id int64 0 711 | level stringclasses 3
values | dataset stringclasses 1
value | 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 49.9 | central_point_deviation float64 5.04 599 |
|---|---|---|---|---|---|---|---|---|---|---|---|
0 | 15-20 | ScanNet | {
"scene_name": "scene0777_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... | [
[
[
-0.653784,
-0.246575,
0.71538,
5.198396
],
[
-0.753024,
0.11917,
-0.647112,
3.014966
],
[
0.07431,
-0.961769,
-0.263588,
1.481973
],
[
0,
0,
0,
1
]
],
[
[
-0.692992,
... | [
[
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": [
0.8695388261170335,
2.5237403635615676,
2.036576051847528,
-0.5300731706490858,
-0.2126121849777114,
0.5347742356362766
]
} | 15.312424 | 154.222516 | ||
1 | 15-20 | ScanNet | {
"scene_name": "scene0720_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... | [
[
[
-0.850004,
0.324045,
-0.415316,
1.737525
],
[
0.525996,
0.564969,
-0.635718,
2.691831
],
[
0.028639,
-0.758818,
-0.650673,
1.437384
],
[
0,
0,
0,
1
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],
[
[
-0.957391,
... | [
[
1165.371094,
0,
650.862061
],
[
0,
1166.109009,
488.595032
],
[
0,
0,
1
]
] | {
"text": [
"pitch down",
"yaw left",
"roll counterclockwise",
"translate right",
"translate up",
"translate forward"
],
"value": [
-0.2325136558727125,
-11.559676010194083,
-9.639876183129045,
0.2467825197134783,
-0.00931609492151575,
0.050318401252594125
]
} | 16.974416 | 178.478546 | ||
2 | 15-20 | ScanNet | {
"scene_name": "scene0761_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... | [
[
[
0.110126,
0.164349,
-0.980235,
2.76086
],
[
0.992873,
-0.063385,
0.100919,
1.054285
],
[
-0.045547,
-0.984363,
-0.170159,
1.565021
],
[
0,
0,
0,
1
]
],
[
[
-0.229807,
... | [
[
1165.484009,
0,
654.941589
],
[
0,
1164.543945,
477.277008
],
[
0,
0,
1
]
] | {
"text": [
"pitch down",
"yaw left",
"roll counterclockwise",
"translate right",
"translate down",
"translate forward"
],
"value": [
-8.467240913410267,
-19.12631378577759,
-4.561333015383718,
0.8578359428758444,
0.04011273162058426,
0.13277380258229599
]
} | 18.365576 | 284.823045 | ||
3 | 15-20 | ScanNet | {
"scene_name": "scene0780_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... | [
[
[
-0.610657,
0.020536,
-0.791628,
2.896583
],
[
0.7886,
0.106862,
-0.605549,
6.062631
],
[
0.072159,
-0.994062,
-0.081451,
1.528984
],
[
0,
0,
0,
1
]
],
[
[
-0.142475,
... | [
[
1165.484009,
0,
654.941589
],
[
0,
1164.543945,
477.277008
],
[
0,
0,
1
]
] | {
"text": [
"pitch down",
"yaw right",
"roll clockwise",
"translate left",
"translate up",
"translate backward"
],
"value": [
-0.31578882320992996,
29.13998921681101,
6.466588562614291,
-0.5965124390037193,
-0.03737335603049363,
-0.202739168870667
]
} | 15.100416 | 257.293141 | ||
4 | 15-20 | ScanNet | {
"scene_name": "scene0736_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... | [
[
[
0.118582,
-0.490716,
0.863213,
1.472594
],
[
-0.99168,
-0.102379,
0.07803,
3.543334
],
[
0.050085,
-0.865284,
-0.498773,
1.651134
],
[
0,
0,
0,
1
]
],
[
[
-0.228461,
... | [
[
1163.445068,
0,
653.626038
],
[
0,
1164.793945,
481.600037
],
[
0,
0,
1
]
] | {
"text": [
"pitch up",
"yaw right",
"roll clockwise",
"translate left",
"translate up",
"translate forward"
],
"value": [
0.3113047836957608,
14.588166416993822,
14.880419262280965,
-0.3464036717700436,
-0.06554164290924014,
0.06192898782106482
]
} | 15.251165 | 56.958053 | ||
5 | 15-20 | ScanNet | {
"scene_name": "scene0734_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... | [
[
[
0.561926,
-0.245396,
0.789949,
3.937602
],
[
-0.8269,
-0.191818,
0.528623,
1.583191
],
[
0.021804,
-0.950256,
-0.310706,
1.500637
],
[
0,
0,
0,
1
]
],
[
[
0.344536,
... | [
[
1165.723022,
0,
649.094971
],
[
0,
1165.738037,
484.765015
],
[
0,
0,
1
]
] | {
"text": [
"pitch up",
"yaw right",
"roll clockwise",
"translate left",
"translate down",
"translate backward"
],
"value": [
0.3960302423672985,
14.022424595951312,
2.1330166078381523,
-0.4903709993865239,
0.1580673270979709,
-0.6542405851494131
]
} | 17.363483 | 503.690353 | ||
6 | 15-20 | ScanNet | {
"scene_name": "scene0733_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... | [
[
[
-0.978647,
0.079359,
-0.189609,
2.307856
],
[
0.203353,
0.508211,
-0.836881,
2.67656
],
[
0.029947,
-0.857569,
-0.513497,
1.513799
],
[
0,
0,
0,
1
]
],
[
[
-0.994915,
... | [
[
1165.371094,
0,
650.862061
],
[
0,
1166.109009,
488.595032
],
[
0,
0,
1
]
] | {
"text": [
"pitch down",
"yaw left",
"roll counterclockwise",
"translate right",
"translate up",
"translate forward"
],
"value": [
-1.8541919142390326,
-5.437159733640582,
-2.815387802932627,
0.4178683422939373,
-0.078982036272196,
0.1650631826682285
]
} | 15.489374 | 120.913869 | ||
7 | 15-20 | ScanNet | {
"scene_name": "scene0795_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... | [
[
[
0.392256,
-0.398265,
0.829169,
1.308462
],
[
-0.919531,
-0.145813,
0.364968,
1.93661
],
[
-0.02445,
-0.905607,
-0.423412,
1.4516
],
[
0,
0,
0,
1
]
],
[
[
0.245726,
... | [
[
1165.484009,
0,
654.941589
],
[
0,
1164.543945,
477.277008
],
[
0,
0,
1
]
] | {
"text": [
"pitch down",
"yaw right",
"roll clockwise",
"translate left",
"translate down",
"translate backward"
],
"value": [
-0.4532305661363518,
8.54644229857336,
2.695496770345124,
-0.5217744989269781,
0.11009223970572002,
-0.23896327081994262
]
} | 16.002286 | 492.419362 | ||
8 | 15-20 | ScanNet | {
"scene_name": "scene0754_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... | [
[
[
0.863925,
0.098248,
-0.493945,
1.924708
],
[
0.501118,
-0.07004,
0.86254,
2.791641
],
[
0.050146,
-0.992694,
-0.109743,
1.489921
],
[
0,
0,
0,
1
]
],
[
[
0.979708,
... | [
[
1165.723022,
0,
649.094971
],
[
0,
1165.738037,
484.765015
],
[
0,
0,
1
]
] | {
"text": [
"pitch down",
"yaw right",
"roll clockwise",
"translate left",
"translate up",
"translate forward"
],
"value": [
-0.28090306956047384,
18.038855291599944,
6.341010257376063,
-0.3299501307310373,
-0.09147576654313494,
0.19781457894473853
]
} | 16.533395 | 87.189318 | ||
9 | 15-20 | ScanNet | {
"scene_name": "scene0753_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... | [
[
[
-0.65427,
-0.288554,
0.699048,
2.661347
],
[
-0.755437,
0.206232,
-0.62192,
2.934681
],
[
0.035291,
-0.93499,
-0.352915,
1.427871
],
[
0,
0,
0,
1
]
],
[
[
-0.908781,
... | [
[
1165.723022,
0,
649.094971
],
[
0,
1165.738037,
484.765015
],
[
0,
0,
1
]
] | {
"text": [
"pitch down",
"yaw right",
"roll clockwise",
"translate left",
"translate up",
"translate forward"
],
"value": [
-0.03171839077610357,
23.353947901265112,
7.99361359295216,
-0.31482354458687967,
-0.07706709336605044,
0.23056125104999178
]
} | 15.349827 | 167.999203 | ||
10 | 15-20 | ScanNet | {
"scene_name": "scene0763_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... | [
[
[
-0.845212,
-0.169936,
-0.506693,
1.373511
],
[
0.520027,
-0.04288,
-0.853072,
2.047248
],
[
0.123241,
-0.984522,
0.124615,
1.893714
],
[
0,
0,
0,
1
]
],
[
[
-0.624619,
... | [
[
1165.371094,
0,
650.862061
],
[
0,
1166.109009,
488.595032
],
[
0,
0,
1
]
] | {
"text": [
"pitch down",
"yaw right",
"roll counterclockwise",
"translate left",
"translate down",
"translate forward"
],
"value": [
-7.873898377320575,
19.25371113737093,
-2.045754719320441,
-0.3411987536134592,
0.1626043252249647,
0.7174915625984759
]
} | 15.601222 | 147.313457 | ||
11 | 15-20 | ScanNet | {
"scene_name": "scene0741_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... | [
[
[
0.003083,
-0.456645,
0.889644,
1.339768
],
[
-0.99996,
0.006093,
0.006593,
2.135948
],
[
-0.008431,
-0.889628,
-0.456608,
1.443262
],
[
0,
0,
0,
1
]
],
[
[
0.481506,
... | [
[
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": [
3.548217589792395,
-22.895977136355405,
-18.38614816878349,
0.6294860162981089,
-0.011944577051586025,
0.03937739502995752
]
} | 15.689701 | 200.820448 | ||
12 | 15-20 | ScanNet | {
"scene_name": "scene0747_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... | [
[
[
0.946909,
-0.091652,
0.30816,
5.03169
],
[
-0.308341,
-0.530321,
0.789737,
2.087131
],
[
0.091042,
-0.842828,
-0.530426,
1.463881
],
[
0,
0,
0,
1
]
],
[
[
0.776531,
... | [
[
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": [
-1.7053328861546142,
15.693081972670877,
14.609166053361166,
-0.5132226177031733,
-0.171202601212324,
0.25096720826967056
]
} | 15.856791 | 53.948846 | ||
13 | 15-20 | ScanNet | {
"scene_name": "scene0725_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... | [
[
[
-0.285922,
0.288589,
-0.913765,
1.183743
],
[
0.957933,
0.061442,
-0.280338,
1.285102
],
[
-0.024759,
-0.95548,
-0.294016,
1.706392
],
[
0,
0,
0,
1
]
],
[
[
0.365249,
... | [
[
1165.371094,
0,
650.862061
],
[
0,
1166.109009,
488.595032
],
[
0,
0,
1
]
] | {
"text": [
"pitch up",
"yaw right",
"roll clockwise",
"translate left",
"translate up",
"translate forward"
],
"value": [
4.2150399253018795,
35.4590251238866,
14.854862457428252,
-0.1777950476382989,
-0.08776298440920471,
0.07587955732947727
]
} | 19.691117 | 336.809742 | ||
14 | 15-20 | ScanNet | {
"scene_name": "scene0794_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... | [
[
[
-0.617309,
-0.437666,
0.653741,
1.775739
],
[
-0.786689,
0.350855,
-0.507958,
4.534101
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[
-0.007053,
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-0.560893,
1.321378
],
[
0,
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1
]
],
[
[
-0.898317,
... | [
[
1165.484009,
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654.941589
],
[
0,
1164.543945,
477.277008
],
[
0,
0,
1
]
] | {
"text": [
"pitch up",
"yaw right",
"roll clockwise",
"translate left",
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],
"value": [
6.308449960794756,
21.867897163291993,
14.15388741858674,
-0.5598895242225366,
-0.11289565201650886,
0.14209231064940542
]
} | 17.687465 | 175.845553 | ||
15 | 15-20 | ScanNet | {
"scene_name": "scene0765_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... | [
[
[
0.749137,
-0.055233,
0.660108,
1.644927
],
[
-0.659482,
0.031474,
0.75106,
2.141366
],
[
-0.062259,
-0.997977,
-0.012847,
1.73127
],
[
0,
0,
0,
1
]
],
[
[
0.982649,
... | [
[
1165.371094,
0,
650.862061
],
[
0,
1166.109009,
488.595032
],
[
0,
0,
1
]
] | {
"text": [
"pitch up",
"yaw left",
"roll clockwise",
"translate right",
"translate up",
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],
"value": [
5.762236079429669,
-32.87912827429679,
4.0461034954515664,
0.15804644295567627,
-0.07233540800062799,
0.22520899651786497
]
} | 17.647331 | 400.849765 | ||
16 | 15-20 | ScanNet | {
"scene_name": "scene0747_00",
"seq_name": null
} | {
"w/ trap": {
"gt_idx": 1,
"gt_text": "Move right while yawing left",
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17 | 15-20 | ScanNet | {
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18 | 15-20 | ScanNet | {
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19 | 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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40 | 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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45 | 15-20 | ScanNet | {
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46 | 15-20 | ScanNet | {
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