,
2,
3
],
"instruction_type": "SPATIAL"
},
{
"primitive": "turn right",
"frames": [
4,
5
],
"instruction_type": "SPATIAL"
},
{
"primitive": "turn left",
"frames": [
6,
7
... | [
{
"text": "approach the lamp post",
"frames": [
0,
1,
2,
3
],
"instruction_type": "LANDMARK"
},
{
"text": "pass the lamp post",
"frames": [
4,
5
],
"instruction_type": "LANDMARK"
},
{
"text": "pass the lamp post",
"frames": [
... | [
{
"text": "go straight past the lamp post",
"frames": [
0,
1,
2,
3
],
"referenced_landmarks": [
""
],
"instruction_type": "LANDMARK"
},
{
"text": "turn right past the lamp post",
"frames": [
4,
5
],
"referenced_landmarks": [
... | [
{
"text": "stay on the paved path",
"evidence_frames": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9
]
}
] | [] | [
{
"style": "landmark_heavy",
"text": "Go straight past the lamp post, then turn right past the lamp post, then turn left past the lamp post, and finally turn right past the lamp post.",
"referenced_landmarks": [
"lamp_post"
],
"referenced_preferences": [],
"referenced_negations": [],
... | [
[
-0.048674535006284714,
3.715386152267456,
-0.22442969679832458
],
[
-0.10434375703334808,
3.6949121952056885,
-3.2805192470550537
],
[
-0.011728272773325443,
3.6162705421447754,
-3.7272162437438965
],
[
0.2596968114376068,
3.5283377170562744,
6.895228385... | [
[
7,
8,
7
],
[
6,
8,
5
],
[
7,
8,
5
],
[
11,
8,
12
],
[
13,
8,
15
],
[
11,
6,
13
],
[
9,
3,
6
],
[
2,
4,
0
],
[
14,
5,
15
]
] | [
[
[
-0.8599500778328003,
-0.01620188058104788,
-0.5101209294873107,
-502.1024349075013
],
[
-0.002779628817987212,
0.9996298579783742,
-0.027063272192568426,
0.07496365723835652
],
[
0.5103705881993932,
-0.0218551161921482,
-0.859... | fisheye | [
0.44419670516464,
0.055938180993232,
0.0037977679320775
] | |
batch_20260620_full | 29d4wi4y7pb0d08c6olavf | 13 | 361 | 370 | 3 | follow the paved path through the park | [
{
"text": "complete the initial right turn onto the main path",
"frames": [
0,
1
],
"instruction_type": "ROUTE"
},
{
"text": "travel straight along the tree-lined avenue",
"frames": [
2,
3,
4,
5,
6,
7,
8,
9
],
"instructi... | [
{
"primitive": "turn right",
"frames": [
0,
1
],
"instruction_type": "SPATIAL"
},
{
"primitive": "go straight",
"frames": [
2,
3,
4,
5,
6,
7,
8,
9
],
"instruction_type": "SPATIAL"
}
] | [
{
"text": "turn right at the path junction",
"frames": [
0,
1
],
"instruction_type": "LANDMARK"
},
{
"text": "pass the group of pedestrians",
"frames": [
6,
7,
8,
9
],
"instruction_type": "LANDMARK"
}
] | [
{
"text": "turn right at the path junction",
"frames": [
0,
1
],
"referenced_landmarks": [
""
],
"instruction_type": "LANDMARK"
},
{
"text": "go straight past the group of pedestrians",
"frames": [
6,
7,
8,
9
],
"referenced_landma... | [
{
"text": "stay on the paved surface",
"evidence_frames": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9
]
}
] | [
{
"text": "do not enter the grass field",
"evidence_frames": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9
]
}
] | [
{
"style": "landmark_heavy",
"text": "Turn right at the path junction, then go straight past the group of pedestrians.",
"referenced_landmarks": [
"path_junction",
"group_of_pedestrians"
],
"referenced_preferences": [],
"referenced_negations": [],
"instruction_type": "MULTI-C... | [
[
0.44050970673561096,
3.1189727783203125,
20.629072189331055
],
[
0.3056063950061798,
3.208024501800537,
14.520159721374512
],
[
0.010453060269355774,
3.40179705619812,
3.2424416542053223
],
[
-0.12332382798194885,
3.475938558578491,
-0.8933371901512146
... | [
[
12,
7,
15
],
[
12,
7,
14
],
[
8,
8,
10
],
[
6,
8,
7
],
[
6,
8,
7
],
[
3,
8,
2
],
[
8,
8,
10
],
[
8,
8,
10
],
[
8,
8,
8
]
] | [
[
[
-0.27233447448410014,
0.020899064790841193,
-0.9619756561880022,
-520.6690579871988
],
[
0.07376459788911977,
0.9972753735041338,
0.0007832626934600739,
0.07360113745835406
],
[
0.9593710012845529,
-0.0707464380238236,
-0.2731... | fisheye | [
0.44419670516464,
0.055938180993232,
0.0037977679320775
] | |
batch_20260620_full | 29d4wi4y7pb0d08c6olavf | 14 | 385 | 394 | 4 | follow the park path forward | [
{
"text": "proceed straight along the tree-lined path",
"frames": [
0,
1,
2,
3,
4,
5
],
"instruction_type": "ROUTE"
},
{
"text": "navigate the slight curve to the right",
"frames": [
6,
7,
8
],
"instruction_type": "ROUTE"
},... | [
{
"primitive": "go straight",
"frames": [
0,
1,
2,
3,
4,
5
],
"instruction_type": "SPATIAL"
},
{
"primitive": "turn right",
"frames": [
6,
7,
8
],
"instruction_type": "SPATIAL"
},
{
"primitive": "go straight",
"fra... | [
{
"text": "approach the traffic cone",
"frames": [
6,
7,
8
],
"instruction_type": "LANDMARK"
}
] | [
{
"text": "turn right at the traffic cone",
"frames": [
6,
7,
8
],
"referenced_landmarks": [
""
],
"instruction_type": "LANDMARK"
}
] | [
{
"text": "stay on the paved path",
"evidence_frames": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9
]
}
] | [
{
"text": "do not go onto the grass",
"evidence_frames": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9
]
}
] | [
{
"style": "landmark_heavy",
"text": "Go straight past the trees, then turn right at the traffic cone and continue forward.",
"referenced_landmarks": [
"tree",
"traffic_cone"
],
"referenced_preferences": [],
"referenced_negations": [],
"instruction_type": "MULTI-CLAUSE"
},
... | [
[
-0.1284879744052887,
3.387624740600586,
-0.18889863789081573
],
[
-0.23811009526252747,
3.3770015239715576,
-3.373485565185547
],
[
-0.007947021164000034,
3.3924524784088135,
-0.036799054592847824
],
[
-0.12848344445228577,
3.438835859298706,
-3.66003608... | [
[
6,
8,
7
],
[
4,
8,
5
],
[
7,
8,
7
],
[
6,
8,
5
],
[
10,
8,
12
],
[
5,
8,
4
],
[
12,
8,
13
],
[
3,
8,
2
],
[
7,
8,
6
]
] | [
[
[
0.35180166090040865,
-0.04426592076729563,
-0.93502733630966,
-601.5093341266847
],
[
0.02291896764851098,
0.9989891346515236,
-0.038670787037856036,
0.08382978506784866
],
[
0.9357939475705327,
-0.007825414163110778,
0.352460... | fisheye | [
0.44541266231624,
0.057438642602794,
0.0031020143058519
] | |
batch_20260620_full | 29d4wi4y7pb0d08c6olavf | 15 | 424 | 433 | 3 | navigate along the curved path past the apartment building | [
{
"text": "proceed forward along the path",
"frames": [
0,
1,
2
],
"instruction_type": "ROUTE"
},
{
"text": "execute a left turn to follow the path curve",
"frames": [
3,
4,
5
],
"instruction_type": "ROUTE"
},
{
"text": "continue forwar... | [
{
"primitive": "go straight",
"frames": [
0,
1
],
"instruction_type": "SPATIAL"
},
{
"primitive": "turn left",
"frames": [
2,
3,
4,
5
],
"instruction_type": "SPATIAL"
},
{
"primitive": "go straight",
"frames": [
6,
7,
... | [
{
"text": "approach the building on the right",
"frames": [
0,
1,
2,
3
],
"instruction_type": "LANDMARK"
},
{
"text": "turn left at the curve",
"frames": [
3,
4,
5
],
"instruction_type": "LANDMARK"
},
{
"text": "pass the building"... | [
{
"text": "go straight towards the building",
"frames": [
0,
1,
2
],
"referenced_landmarks": [
""
],
"instruction_type": "LANDMARK"
},
{
"text": "turn left at the curve",
"frames": [
3,
4,
5
],
"referenced_landmarks": [
""
... | [
{
"text": "stay on the paved path",
"evidence_frames": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9
]
}
] | [] | [
{
"style": "landmark_heavy",
"text": "Go straight towards the building, turn left at the curve, go straight past the building, and turn right at the end.",
"referenced_landmarks": [
"building",
"curve"
],
"referenced_preferences": [],
"referenced_negations": [],
"instruction_... | [
[
-0.07175412774085999,
4.0482683181762695,
7.1312994956970215
],
[
0.025716498494148254,
3.8976852893829346,
1.2097654342651367
],
[
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3.9432451725006104,
-13.347803115844727
],
[
-0.1314755082130432,
3.9191174507141113,
-5.75074863433... | [
[
6,
9,
12
],
[
8,
9,
9
],
[
3,
9,
1
],
[
6,
9,
4
],
[
2,
9,
1
],
[
5,
9,
3
],
[
3,
9,
1
],
[
4,
9,
4
],
[
6,
9,
10
]
] | [
[
[
0.8781145664178098,
-0.10106892829943662,
-0.46765358971921195,
-745.875223763354
],
[
0.08784548781495766,
0.9948752554272897,
-0.05006392322857878,
0.10589769907437585
],
[
0.47031689159056767,
0.0028806025217377185,
0.88249... | fisheye | [
0.44541266231624,
0.057438642602794,
0.0031020143058519
] | |
batch_20260620_full | 2AbkxYdjZUJi7yFCtn4P5p | 0 | 10 | 19 | 4 | walk along the forest path | [
{
"text": "walk straight along the path",
"frames": [
0,
1,
2,
3,
4,
5,
7
],
"instruction_type": "ROUTE"
},
{
"text": "turn right at the path junction",
"frames": [
6,
9
],
"instruction_type": "ROUTE"
},
{
"text": "tur... | [
{
"primitive": "go straight",
"frames": [
0,
1,
2,
3,
4,
5,
7
],
"instruction_type": "SPATIAL"
},
{
"primitive": "turn right",
"frames": [
6,
9
],
"instruction_type": "SPATIAL"
},
{
"primitive": "turn left",
"frame... | [
{
"text": "approach the bench",
"frames": [
0,
1,
2
],
"instruction_type": "LANDMARK"
},
{
"text": "pass the bench",
"frames": [
3,
4,
5
],
"instruction_type": "LANDMARK"
},
{
"text": "turn right at the junction",
"frames": [
... | [
{
"text": "go straight past the bench",
"frames": [
0,
1,
2,
3,
4,
5
],
"referenced_landmarks": [
""
],
"instruction_type": "LANDMARK"
},
{
"text": "turn right at the junction",
"frames": [
6
],
"referenced_landmarks": [
... | [
{
"text": "stay on the paved path",
"evidence_frames": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9
]
}
] | [] | [
{
"style": "landmark_heavy",
"text": "Go straight past the bench, turn right at the junction, then turn left at the next junction, and finally turn right again.",
"referenced_landmarks": [
"bench",
"junction"
],
"referenced_preferences": [],
"referenced_negations": [],
"instr... | [
[
0.21609807014465332,
2.346163034439087,
8.835023880004883
],
[
-0.2325916588306427,
2.8553097248077393,
-0.6100836396217346
],
[
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3.801631212234497,
-2.2709176540374756
],
[
-0.18510812520980835,
2.6525790691375732,
-0.17793774604797... | [
[
11,
5,
12
],
[
4,
6,
7
],
[
5,
9,
5
],
[
5,
6,
7
],
[
6,
8,
9
],
[
7,
7,
3
],
[
11,
4,
13
],
[
5,
4,
3
],
[
6,
2,
2
]
] | [
[
[
0.7455552614856034,
0.002326343386439389,
-0.6664397498630933,
-13.480807316442075
],
[
0.001693631108485083,
0.999984064758576,
0.005385335884121378,
0.00003373384395111145
],
[
0.6664416581253023,
-0.005143768595573084,
0.74... | perspective | [
0.74445748627474,
0.071311277958667,
-0.095975644353111
] | |
batch_20260620_full | 2AbkxYdjZUJi7yFCtn4P5p | 1 | 20 | 29 | 2 | follow the winding path through the park | [
{
"text": "turn right at the initial junction",
"frames": [
0,
1
],
"instruction_type": "ROUTE"
},
{
"text": "proceed straight along the path",
"frames": [
2,
3,
4
],
"instruction_type": "ROUTE"
},
{
"text": "navigate the leftward curve",
... | [
{
"primitive": "turn right",
"frames": [
0,
1
],
"instruction_type": "SPATIAL"
},
{
"primitive": "go straight",
"frames": [
2,
3,
4
],
"instruction_type": "SPATIAL"
},
{
"primitive": "turn left",
"frames": [
5,
6,
7
... | [
{
"text": "turn right at the path junction",
"frames": [
0,
1
],
"instruction_type": "LANDMARK"
},
{
"text": "pass the wooden benches on the left",
"frames": [
2,
3,
4
],
"instruction_type": "LANDMARK"
},
{
"text": "turn left at the bend",
... | [
{
"text": "turn right at the junction",
"frames": [
0,
1
],
"referenced_landmarks": [
""
],
"instruction_type": "LANDMARK"
},
{
"text": "go straight past the benches",
"frames": [
2,
3,
4
],
"referenced_landmarks": [
""
],
... | [
{
"text": "follow the paved path",
"evidence_frames": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9
]
}
] | [] | [
{
"style": "landmark_heavy",
"text": "Turn right at the junction, go straight past the wooden benches, then turn left at the bend and continue forward.",
"referenced_landmarks": [
"junction",
"benches",
"bend"
],
"referenced_preferences": [],
"referenced_negations": [],
... | [
[
-0.08317487686872482,
2.13910174369812,
-11.333723068237305
],
[
0.04434177652001381,
0.38141635060310364,
12.975910186767578
],
[
0.01660257950425148,
0.3786422610282898,
-7.483193397521973
],
[
0.28431031107902527,
2.479902744293213,
5.276331424713135
... | [
[
6,
4,
2
],
[
8,
0,
14
],
[
8,
0,
3
],
[
11,
5,
11
],
[
5,
2,
1
],
[
13,
5,
12
],
[
10,
3,
11
],
[
8,
6,
11
],
[
7,
3,
11
]
] | [
[
[
0.8196642335513674,
0.04182368260806657,
-0.5713154328475202,
-28.058405595147846
],
[
-0.04898668001752937,
0.998795403521769,
0.002836738381839843,
0.00016015747113584666
],
[
0.5707458711348772,
0.025661673306441313,
0.8207... | perspective | [
0.74445748627474,
0.071311277958667,
-0.095975644353111
] | |
batch_20260620_full | 2AbkxYdjZUJi7yFCtn4P5p | 2 | 30 | 39 | 2 | reach the wooden shelters | [
{
"text": "Start at the origin and move forward along the path",
"frames": [
0,
1,
2
],
"instruction_type": "ROUTE"
},
{
"text": "Navigate the slight left curve in the path",
"frames": [
3,
4
],
"instruction_type": "ROUTE"
},
{
"text": "Navig... | [
{
"primitive": "go straight",
"frames": [
0,
1,
2
],
"instruction_type": "SPATIAL"
},
{
"primitive": "slight left",
"frames": [
3,
4
],
"instruction_type": "SPATIAL"
},
{
"primitive": "slight right",
"frames": [
5,
6
],
... | [
{
"text": "approach the wooden_shelter",
"frames": [
7,
8,
9
],
"instruction_type": "LANDMARK"
}
] | [
{
"text": "go straight past the bench",
"frames": [
0,
1,
2
],
"referenced_landmarks": [
""
],
"instruction_type": "LANDMARK"
},
{
"text": "turn left at the wooden_shelter",
"frames": [
3,
4
],
"referenced_landmarks": [
""
],
... | [
{
"text": "stay on the paved path",
"evidence_frames": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9
]
}
] | [] | [
{
"style": "landmark_heavy",
"text": "Start by going straight past the bench on the left, then make a slight left turn followed by a slight right turn to reach the wooden shelter.",
"referenced_landmarks": [
"bench",
"wooden_shelter"
],
"referenced_preferences": [],
"referenced_n... | [
[
0.16204898059368134,
2.0952205657958984,
8.156269073486328
],
[
-0.12779566645622253,
1.4293889999389648,
-5.147495746612549
],
[
0.21481405198574066,
1.451361894607544,
5.340781211853027
],
[
0.5147968530654907,
3.3675310611724854,
8.871747970581055
]... | [
[
10,
4,
12
],
[
6,
3,
4
],
[
11,
3,
11
],
[
13,
8,
12
],
[
6,
5,
1
],
[
12,
4,
13
],
[
8,
9,
3
],
[
10,
8,
8
],
[
7,
2,
4
]
] | [
[
[
0.8988154101478152,
-0.050741204129675255,
-0.4353805102255787,
-37.45233481908871
],
[
0.005717288264100617,
0.9945497402621516,
-0.1041063243006497,
0.00030275395408096983
],
[
0.4382900536125818,
0.09108317269373911,
0.8942... | perspective | [
0.74445748627474,
0.071311277958667,
-0.095975644353111
] | |
batch_20260620_full | 2AbkxYdjZUJi7yFCtn4P5p | 3 | 50 | 59 | 3 | navigate the paved path through the wooden structure and into the park | [
{
"text": "pass through the wooden structure",
"frames": [
0,
1,
2,
3,
4,
5
],
"instruction_type": "ROUTE"
},
{
"text": "turn right onto the path",
"frames": [
5,
6,
7
],
"instruction_type": "ROUTE"
},
{
"text": "follo... | [
{
"primitive": "go straight",
"frames": [
0,
1,
3,
4,
6,
8
],
"instruction_type": "SPATIAL"
},
{
"primitive": "turn right",
"frames": [
2,
5,
7
],
"instruction_type": "SPATIAL"
},
{
"primitive": "turn left",
"frame... | [
{
"text": "pass the wooden structure",
"frames": [
0,
1,
2,
3,
4,
5
],
"instruction_type": "LANDMARK"
},
{
"text": "turn right at the path entrance",
"frames": [
5,
6,
7
],
"instruction_type": "LANDMARK"
},
{
"text": "... | [
{
"text": "pass the wooden structure",
"frames": [
0,
1,
2,
3,
4,
5
],
"referenced_landmarks": [
""
],
"instruction_type": "LANDMARK"
},
{
"text": "turn right at the path entrance",
"frames": [
5,
6,
7
],
"refere... | [
{
"text": "stay on the paved path",
"evidence_frames": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9
]
}
] | [] | [
{
"style": "landmark_heavy",
"text": "Go straight through the wooden structure, turn right at the path entrance, and turn left at the path bend.",
"referenced_landmarks": [
"wooden_structure",
"path_entrance",
"path_bend"
],
"referenced_preferences": [],
"referenced_negatio... | [
[
0.3034028112888336,
4.000945568084717,
1.1126030683517456
],
[
0.07224152982234955,
1.538338541984558,
-5.07053279876709
],
[
0.5250043272972107,
2.6415255069732666,
10.788348197937012
],
[
0.4063764214515686,
3.1499152183532715,
0.1332027167081833
],
... | [
[
12,
9,
9
],
[
9,
3,
4
],
[
13,
6,
13
],
[
12,
7,
8
],
[
10,
1,
3
],
[
12,
1,
13
],
[
6,
7,
5
],
[
14,
9,
13
],
[
8,
3,
6
]
] | [
[
[
0.7781225614754783,
-0.04093721495939856,
-0.6267770127838196,
-54.16596942361553
],
[
0.030721054306770856,
0.9991600131738589,
-0.027119824790997393,
0.0011025472124330804
],
[
0.6273607384472835,
0.0018472968851697136,
0.77... | perspective | [
0.74445748627474,
0.071311277958667,
-0.095975644353111
] | |
batch_20260620_full | 2EFP7g0txjdovbOSNe5pzC | 0 | 87 | 96 | 4 | navigate the cul-de-sac loop | [
{
"text": "approach the cul-de-sac entrance",
"frames": [
0,
1,
2
],
"instruction_type": "ROUTE"
},
{
"text": "enter the cul-de-sac and begin the turn",
"frames": [
3,
4,
5
],
"instruction_type": "ROUTE"
},
{
"text": "complete the turn ... | [
{
"primitive": "go straight",
"frames": [
0,
1,
2
],
"instruction_type": "SPATIAL"
},
{
"primitive": "turn left",
"frames": [
3,
4,
5
],
"instruction_type": "SPATIAL"
},
{
"primitive": "go straight",
"frames": [
6,
7,
... | [
{
"text": "approach the parked car",
"frames": [
0,
1,
2
],
"instruction_type": "LANDMARK"
},
{
"text": "turn left at the driveway",
"frames": [
3,
4,
5
],
"instruction_type": "LANDMARK"
},
{
"text": "pass the brick wall",
"frames":... | [
{
"text": "go straight past the parked car",
"frames": [
0,
1,
2
],
"referenced_landmarks": [
""
],
"instruction_type": "LANDMARK"
},
{
"text": "turn left at the driveway",
"frames": [
3,
4,
5
],
"referenced_landmarks": [
""... | [
{
"text": "stay on the sidewalk",
"evidence_frames": [
3,
4,
5,
6,
7,
8,
9
]
}
] | [] | [
{
"style": "landmark_heavy",
"text": "Go straight past the parked car, turn left at the driveway, and follow the sidewalk past the brick wall.",
"referenced_landmarks": [
"parked_car",
"driveway",
"brick_wall"
],
"referenced_preferences": [],
"referenced_negations": [],
... | [
[
0.5893699526786804,
6.265401363372803,
3.8495676517486572
],
[
0.7172275185585022,
6.092452049255371,
4.766112327575684
],
[
0.8481705784797668,
5.627136707305908,
6.103002548217773
],
[
1.2059941291809082,
5.5539774894714355,
7.664548873901367
],
[
... | [
[
13,
12,
10
],
[
13,
12,
11
],
[
14,
11,
11
],
[
14,
11,
12
],
[
14,
11,
11
],
[
2,
9,
3
],
[
0,
7,
0
],
[
0,
6,
0
],
[
2,
7,
0
]
] | [
[
[
0.03592113290844648,
-0.15206293495129164,
0.9877178423135693,
407.2178395001286
],
[
0.007382348313367204,
0.9883691086579642,
0.15189472006637264,
0.016007700789785417
],
[
-0.9993273603499275,
0.001835446719690853,
0.036625... | perspective | [
0.43485195818314,
-0.15498922948189,
0.028032948909433
] | |
batch_20260620_full | 2EFP7g0txjdovbOSNe5pzC | 1 | 192 | 201 | 2 | navigate to the end of the cul-de-sac | [
{
"text": "travel straight down the residential street",
"frames": [
0,
1,
2,
3
],
"instruction_type": "ROUTE"
},
{
"text": "execute a right turn at the intersection",
"frames": [
4,
5,
6,
7
],
"instruction_type": "ROUTE"
},
{
... | [
{
"primitive": "go straight",
"frames": [
0,
1,
2,
3
],
"instruction_type": "SPATIAL"
},
{
"primitive": "turn right",
"frames": [
4,
5,
6,
7
],
"instruction_type": "SPATIAL"
},
{
"primitive": "go straight",
"frames": [
... | [
{
"text": "approach the intersection",
"frames": [
2,
3,
4
],
"instruction_type": "LANDMARK"
},
{
"text": "pass the stop sign",
"frames": [
6,
7,
8
],
"instruction_type": "LANDMARK"
}
] | [
{
"text": "turn right at the intersection",
"frames": [
4,
5,
6,
7
],
"referenced_landmarks": [
""
],
"instruction_type": "LANDMARK"
},
{
"text": "pass the stop sign",
"frames": [
6,
7,
8
],
"referenced_landmarks": [
"... | [] | [] | [
{
"style": "landmark_heavy",
"text": "Go straight past the parked cars, turn right at the intersection, and pass the stop sign to reach the end of the street.",
"referenced_landmarks": [
"parked_car",
"intersection",
"stop_sign"
],
"referenced_preferences": [],
"referenced_... | [
[
0.06783706694841385,
8.961084365844727,
-1.1965577602386475
],
[
0.10137605667114258,
8.513829231262207,
-1.584273338317871
],
[
0.1415543258190155,
7.278098106384277,
-0.16886501014232635
],
[
0.7322952747344971,
6.261809825897217,
4.495398998260498
]... | [
[
9,
14,
6
],
[
9,
14,
6
],
[
10,
13,
7
],
[
14,
12,
11
],
[
15,
11,
14
],
[
15,
10,
15
],
[
15,
10,
15
],
[
15,
9,
15
],
[
15,
12,
14
]
] | [
[
[
-0.9981128052725196,
0.030162905555120363,
0.053488569615331084,
326.12144957313467
],
[
0.03974361451903461,
0.9813165543721957,
0.18825053843228068,
0.013899460745875558
],
[
-0.04681103562178059,
0.19002110210067225,
-0.980... | perspective | [
0.43787360045299,
-0.15296068719368,
0.028400477983798
] | |
batch_20260620_full | 2EFP7g0txjdovbOSNe5pzC | 2 | 211 | 220 | 2 | drive down the residential street | [
{
"text": "approach the intersection",
"frames": [
0,
1,
2
],
"instruction_type": "ROUTE"
},
{
"text": "turn right onto the street",
"frames": [
3,
4
],
"instruction_type": "ROUTE"
},
{
"text": "continue straight past parked cars",
"frame... | [
{
"primitive": "go straight",
"frames": [
0,
1,
2
],
"instruction_type": "SPATIAL"
},
{
"primitive": "turn right",
"frames": [
3,
4
],
"instruction_type": "SPATIAL"
},
{
"primitive": "go straight",
"frames": [
5,
6,
7,
... | [
{
"text": "approach the intersection",
"frames": [
0,
1,
2
],
"instruction_type": "LANDMARK"
},
{
"text": "pass the parked cars",
"frames": [
6,
7,
8,
9
],
"instruction_type": "LANDMARK"
}
] | [
{
"text": "turn right at the intersection",
"frames": [
3,
4
],
"referenced_landmarks": [
""
],
"instruction_type": "LANDMARK"
},
{
"text": "go straight past the parked cars",
"frames": [
6,
7,
8,
9
],
"referenced_landmarks": [
... | [
{
"text": "stay in the right lane",
"evidence_frames": [
5,
6,
7,
8,
9
]
}
] | [] | [
{
"style": "landmark_heavy",
"text": "Go straight towards the intersection, turn right, and then go straight past the parked cars.",
"referenced_landmarks": [
"intersection",
"parked_car"
],
"referenced_preferences": [],
"referenced_negations": [],
"instruction_type": "MULTI-... | [
[
0.5023058652877808,
8.133913040161133,
2.5746114253997803
],
[
0.4434109330177307,
7.640458583831787,
2.006012201309204
],
[
0.8526217937469482,
6.933137893676758,
6.283792972564697
],
[
0.9006717205047607,
6.785590648651123,
13.404863357543945
],
[
... | [
[
13,
14,
10
],
[
12,
13,
9
],
[
14,
13,
12
],
[
14,
13,
14
],
[
15,
13,
14
],
[
15,
13,
13
],
[
13,
13,
10
],
[
11,
13,
8
],
[
9,
13,
7
]
] | [
[
[
0.5281643259622293,
0.14208825284240634,
-0.8371698592191767,
230.80744576907148
],
[
-0.0336627177834099,
0.9886292769474838,
0.14655706804425944,
0.008764847505887019
],
[
0.848474670342196,
-0.04922480235092469,
0.526941792... | perspective | [
0.43787360045299,
-0.15296068719368,
0.028400477983798
] |
End of preview. Expand in Data Studio
nav3 training data (hive pipeline)
Assembled from the hive-format V2 pipeline (01→11→03→04→05→filter_chunks_ray→
label_chunks_ray). One row per priority-frame-anchored GOOD chunk: the chunk's
frames (images_rgb), the per-frame (dx, dz, dyaw_deg) actions (+ bucketized
action_tokens using the action_bins.json sidecar, n_bins=16), the
full L1–L8 instruction tree from the local-GPU VLM labeler, and camera geometry:
cam2world—(n_frames, 4, 4)per-frame extrinsics (OpenCV cam→local-world; origin = sequence frame 0, +X East, +Y Down, +Z North).camera_type/camera_parameters— Mapillary intrinsics (normalized[focal, k1, k2], focal = f / max(w, h) of the ORIGINAL capture); constant within a chunk.camera_parametersis empty (andcamera_typenull) for the rare chunk whose source metadata is missing.
priority_frame_idx (chunk-local) splits history/future for images_rgb,
actions, and cam2world. Load action_bins.json via
huggingface_hub.hf_hub_download(repo_id, "action_bins.json", repo_type="dataset").
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