id int64 0 696 | level stringclasses 4
values | dataset stringclasses 2
values | metadata dict | images images listlengths 2 2 | qa dict | depth_images images listlengths 2 2 | poses listlengths 2 2 | intrinsic listlengths 3 3 | relative_pose_vector dict | tau float64 15 65 | central_point_deviation float64 7.84 599 |
|---|---|---|---|---|---|---|---|---|---|---|---|
0 | 15-20 | ScanNet | {
"scene_name": "scene0783_00",
"seq_name": null
} | {
"w/ trap": {
"gt_idx": 0,
"gt_text": "Move left while yawing right",
"prompt": "<input>\nYou are given two consecutive frames from a scene. The first image shows the **source viewpoint**, and the second image shows the **target viewpoint**. The camera moves and rotates simultaneously between these two f... | [
[
[
-0.149701,
-0.10831,
0.982781,
1.250811
],
[
-0.98857,
0.034351,
-0.146797,
4.994883
],
[
-0.01786,
-0.993524,
-0.112214,
1.582734
],
[
0,
0,
0,
1
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],
[
[
-0.64731,
... | [
[
1165.484009,
0,
654.941589
],
[
0,
1164.543945,
477.277008
],
[
0,
0,
1
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] | {
"text": [
"pitch up",
"yaw right",
"roll clockwise",
"translate left",
"translate up",
"translate forward"
],
"value": [
2.9669099525323346,
31.30209599581524,
5.87098453833374,
-0.860635190409007,
-0.11374909424316826,
0.250016928454156
]
} | 19.087132 | 249.153371 | ||
1 | 15-20 | ScanNet | {
"scene_name": "scene0781_00",
"seq_name": null
} | {
"w/ trap": {
"gt_idx": 0,
"gt_text": "Move left while yawing right",
"prompt": "<input>\nYou are given two consecutive frames from a scene. The first image shows the **source viewpoint**, and the second image shows the **target viewpoint**. The camera moves and rotates simultaneously between these two f... | [
[
[
0.913052,
-0.080862,
0.399745,
3.582768
],
[
-0.400858,
-0.358539,
0.843067,
1.531851
],
[
0.075152,
-0.930006,
-0.359779,
1.45831
],
[
0,
0,
0,
1
]
],
[
[
0.861063,
... | [
[
1165.484009,
0,
654.941589
],
[
0,
1164.543945,
477.277008
],
[
0,
0,
1
]
] | {
"text": [
"pitch up",
"yaw right",
"roll clockwise",
"translate left",
"translate up",
"translate forward"
],
"value": [
0.754757576080199,
5.013588628445809,
6.051856937939195,
-0.3611944915708083,
-0.09029018371983932,
0.12316428743763153
]
} | 16.131472 | 79.495625 | ||
2 | 15-20 | ScanNet | {
"scene_name": "scene0752_00",
"seq_name": null
} | {
"w/ trap": {
"gt_idx": 2,
"gt_text": "Move right while yawing left",
"prompt": "<input>\nYou are given two consecutive frames from a scene. The first image shows the **source viewpoint**, and the second image shows the **target viewpoint**. The camera moves and rotates simultaneously between these two f... | [
[
[
-0.212105,
-0.545192,
0.811034,
4.108227
],
[
-0.973087,
0.194321,
-0.12386,
4.529077
],
[
-0.090074,
-0.815478,
-0.571736,
1.332771
],
[
0,
0,
0,
1
]
],
[
[
0.356344,
... | [
[
1161.745972,
0,
658.041992
],
[
0,
1159.107056,
486.467102
],
[
0,
0,
1
]
] | {
"text": [
"pitch down",
"yaw left",
"roll counterclockwise",
"translate right",
"translate up",
"translate forward"
],
"value": [
-0.23199303258960938,
-28.101545171760936,
-18.405679596579805,
0.4825406506418881,
-0.0923436369076387,
0.04071256274268098
]
} | 16.314375 | 227.925341 | ||
3 | 15-20 | ScanNet | {
"scene_name": "scene0707_00",
"seq_name": null
} | {
"w/ trap": {
"gt_idx": 0,
"gt_text": "Move left while yawing right",
"prompt": "<input>\nYou are given two consecutive frames from a scene. The first image shows the **source viewpoint**, and the second image shows the **target viewpoint**. The camera moves and rotates simultaneously between these two f... | [
[
[
-0.747981,
-0.178819,
0.639178,
4.365101
],
[
-0.663687,
0.191773,
-0.72301,
2.318297
],
[
0.006711,
-0.965011,
-0.262123,
1.456687
],
[
0,
0,
0,
1
]
],
[
[
-0.968907,
... | [
[
1165.723022,
0,
649.094971
],
[
0,
1165.738037,
484.765015
],
[
0,
0,
1
]
] | {
"text": [
"pitch up",
"yaw right",
"roll clockwise",
"translate left",
"translate up",
"translate forward"
],
"value": [
0.051881405773344665,
53.75355626892126,
17.764559217943,
-0.4233826525093276,
-0.18948959580167868,
0.688711877069863
]
} | 16.032307 | 457.183257 | ||
4 | 15-20 | ScanNet | {
"scene_name": "scene0755_00",
"seq_name": null
} | {
"w/ trap": {
"gt_idx": 0,
"gt_text": "Move right while yawing left",
"prompt": "<input>\nYou are given two consecutive frames from a scene. The first image shows the **source viewpoint**, and the second image shows the **target viewpoint**. The camera moves and rotates simultaneously between these two f... | [
[
[
0.725083,
-0.240169,
0.645425,
2.922788
],
[
-0.688367,
-0.280171,
0.66907,
1.000111
],
[
0.02014,
-0.929421,
-0.368471,
1.412472
],
[
0,
0,
0,
1
]
],
[
[
0.888494,
... | [
[
1165.723022,
0,
649.094971
],
[
0,
1165.738037,
484.765015
],
[
0,
0,
1
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] | {
"text": [
"pitch down",
"yaw left",
"roll counterclockwise",
"translate right",
"translate up",
"translate forward"
],
"value": [
-5.998366086317302,
-14.965814888359928,
-6.337052469411348,
0.32861864892823944,
-0.02429109889438097,
0.25579770732277307
]
} | 18.678454 | 162.336178 | ||
5 | 15-20 | ScanNet | {
"scene_name": "scene0739_00",
"seq_name": null
} | {
"w/ trap": {
"gt_idx": 1,
"gt_text": "Move left while yawing right",
"prompt": "<input>\nYou are given two consecutive frames from a scene. The first image shows the **source viewpoint**, and the second image shows the **target viewpoint**. The camera moves and rotates simultaneously between these two f... | [
[
[
0.801067,
-0.298382,
0.518904,
3.274035
],
[
-0.598235,
-0.428332,
0.677235,
2.290787
],
[
0.020189,
-0.852936,
-0.521625,
1.535977
],
[
0,
0,
0,
1
]
],
[
[
0.346026,
... | [
[
1163.445068,
0,
653.626038
],
[
0,
1164.793945,
481.600037
],
[
0,
0,
1
]
] | {
"text": [
"pitch down",
"yaw right",
"roll clockwise",
"translate left",
"translate up",
"translate forward"
],
"value": [
-0.4914833521176452,
27.1548147295561,
19.548333204029234,
-0.25958334268324124,
-0.04936404254071336,
0.0747273249615601
]
} | 16.495577 | 263.546825 | ||
6 | 15-20 | ScanNet | {
"scene_name": "scene0747_00",
"seq_name": null
} | {
"w/ trap": {
"gt_idx": 1,
"gt_text": "Move left while yawing right",
"prompt": "<input>\nYou are given two consecutive frames from a scene. The first image shows the **source viewpoint**, and the second image shows the **target viewpoint**. The camera moves and rotates simultaneously between these two f... | [
[
[
0.995719,
0.092386,
0.002659,
5.623196
],
[
0.04928,
-0.555031,
0.830369,
1.928607
],
[
0.07819,
-0.826684,
-0.557208,
1.500373
],
[
0,
0,
0,
1
]
],
[
[
0.946909,
-... | [
[
1161.745972,
0,
658.041992
],
[
0,
1159.107056,
486.467102
],
[
0,
0,
1
]
] | {
"text": [
"pitch up",
"yaw right",
"roll clockwise",
"translate left",
"translate up",
"translate forward"
],
"value": [
1.7460219796368661,
17.712943501773395,
11.097644641027554,
-0.5840158728418441,
-0.11246506358746267,
0.1503942289580089
]
} | 16.871657 | 73.664421 | ||
7 | 15-20 | ScanNet | {
"scene_name": "scene0755_00",
"seq_name": null
} | {
"w/ trap": {
"gt_idx": 1,
"gt_text": "Move left while yawing right",
"prompt": "<input>\nYou are given two consecutive frames from a scene. The first image shows the **source viewpoint**, and the second image shows the **target viewpoint**. The camera moves and rotates simultaneously between these two f... | [
[
[
0.704503,
0.24281,
-0.666872,
2.551928
],
[
0.702763,
-0.369743,
0.607795,
0.494413
],
[
-0.098992,
-0.896847,
-0.431122,
1.354442
],
[
0,
0,
0,
1
]
],
[
[
0.838498,
... | [
[
1165.723022,
0,
649.094971
],
[
0,
1165.738037,
484.765015
],
[
0,
0,
1
]
] | {
"text": [
"pitch down",
"yaw right",
"roll counterclockwise",
"translate left",
"translate up",
"translate forward"
],
"value": [
-0.9472537373927564,
13.286131595590513,
-0.09802759269569908,
-0.4475657744871593,
-0.1993342778986078,
0.47055538868015434
]
} | 19.012706 | 208.394951 | ||
8 | 15-20 | ScanNet | {
"scene_name": "scene0786_00",
"seq_name": null
} | {
"w/ trap": {
"gt_idx": 0,
"gt_text": "Move right while yawing left",
"prompt": "<input>\nYou are given two consecutive frames from a scene. The first image shows the **source viewpoint**, and the second image shows the **target viewpoint**. The camera moves and rotates simultaneously between these two f... | [
[
[
-0.025304,
0.65182,
-0.757951,
1.901265
],
[
0.997691,
-0.031335,
-0.060255,
6.063877
],
[
-0.063026,
-0.757726,
-0.649522,
1.261721
],
[
0,
0,
0,
1
]
],
[
[
-0.302169,
... | [
[
1165.484009,
0,
654.941589
],
[
0,
1164.543945,
477.277008
],
[
0,
0,
1
]
] | {
"text": [
"pitch up",
"yaw left",
"roll counterclockwise",
"translate right",
"translate up",
"translate forward"
],
"value": [
0.214035679318508,
-11.509097153470087,
-11.435733307346315,
0.4036330980737297,
-0.07488280481688814,
0.0040587824946443085
]
} | 15.216435 | 130.691847 | ||
9 | 15-20 | ScanNet | {
"scene_name": "scene0800_00",
"seq_name": null
} | {
"w/ trap": {
"gt_idx": 2,
"gt_text": "Move left while yawing right",
"prompt": "<input>\nYou are given two consecutive frames from a scene. The first image shows the **source viewpoint**, and the second image shows the **target viewpoint**. The camera moves and rotates simultaneously between these two f... | [
[
[
0.994423,
-0.087681,
0.058608,
3.220167
],
[
-0.09401,
-0.485077,
0.869404,
2.847996
],
[
-0.047801,
-0.870064,
-0.490615,
1.488093
],
[
0,
0,
0,
1
]
],
[
[
0.869392,
... | [
[
1165.484009,
0,
654.941589
],
[
0,
1164.543945,
477.277008
],
[
0,
0,
1
]
] | {
"text": [
"pitch up",
"yaw right",
"roll clockwise",
"translate left",
"translate up",
"translate forward"
],
"value": [
9.215252740416203,
21.815301869050124,
10.897525874932628,
-0.5525546558254995,
-0.19569171752065406,
0.42357038332705854
]
} | 16.478285 | 293.909453 | ||
10 | 15-20 | ScanNet | {
"scene_name": "scene0713_00",
"seq_name": null
} | {
"w/ trap": {
"gt_idx": 1,
"gt_text": "Move left while yawing right",
"prompt": "<input>\nYou are given two consecutive frames from a scene. The first image shows the **source viewpoint**, and the second image shows the **target viewpoint**. The camera moves and rotates simultaneously between these two f... | [
[
[
0.071813,
-0.442656,
0.893811,
1.157536
],
[
-0.996823,
-0.000892,
0.079648,
1.513875
],
[
-0.03446,
-0.896691,
-0.441314,
1.216128
],
[
0,
0,
0,
1
]
],
[
[
-0.150513,
... | [
[
1161.745972,
0,
658.041992
],
[
0,
1159.107056,
486.467102
],
[
0,
0,
1
]
] | {
"text": [
"pitch down",
"yaw right",
"roll clockwise",
"translate left",
"translate up",
"translate forward"
],
"value": [
-4.940496973265663,
10.60769065507183,
7.391852932153208,
-0.3970905369312874,
-0.05035471015034143,
0.08993450310226325
]
} | 16.326699 | 139.776455 | ||
11 | 15-20 | ScanNet | {
"scene_name": "scene0744_00",
"seq_name": null
} | {
"w/ trap": {
"gt_idx": 2,
"gt_text": "Move right while yawing left",
"prompt": "<input>\nYou are given two consecutive frames from a scene. The first image shows the **source viewpoint**, and the second image shows the **target viewpoint**. The camera moves and rotates simultaneously between these two f... | [
[
[
-0.936332,
0.178471,
-0.302375,
3.893257
],
[
0.350799,
0.512121,
-0.784011,
2.000476
],
[
0.014929,
-0.840167,
-0.542122,
1.407907
],
[
0,
0,
0,
1
]
],
[
[
-0.999699,
... | [
[
1165.723022,
0,
649.094971
],
[
0,
1165.738037,
484.765015
],
[
0,
0,
1
]
] | {
"text": [
"pitch up",
"yaw left",
"roll counterclockwise",
"translate right",
"translate up",
"translate forward"
],
"value": [
1.3522722861439949,
-18.509663648791594,
-11.918822507249388,
0.5159761363207402,
-0.21008618828770143,
0.33805949637580746
]
} | 17.870609 | 244.388555 | ||
12 | 15-20 | ScanNet | {
"scene_name": "scene0712_00",
"seq_name": null
} | {
"w/ trap": {
"gt_idx": 0,
"gt_text": "Move left while yawing right",
"prompt": "<input>\nYou are given two consecutive frames from a scene. The first image shows the **source viewpoint**, and the second image shows the **target viewpoint**. The camera moves and rotates simultaneously between these two f... | [
[
[
0.302168,
-0.560908,
0.770764,
3.302852
],
[
-0.944966,
-0.069861,
0.319622,
2.634305
],
[
-0.125433,
-0.824925,
-0.551149,
1.580978
],
[
0,
0,
0,
1
]
],
[
[
-0.364829,
... | [
[
1162.242065,
0,
648.346008
],
[
0,
1160.078003,
475.537018
],
[
0,
0,
1
]
] | {
"text": [
"pitch down",
"yaw right",
"roll clockwise",
"translate left",
"translate up",
"translate forward"
],
"value": [
-6.7075088890183645,
33.963203024246944,
21.162495555997182,
-0.2710614648162828,
-0.06814543341143864,
0.5099599643167858
]
} | 18.944749 | 143.869316 | ||
13 | 15-20 | ScanNet | {
"scene_name": "scene0766_00",
"seq_name": null
} | {
"w/ trap": {
"gt_idx": 1,
"gt_text": "Move right while yawing left",
"prompt": "<input>\nYou are given two consecutive frames from a scene. The first image shows the **source viewpoint**, and the second image shows the **target viewpoint**. The camera moves and rotates simultaneously between these two f... | [
[
[
0.307845,
0.576425,
-0.756946,
4.64559
],
[
0.951285,
-0.200707,
0.23404,
1.902332
],
[
-0.017018,
-0.792118,
-0.61013,
1.47093
],
[
0,
0,
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1
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],
[
[
-0.086943,
... | [
[
1165.371094,
0,
650.862061
],
[
0,
1166.109009,
488.595032
],
[
0,
0,
1
]
] | {
"text": [
"pitch down",
"yaw left",
"roll counterclockwise",
"translate right",
"translate down",
"translate forward"
],
"value": [
-1.3140810710538264,
-14.571605183096857,
-18.686484735882082,
0.2819464195989809,
0.04381344412001642,
0.008320223725772014
]
} | 16.359445 | 325.462954 | ||
14 | 15-20 | ScanNet | {
"scene_name": "scene0738_00",
"seq_name": null
} | {
"w/ trap": {
"gt_idx": 1,
"gt_text": "Move right while yawing left",
"prompt": "<input>\nYou are given two consecutive frames from a scene. The first image shows the **source viewpoint**, and the second image shows the **target viewpoint**. The camera moves and rotates simultaneously between these two f... | [
[
[
0.918658,
-0.236274,
0.316611,
6.229684
],
[
-0.394898,
-0.526654,
0.752789,
1.706843
],
[
-0.01112,
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-0.577119,
1.497681
],
[
0,
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]
],
[
[
0.964565,
... | [
[
1165.723022,
0,
649.094971
],
[
0,
1165.738037,
484.765015
],
[
0,
0,
1
]
] | {
"text": [
"pitch down",
"yaw left",
"roll counterclockwise",
"translate right",
"translate up",
"translate forward"
],
"value": [
-1.2245527270620413,
-4.924444979036313,
-7.119882016637222,
0.27764095223587226,
-0.1176404476349373,
0.1574093729415682
]
} | 15.666779 | 115.94332 | ||
15 | 15-20 | ScanNet | {
"scene_name": "scene0748_00",
"seq_name": null
} | {
"w/ trap": {
"gt_idx": 2,
"gt_text": "Move left while yawing right",
"prompt": "<input>\nYou are given two consecutive frames from a scene. The first image shows the **source viewpoint**, and the second image shows the **target viewpoint**. The camera moves and rotates simultaneously between these two f... | [
[
[
-0.897789,
-0.21515,
0.384298,
3.080272
],
[
-0.439991,
0.399374,
-0.804306,
1.947374
],
[
0.019568,
-0.891185,
-0.453218,
1.382511
],
[
0,
0,
0,
1
]
],
[
[
-0.964028,
... | [
[
1161.745972,
0,
658.041992
],
[
0,
1159.107056,
486.467102
],
[
0,
0,
1
]
] | {
"text": [
"pitch up",
"yaw right",
"roll clockwise",
"translate left",
"translate down",
"translate backward"
],
"value": [
5.2883906952904765,
10.778599537060396,
3.1246140188649756,
-0.48925001658867195,
0.03343210994164347,
-0.18361106404191996
]
} | 19.572554 | 206.761646 | ||
16 | 15-20 | ScanNet | {
"scene_name": "scene0770_00",
"seq_name": null
} | {
"w/ trap": {
"gt_idx": 2,
"gt_text": "Move right while yawing left",
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18 | 15-20 | ScanNet | {
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20 | 15-20 | ScanNet | {
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21 | 15-20 | ScanNet | {
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22 | 15-20 | ScanNet | {
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23 | 15-20 | ScanNet | {
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24 | 15-20 | ScanNet | {
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25 | 15-20 | ScanNet | {
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26 | 15-20 | ScanNet | {
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27 | 15-20 | ScanNet | {
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28 | 15-20 | ScanNet | {
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29 | 15-20 | ScanNet | {
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30 | 15-20 | ScanNet | {
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31 | 15-20 | ScanNet | {
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32 | 15-20 | ScanNet | {
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41 | 15-20 | ScanNet | {
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42 | 15-20 | ScanNet | {
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44 | 15-20 | ScanNet | {
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46 | 15-20 | ScanNet | {
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