mateoguaman/paligemma2-3b-pt-224-sft-lora-magicsoup
Image-Text-to-Text • Updated • 2
Datasets:
image imagewidth (px) 1.22k 1.22k | lang_goal stringlengths 47 49 | trajectory_2d sequencelengths 3 485 | trajectory_3d sequencelengths 3 485 | camera_params stringclasses 1
value | horizon int64 3 485 | shorter_trajectory_2d sequencelengths 3 485 | shorter_trajectory_3d sequencelengths 3 485 | subsampled_trajectory_2d sequencelengths 5 5 | goal_2d sequencelengths 2 2 | text stringlengths 36 36 | label stringlengths 90 90 | label_list sequencelengths 5 5 | curvature float64 1.46 2.98 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Navigate to <point x="0.2" y="46.5">goal</point> | [
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Navigate to <point x="3.7" y="79.2">goal</point> | [
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0.031692365998... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols":... | 214 | [
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Navigate to <point x="15.5" y="96.7">goal</point> | [
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0.00516556740461... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols":... | 136 | [
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Navigate to <point x="63.6" y="40.2">goal</point> | [
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0.0462465339439... | {"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols":... | 417 | [
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0.0462465339439... | [
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] | Navigate to x=<loc0650>, y=<loc0412> | <loc0240><loc0451><loc0057><loc0461><loc0461><loc0439><loc0589><loc0420><loc0650><loc0412> | [
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[
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Navigate to <point x="51.5" y="40.3">goal</point> | [[679,980],[666,933],[658,884],[651,841],[645,807],[640,776],[635,758],[631,742],[627,727],[623,713](...TRUNCATED) | [[1.176787919213841,0.05472369024592183,0.04473454436088542],[1.2743736820112463,0.0675219541559926,(...TRUNCATED) | "{\"resolution\": {\"width\": 1224, \"height\": 1024}, \"camera_matrix\": {\"data\": [728.7329, 0.0,(...TRUNCATED) | 366 | [[679,980],[666,933],[658,884],[651,841],[645,807],[640,776],[635,758],[631,742],[627,727],[623,713](...TRUNCATED) | [[1.176787919213841,0.05472369024592183,0.04473454436088542],[1.2743736820112463,0.0675219541559926,(...TRUNCATED) | [
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[
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] | Navigate to x=<loc0493>, y=<loc0439> | <loc0403><loc0493><loc0187><loc0493><loc0195><loc0491><loc0425><loc0480><loc0493><loc0439> | [["<loc0403>","<loc0493>"],["<loc0187>","<loc0493>"],["<loc0195>","<loc0491>"],["<loc0425>","<loc048(...TRUNCATED) | 2.981688 | |
Navigate to <point x="54.5" y="40.5">goal</point> | [[703,999],[694,940],[686,888],[680,857],[674,829],[668,803],[662,782],[656,759],[651,738],[650,720](...TRUNCATED) | [[1.119087028546617,0.01901258804362982,0.06891736767672679],[1.2086683560413771,0.02290788257565168(...TRUNCATED) | "{\"resolution\": {\"width\": 1224, \"height\": 1024}, \"camera_matrix\": {\"data\": [728.7329, 0.0,(...TRUNCATED) | 368 | [[703,999],[694,940],[686,888],[680,857],[674,829],[668,803],[662,782],[656,759],[651,738],[650,720](...TRUNCATED) | [[1.119087028546617,0.01901258804362982,0.06891736767672679],[1.2086683560413771,0.02290788257565168(...TRUNCATED) | [
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] | Navigate to x=<loc0527>, y=<loc0438> | <loc0410><loc0493><loc0208><loc0495><loc0209><loc0500><loc0471><loc0476><loc0527><loc0438> | [["<loc0410>","<loc0493>"],["<loc0208>","<loc0495>"],["<loc0209>","<loc0500>"],["<loc0471>","<loc047(...TRUNCATED) | 2.980486 | |
Navigate to <point x="99.8" y="54.1">goal</point> | [[738,1012],[725,954],[714,907],[713,875],[713,847],[712,813],[711,784],[706,765],[702,748],[687,736(...TRUNCATED) | [[1.1157059841265404,-0.05133778544292511,0.053131873202926894],[1.215543264221873,-0.05037836298541(...TRUNCATED) | "{\"resolution\": {\"width\": 1224, \"height\": 1024}, \"camera_matrix\": {\"data\": [728.7329, 0.0,(...TRUNCATED) | 182 | [[738,1012],[725,954],[714,907],[713,875],[713,847],[712,813],[711,784],[706,765],[702,748],[687,736(...TRUNCATED) | [[1.1157059841265404,-0.05133778544292511,0.053131873202926894],[1.215543264221873,-0.05037836298541(...TRUNCATED) | [
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[
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] | [
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] | Navigate to x=<loc1022>, y=<loc0554> | <loc0567><loc0658><loc0598><loc0712><loc0588><loc0689><loc0616><loc0619><loc1022><loc0554> | [["<loc0567>","<loc0658>"],["<loc0598>","<loc0712>"],["<loc0588>","<loc0689>"],["<loc0616>","<loc061(...TRUNCATED) | 2.978729 | |
Navigate to <point x="44.7" y="81.1">goal</point> | [[752,1013],[734,987],[717,961],[701,938],[688,918],[675,899],[663,881],[700,918],[744,960],[796,100(...TRUNCATED) | [[1.1184474915363936,-0.09507745485421992,0.04048556265357561],[1.1647787336178084,-0.07467485872422(...TRUNCATED) | "{\"resolution\": {\"width\": 1224, \"height\": 1024}, \"camera_matrix\": {\"data\": [728.7329, 0.0,(...TRUNCATED) | 100 | [[752,1013],[734,987],[717,961],[701,938],[688,918],[675,899],[663,881],[700,918],[744,960],[796,100(...TRUNCATED) | [[1.1184474915363936,-0.09507745485421992,0.04048556265357561],[1.1647787336178084,-0.07467485872422(...TRUNCATED) | [
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[
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[
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] | [
547,
830
] | Navigate to x=<loc0457>, y=<loc0830> | <loc0539><loc0848><loc0465><loc0776><loc0458><loc0793><loc0456><loc0811><loc0457><loc0830> | [["<loc0539>","<loc0848>"],["<loc0465>","<loc0776>"],["<loc0458>","<loc0793>"],["<loc0456>","<loc081(...TRUNCATED) | 2.977497 | |
Navigate to <point x="38.2" y="52.1">goal</point> | [[557,981],[540,941],[525,906],[521,882],[517,860],[511,851],[505,842],[500,833],[496,825],[488,799](...TRUNCATED) | [[1.209244217915085,0.2855336001637854,0.006144299102873507],[1.293063718832677,0.3188345129449086,0(...TRUNCATED) | "{\"resolution\": {\"width\": 1224, \"height\": 1024}, \"camera_matrix\": {\"data\": [728.7329, 0.0,(...TRUNCATED) | 307 | [[557,981],[540,941],[525,906],[521,882],[517,860],[511,851],[505,842],[500,833],[496,825],[488,799](...TRUNCATED) | [[1.209244217915085,0.2855336001637854,0.006144299102873507],[1.293063718832677,0.3188345129449086,0(...TRUNCATED) | [
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[
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[
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[
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[
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] | [
461,
537
] | Navigate to x=<loc0385>, y=<loc0537> | <loc0518><loc0538><loc0470><loc0532><loc0352><loc0531><loc0363><loc0529><loc0385><loc0537> | [["<loc0518>","<loc0538>"],["<loc0470>","<loc0532>"],["<loc0352>","<loc0531>"],["<loc0363>","<loc052(...TRUNCATED) | 2.976987 | |
Navigate to <point x="33.7" y="92.0">goal</point> | [[949,1017],[949,995],[948,977],[947,955],[946,936],[945,921],[944,907],[943,892],[943,878],[943,864(...TRUNCATED) | [[1.1030618442919895,-0.40620234666028665,0.04379201581210168],[1.1367748782514475,-0.41989660926277(...TRUNCATED) | "{\"resolution\": {\"width\": 1224, \"height\": 1024}, \"camera_matrix\": {\"data\": [728.7329, 0.0,(...TRUNCATED) | 278 | [[949,1017],[949,995],[948,977],[947,955],[946,936],[945,921],[944,907],[943,892],[943,878],[943,864(...TRUNCATED) | [[1.1030618442919895,-0.40620234666028665,0.04379201581210168],[1.1367748782514475,-0.41989660926277(...TRUNCATED) | [
[
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[
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[
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[
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] | [
413,
942
] | Navigate to x=<loc0345>, y=<loc0942> | <loc0787><loc0746><loc0757><loc0738><loc0644><loc0680><loc0414><loc0607><loc0345><loc0942> | [["<loc0787>","<loc0746>"],["<loc0757>","<loc0738>"],["<loc0644>","<loc0680>"],["<loc0414>","<loc060(...TRUNCATED) | 2.976841 |
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coda_every1_25pct_sub5
Description
Processed coda dataset with filter_every_nth=1, 25% of data, and num_subsampled_points=5
Processing Parameters
mateoguaman/coda:
exclude_outliers_pct: 3
filter_by_curvature: true
filter_every_nth: 1
horizon:
300: 0.5
500: 0.5
num_subsampled_points: 5
Dataset Configuration
Train dataset:
mixer: mateoguaman/coda: 0.25
split: train
Validation dataset:
mixer: mateoguaman/coda: 0.25
split: validation
Additional Information
This dataset was created by consolidating cached processed datasets from the VLM Navigation project.
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