Datasets:
image imagewidth (px) 1.28k 1.28k | lang_goal stringlengths 47 49 | trajectory_2d sequencelengths 5 246 | trajectory_3d sequencelengths 5 246 | camera_params stringclasses 1
value | horizon int64 5 246 | shorter_trajectory_2d sequencelengths 5 246 | shorter_trajectory_3d sequencelengths 5 246 | 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 1.38 1.93 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Navigate to <point x="72.2" y="49.3">goal</point> | [
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... | [
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] | Navigate to x=<loc0739>, y=<loc0504> | <loc0696><loc0674><loc0823><loc0600><loc0840><loc0548><loc0780><loc0520><loc0739><loc0504> | [
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[
"<loc0780>",
"<loc0520>"
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[
"<loc0739>",
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] | 1.926909 | |
Navigate to <point x="66.2" y="52.2">goal</point> | [
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... | [
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] | [
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] | Navigate to x=<loc0677>, y=<loc0534> | <loc0521><loc0655><loc0511><loc0578><loc0635><loc0563><loc0750><loc0548><loc0677><loc0534> | [
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[
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[
"<loc0677>",
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] | 1.926764 | |
Navigate to <point x="88.0" y="55.8">goal</point> | [
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... | [
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-0.05467626... | {"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}, "... | 225 | [
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... | [
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-0.05467626... | [
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] | [
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402
] | Navigate to x=<loc0901>, y=<loc0571> | <loc0557><loc0661><loc0576><loc0584><loc0606><loc0573><loc0729><loc0564><loc0901><loc0571> | [
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[
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[
"<loc0901>",
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]
] | 1.926738 | |
Navigate to <point x="34.8" y="50.6">goal</point> | [
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... | [
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-0.023596887059131... | {"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}, "... | 216 | [
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-0.023596887059131... | [
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] | [
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364
] | Navigate to x=<loc0356>, y=<loc0517> | <loc0213><loc0696><loc0224><loc0614><loc0248><loc0563><loc0323><loc0539><loc0356><loc0517> | [
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[
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[
"<loc0356>",
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]
] | 1.926731 | |
Navigate to <point x="61.4" y="60.3">goal</point> | [
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... | [
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[
... | [
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-0.413201994780... | [
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] | [
786,
434
] | Navigate to x=<loc0628>, y=<loc0617> | <loc0648><loc0829><loc0705><loc0790><loc0721><loc0752><loc0667><loc0664><loc0628><loc0617> | [
[
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[
"<loc0667>",
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[
"<loc0628>",
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]
] | 1.926562 | |
Navigate to <point x="62.5" y="52.9">goal</point> | [
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[
... | [
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-0.06402143... | {"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}, "... | 187 | [
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[
... | [
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[
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-0.06402143... | [
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[
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[
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] | [
800,
381
] | Navigate to x=<loc0640>, y=<loc0541> | <loc0516><loc0689><loc0576><loc0611><loc0587><loc0571><loc0609><loc0548><loc0640><loc0541> | [
[
"<loc0516>",
"<loc0689>"
],
[
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[
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],
[
"<loc0609>",
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],
[
"<loc0640>",
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]
] | 1.926513 | |
Navigate to <point x="20.8" y="47.8">goal</point> | [[183,710],[180,695],[164,675],[152,671],[133,664],[106,658],[102,643],[96,633],[86,624],[76,619],[6(...TRUNCATED) | [[2.1669620789147546,1.5903648174779657,0.1652986989797618],[2.220503364778721,1.6472199249113695,0.(...TRUNCATED) | "{\"resolution\": {\"width\": 1280, \"height\": 720}, \"camera_matrix\": {\"data\": [608.116, 0.0, 6(...TRUNCATED) | 72 | [[183,710],[180,695],[164,675],[152,671],[133,664],[106,658],[102,643],[96,633],[86,624],[76,619],[6(...TRUNCATED) | [[2.1669620789147546,1.5903648174779657,0.1652986989797618],[2.220503364778721,1.6472199249113695,0.(...TRUNCATED) | [
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[
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[
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] | [
266,
344
] | Navigate to x=<loc0212>, y=<loc0489> | <loc0028><loc0823><loc0024><loc0477><loc0096><loc0482><loc0159><loc0486><loc0212><loc0489> | [["<loc0028>","<loc0823>"],["<loc0024>","<loc0477>"],["<loc0096>","<loc0482>"],["<loc0159>","<loc048(...TRUNCATED) | 1.926382 | |
Navigate to <point x="36.0" y="55.4">goal</point> | [[727,711],[731,698],[730,686],[727,675],[723,666],[719,659],[715,651],[709,642],[708,632],[708,624](...TRUNCATED) | [[2.6088153086868147,-0.2164489457535268,-0.01901621783024865],[2.6806953014637145,-0.22020524204825(...TRUNCATED) | "{\"resolution\": {\"width\": 1280, \"height\": 720}, \"camera_matrix\": {\"data\": [608.116, 0.0, 6(...TRUNCATED) | 209 | [[727,711],[731,698],[730,686],[727,675],[723,666],[719,659],[715,651],[709,642],[708,632],[708,624](...TRUNCATED) | [[2.6088153086868147,-0.2164489457535268,-0.01901621783024865],[2.6806953014637145,-0.22020524204825(...TRUNCATED) | [
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[
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[
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[
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] | [
461,
399
] | Navigate to x=<loc0368>, y=<loc0567> | <loc0441><loc0686><loc0302><loc0640><loc0270><loc0628><loc0391><loc0597><loc0368><loc0567> | [["<loc0441>","<loc0686>"],["<loc0302>","<loc0640>"],["<loc0270>","<loc0628>"],["<loc0391>","<loc059(...TRUNCATED) | 1.926318 | |
Navigate to <point x="16.4" y="55.7">goal</point> | [[493,718],[497,698],[499,684],[502,672],[508,657],[514,642],[518,629],[523,619],[527,610],[531,600](...TRUNCATED) | [[2.517536597500424,0.42052303276619796,0.021825933315717805],[2.6056124642869207,0.4307178760901138(...TRUNCATED) | "{\"resolution\": {\"width\": 1280, \"height\": 720}, \"camera_matrix\": {\"data\": [608.116, 0.0, 6(...TRUNCATED) | 191 | [[493,718],[497,698],[499,684],[502,672],[508,657],[514,642],[518,629],[523,619],[527,610],[531,600](...TRUNCATED) | [[2.517536597500424,0.42052303276619796,0.021825933315717805],[2.6056124642869207,0.4307178760901138(...TRUNCATED) | [
[
603,
498
],
[
588,
480
],
[
374,
437
],
[
219,
411
],
[
210,
401
]
] | [
210,
401
] | Navigate to x=<loc0168>, y=<loc0570> | <loc0482><loc0708><loc0470><loc0682><loc0299><loc0621><loc0175><loc0584><loc0168><loc0570> | [["<loc0482>","<loc0708>"],["<loc0470>","<loc0682>"],["<loc0299>","<loc0621>"],["<loc0175>","<loc058(...TRUNCATED) | 1.926307 | |
Navigate to <point x="16.4" y="55.7">goal</point> | [[493,718],[497,698],[499,684],[502,672],[508,657],[514,642],[518,629],[523,619],[527,610],[531,600](...TRUNCATED) | [[2.517536597500424,0.42052303276619796,0.021825933315717805],[2.6056124642869207,0.4307178760901138(...TRUNCATED) | "{\"resolution\": {\"width\": 1280, \"height\": 720}, \"camera_matrix\": {\"data\": [608.116, 0.0, 6(...TRUNCATED) | 191 | [[493,718],[497,698],[499,684],[502,672],[508,657],[514,642],[518,629],[523,619],[527,610],[531,600](...TRUNCATED) | [[2.517536597500424,0.42052303276619796,0.021825933315717805],[2.6056124642869207,0.4307178760901138(...TRUNCATED) | [
[
603,
498
],
[
588,
480
],
[
374,
437
],
[
219,
411
],
[
210,
401
]
] | [
210,
401
] | Navigate to x=<loc0168>, y=<loc0570> | <loc0482><loc0708><loc0470><loc0682><loc0299><loc0621><loc0175><loc0584><loc0168><loc0570> | [["<loc0482>","<loc0708>"],["<loc0470>","<loc0682>"],["<loc0299>","<loc0621>"],["<loc0175>","<loc058(...TRUNCATED) | 1.926307 |
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scand_every1_25pct_sub5
Description
Processed scand dataset with filter_every_nth=1, 25% of data, and num_subsampled_points=5
Processing Parameters
mateoguaman/scand:
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/scand: 0.25
split: train
Validation dataset:
mixer: mateoguaman/scand: 0.25
split: validation
Additional Information
This dataset was created by consolidating cached processed datasets from the VLM Navigation project.
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