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] | {"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}} | 158 |
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in Data Studio
SCAND Navigation Dataset
This dataset contains navigation trajectory data for robotic navigation tasks. Each example includes an RGB image, a language goal describing the desired navigation target, and 2D/3D trajectories showing the path to the goal.
Dataset Structure
- image: RGB image from the robot's viewpoint
- lang_goal: Natural language instruction describing the navigation goal
- trajectory_2d: 2D trajectory coordinates (pixel space)
- trajectory_3d: 3D trajectory coordinates (world space)
- camera_params: Camera parameters including intrinsics and extrinsics
- horizon: Number of steps in the trajectory
Dataset Statistics
- Total examples: 702252
- Training examples: 562990
- Validation examples: 139262
- Total size: 150.52 GB
- Number of files: 71
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