Datasets:

mateoguaman
/

scand_every1_50pct_sub5

lang_goal stringlengths 48 49	trajectory_2d sequencelengths 6 247	trajectory_3d sequencelengths 6 247	camera_params stringclasses 1 value	horizon int64 6 247	shorter_trajectory_2d sequencelengths 6 247	shorter_trajectory_3d sequencelengths 6 247	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 1.49 1.92
Navigate to <point x="64.7" y="52.1">goal</point>	[ [ 694, 712 ], [ 697, 694 ], [ 700, 681 ], [ 706, 670 ], [ 707, 656 ], [ 710, 641 ], [ 712, 631 ], [ 712, 623 ], [ 716, 613 ], [ 720, 605 ], [ 722, 597 ], [ 723, 589 ], [ ...	[ [ 2.6191727283361743, -0.2845534210584306, -0.03991629424267984 ], [ 2.698093484410382, -0.30467756252740585, -0.0348115862556142 ], [ 2.7752325263522657, -0.32270760685271116, -0.03580391149451145 ], [ 2.858756399145136, -0.3435278204050751, -0.0418430458...	{"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}, "...	230	[ [ 694, 712 ], [ 697, 694 ], [ 700, 681 ], [ 706, 670 ], [ 707, 656 ], [ 710, 641 ], [ 712, 631 ], [ 712, 623 ], [ 716, 613 ], [ 720, 605 ], [ 722, 597 ], [ 723, 589 ], [ ...	[ [ 2.6191727283361743, -0.2845534210584306, -0.03991629424267984 ], [ 2.698093484410382, -0.30467756252740585, -0.0348115862556142 ], [ 2.7752325263522657, -0.32270760685271116, -0.03580391149451145 ], [ 2.858756399145136, -0.3435278204050751, -0.0418430458...	[ [ 758, 461 ], [ 964, 445 ], [ 941, 409 ], [ 877, 389 ], [ 828, 375 ] ]	[ 828, 375 ]	Navigate to x=<loc0662>, y=<loc0533>	<loc0606><loc0655><loc0771><loc0632><loc0752><loc0581><loc0701><loc0553><loc0662><loc0533>	[ [ "<loc0606>", "<loc0655>" ], [ "<loc0771>", "<loc0632>" ], [ "<loc0752>", "<loc0581>" ], [ "<loc0701>", "<loc0553>" ], [ "<loc0662>", "<loc0533>" ] ]	1.917656
Navigate to <point x="65.0" y="50.8">goal</point>	[ [ 891, 709 ], [ 891, 697 ], [ 890, 682 ], [ 888, 672 ], [ 883, 662 ], [ 871, 653 ], [ 860, 646 ], [ 848, 637 ], [ 839, 630 ], [ 830, 623 ], [ 823, 617 ], [ 817, 611 ], [ ...	[ [ 2.5193410603594373, -0.6635745571721259, 0.04442675434389187 ], [ 2.580761337938739, -0.6666052242798202, 0.03976598683503685 ], [ 2.6501951140201214, -0.6671178005984615, 0.03751689979845274 ], [ 2.699402460869237, -0.66281190861611, 0.03812215784181383...	{"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}, "...	193	[ [ 891, 709 ], [ 891, 697 ], [ 890, 682 ], [ 888, 672 ], [ 883, 662 ], [ 871, 653 ], [ 860, 646 ], [ 848, 637 ], [ 839, 630 ], [ 830, 623 ], [ 823, 617 ], [ 817, 611 ], [ ...	[ [ 2.5193410603594373, -0.6635745571721259, 0.04442675434389187 ], [ 2.580761337938739, -0.6666052242798202, 0.03976598683503685 ], [ 2.6501951140201214, -0.6671178005984615, 0.03751689979845274 ], [ 2.699402460869237, -0.66281190861611, 0.03812215784181383...	[ [ 688, 513 ], [ 633, 459 ], [ 759, 414 ], [ 812, 387 ], [ 832, 366 ] ]	[ 832, 366 ]	Navigate to x=<loc0665>, y=<loc0520>	<loc0550><loc0729><loc0506><loc0652><loc0607><loc0588><loc0649><loc0550><loc0665><loc0520>	[ [ "<loc0550>", "<loc0729>" ], [ "<loc0506>", "<loc0652>" ], [ "<loc0607>", "<loc0588>" ], [ "<loc0649>", "<loc0550>" ], [ "<loc0665>", "<loc0520>" ] ]	1.917575
Navigate to <point x="34.8" y="57.9">goal</point>	[ [ 725, 711 ], [ 730, 688 ], [ 733, 671 ], [ 735, 654 ], [ 736, 641 ], [ 739, 631 ], [ 742, 617 ], [ 740, 606 ], [ 737, 596 ], [ 735, 587 ], [ 732, 580 ], [ 730, 572 ], [ ...	[ [ 2.5573637355451826, -0.24128856765448337, 0.018401530873544125 ], [ 2.6792835561210238, -0.27109084677297624, 0.015072585514738668 ], [ 2.772648541750794, -0.2936180112878386, 0.012991301823043644 ], [ 2.868668686102488, -0.3157426654719657, 0.0184520078...	{"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}, "...	217	[ [ 725, 711 ], [ 730, 688 ], [ 733, 671 ], [ 735, 654 ], [ 736, 641 ], [ 739, 631 ], [ 742, 617 ], [ 740, 606 ], [ 737, 596 ], [ 735, 587 ], [ 732, 580 ], [ 730, 572 ], [ ...	[ [ 2.5573637355451826, -0.24128856765448337, 0.018401530873544125 ], [ 2.6792835561210238, -0.27109084677297624, 0.015072585514738668 ], [ 2.772648541750794, -0.2936180112878386, 0.012991301823043644 ], [ 2.868668686102488, -0.3157426654719657, 0.0184520078...	[ [ 673, 475 ], [ 735, 433 ], [ 738, 397 ], [ 651, 389 ], [ 445, 417 ] ]	[ 445, 417 ]	Navigate to x=<loc0356>, y=<loc0593>	<loc0538><loc0675><loc0588><loc0615><loc0590><loc0564><loc0520><loc0553><loc0356><loc0593>	[ [ "<loc0538>", "<loc0675>" ], [ "<loc0588>", "<loc0615>" ], [ "<loc0590>", "<loc0564>" ], [ "<loc0520>", "<loc0553>" ], [ "<loc0356>", "<loc0593>" ] ]	1.917547
Navigate to <point x="55.5" y="47.8">goal</point>	[ [ 644, 710 ], [ 654, 695 ], [ 669, 684 ], [ 684, 675 ], [ 702, 668 ], [ 727, 659 ], [ 742, 651 ], [ 758, 641 ], [ 773, 631 ], [ 788, 623 ], [ 802, 613 ], [ 804, 601 ], [ ...	[ [ 2.381763513573162, -0.30171673594531967, 0.07844685051401612 ], [ 2.4399816548047966, -0.34614646172775565, 0.07991699556360032 ], [ 2.491330845094069, -0.3880767664196014, 0.08550559653798118 ], [ 2.5368854812608106, -0.4286648238962698, 0.0923667183925...	{"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}, "...	181	[ [ 644, 710 ], [ 654, 695 ], [ 669, 684 ], [ 684, 675 ], [ 702, 668 ], [ 727, 659 ], [ 742, 651 ], [ 758, 641 ], [ 773, 631 ], [ 788, 623 ], [ 802, 613 ], [ 804, 601 ], [ ...	[ [ 2.381763513573162, -0.30171673594531967, 0.07844685051401612 ], [ 2.4399816548047966, -0.34614646172775565, 0.07991699556360032 ], [ 2.491330845094069, -0.3880767664196014, 0.08550559653798118 ], [ 2.5368854812608106, -0.4286648238962698, 0.0923667183925...	[ [ 873, 459 ], [ 835, 400 ], [ 796, 383 ], [ 718, 361 ], [ 710, 344 ] ]	[ 710, 344 ]	Navigate to x=<loc0568>, y=<loc0489>	<loc0698><loc0652><loc0668><loc0568><loc0636><loc0544><loc0574><loc0513><loc0568><loc0489>	[ [ "<loc0698>", "<loc0652>" ], [ "<loc0668>", "<loc0568>" ], [ "<loc0636>", "<loc0544>" ], [ "<loc0574>", "<loc0513>" ], [ "<loc0568>", "<loc0489>" ] ]	1.917514
Navigate to <point x="18.6" y="56.2">goal</point>	[ [ 429, 707 ], [ 416, 698 ], [ 400, 690 ], [ 388, 685 ], [ 379, 675 ], [ 371, 666 ], [ 357, 661 ], [ 342, 658 ], [ 330, 652 ], [ 321, 644 ], [ 315, 636 ], [ 310, 629 ], [ ...	[ [ 2.5056088796676725, 1.0578793677040323, -0.06622270940674468 ], [ 2.5576152587954795, 1.120211213317944, -0.06763650275723876 ], [ 2.618868318675709, 1.1963541424749735, -0.07780483681447237 ], [ 2.6638504271096153, 1.2541738313835538, -0.085571941918615...	{"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}, "...	166	[ [ 429, 707 ], [ 416, 698 ], [ 400, 690 ], [ 388, 685 ], [ 379, 675 ], [ 371, 666 ], [ 357, 661 ], [ 342, 658 ], [ 330, 652 ], [ 321, 644 ], [ 315, 636 ], [ 310, 629 ], [ ...	[ [ 2.5056088796676725, 1.0578793677040323, -0.06622270940674468 ], [ 2.5576152587954795, 1.120211213317944, -0.06763650275723876 ], [ 2.618868318675709, 1.1963541424749735, -0.07780483681447237 ], [ 2.6638504271096153, 1.2541738313835538, -0.085571941918615...	[ [ 175, 543 ], [ 80, 485 ], [ 61, 449 ], [ 165, 417 ], [ 238, 405 ] ]	[ 238, 405 ]	Navigate to x=<loc0190>, y=<loc0576>	<loc0140><loc0772><loc0064><loc0689><loc0048><loc0638><loc0132><loc0593><loc0190><loc0576>	[ [ "<loc0140>", "<loc0772>" ], [ "<loc0064>", "<loc0689>" ], [ "<loc0048>", "<loc0638>" ], [ "<loc0132>", "<loc0593>" ], [ "<loc0190>", "<loc0576>" ] ]	1.917508
Navigate to <point x="50.3" y="51.5">goal</point>	[ [ 618, 710 ], [ 618, 691 ], [ 607, 670 ], [ 602, 658 ], [ 598, 644 ], [ 596, 633 ], [ 592, 621 ], [ 595, 609 ], [ 597, 599 ], [ 600, 591 ], [ 601, 584 ], [ 599, 578 ], [ ...	[ [ 2.525821023420697, 0.13300489577352437, 0.04209773106176229 ], [ 2.6230727544454098, 0.14418646011564817, 0.04144770638352924 ], [ 2.731442695167644, 0.16216606363933295, 0.04383249950097223 ], [ 2.796908590652258, 0.17201978899755943, 0.0480586588346696...	{"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}, "...	227	[ [ 618, 710 ], [ 618, 691 ], [ 607, 670 ], [ 602, 658 ], [ 598, 644 ], [ 596, 633 ], [ 592, 621 ], [ 595, 609 ], [ 597, 599 ], [ 600, 591 ], [ 601, 584 ], [ 599, 578 ], [ ...	[ [ 2.525821023420697, 0.13300489577352437, 0.04209773106176229 ], [ 2.6230727544454098, 0.14418646011564817, 0.04144770638352924 ], [ 2.731442695167644, 0.16216606363933295, 0.04383249950097223 ], [ 2.796908590652258, 0.17201978899755943, 0.0480586588346696...	[ [ 552, 458 ], [ 550, 414 ], [ 502, 385 ], [ 558, 374 ], [ 644, 371 ] ]	[ 644, 371 ]	Navigate to x=<loc0515>, y=<loc0527>	<loc0441><loc0651><loc0440><loc0588><loc0401><loc0547><loc0446><loc0531><loc0515><loc0527>	[ [ "<loc0441>", "<loc0651>" ], [ "<loc0440>", "<loc0588>" ], [ "<loc0401>", "<loc0547>" ], [ "<loc0446>", "<loc0531>" ], [ "<loc0515>", "<loc0527>" ] ]	1.917405
Navigate to <point x="49.4" y="58.9">goal</point>	[[651,714],[664,706],[680,696],[687,687],[695,676],[703,666],[713,658],[726,650],[748,641],[757,633](...TRUNCATED)	[[2.5622086497557732,-0.2909364343362446,-0.04293167927887831],[2.608041502365435,-0.322251013968033(...TRUNCATED)	"{\"resolution\": {\"width\": 1280, \"height\": 720}, \"camera_matrix\": {\"data\": [608.116, 0.0, 6(...TRUNCATED)	164	[[651,714],[664,706],[680,696],[687,687],[695,676],[703,666],[713,658],[726,650],[748,641],[757,633](...TRUNCATED)	[[2.5622086497557732,-0.2909364343362446,-0.04293167927887831],[2.608041502365435,-0.322251013968033(...TRUNCATED)	[ [ 759, 498 ], [ 712, 452 ], [ 659, 437 ], [ 663, 436 ], [ 632, 424 ] ]	[ 632, 424 ]	Navigate to x=<loc0505>, y=<loc0603>	<loc0607><loc0708><loc0569><loc0642><loc0527><loc0621><loc0530><loc0620><loc0505><loc0603>	[["<loc0607>","<loc0708>"],["<loc0569>","<loc0642>"],["<loc0527>","<loc0621>"],["<loc0530>","<loc062(...TRUNCATED)	1.917289
Navigate to <point x="43.1" y="56.8">goal</point>	[[509,712],[505,702],[502,690],[504,678],[504,667],[504,656],[503,645],[503,639],[499,630],[495,621](...TRUNCATED)	[[2.5594035576240515,0.5969824587039412,-0.015272165060281395],[2.6065382835823954,0.620215918697539(...TRUNCATED)	"{\"resolution\": {\"width\": 1280, \"height\": 720}, \"camera_matrix\": {\"data\": [608.116, 0.0, 6(...TRUNCATED)	199	[[509,712],[505,702],[502,690],[504,678],[504,667],[504,656],[503,645],[503,639],[499,630],[495,621](...TRUNCATED)	[[2.5594035576240515,0.5969824587039412,-0.015272165060281395],[2.6065382835823954,0.620215918697539(...TRUNCATED)	[ [ 396, 486 ], [ 381, 458 ], [ 456, 434 ], [ 525, 423 ], [ 552, 409 ] ]	[ 552, 409 ]	Navigate to x=<loc0441>, y=<loc0581>	<loc0316><loc0691><loc0304><loc0651><loc0364><loc0617><loc0420><loc0601><loc0441><loc0581>	[["<loc0316>","<loc0691>"],["<loc0304>","<loc0651>"],["<loc0364>","<loc0617>"],["<loc0420>","<loc060(...TRUNCATED)	1.917166
Navigate to <point x="50.3" y="50.8">goal</point>	[[621,702],[614,684],[608,672],[601,662],[584,652],[575,640],[573,626],[575,616],[578,606],[578,597](...TRUNCATED)	[[2.625877187283578,0.28261609943923816,-0.034892188859453555],[2.7154239437769263,0.303889082502266(...TRUNCATED)	"{\"resolution\": {\"width\": 1280, \"height\": 720}, \"camera_matrix\": {\"data\": [608.116, 0.0, 6(...TRUNCATED)	197	[[621,702],[614,684],[608,672],[601,662],[584,652],[575,640],[573,626],[575,616],[578,606],[578,597](...TRUNCATED)	[[2.625877187283578,0.28261609943923816,-0.034892188859453555],[2.7154239437769263,0.303889082502266(...TRUNCATED)	[ [ 583, 482 ], [ 515, 431 ], [ 601, 397 ], [ 615, 378 ], [ 644, 366 ] ]	[ 644, 366 ]	Navigate to x=<loc0515>, y=<loc0520>	<loc0466><loc0685><loc0412><loc0612><loc0480><loc0564><loc0492><loc0537><loc0515><loc0520>	[["<loc0466>","<loc0685>"],["<loc0412>","<loc0612>"],["<loc0480>","<loc0564>"],["<loc0492>","<loc053(...TRUNCATED)	1.917147
Navigate to <point x="63.7" y="51.4">goal</point>	[[681,710],[681,692],[682,677],[682,662],[681,648],[681,635],[683,621],[685,612],[689,602],[690,592](...TRUNCATED)	[[2.629611281510705,-0.1800953791759241,-0.030162595437762008],[2.713549353854404,-0.192334126529011(...TRUNCATED)	"{\"resolution\": {\"width\": 1280, \"height\": 720}, \"camera_matrix\": {\"data\": [608.116, 0.0, 6(...TRUNCATED)	216	[[681,710],[681,692],[682,677],[682,662],[681,648],[681,635],[683,621],[685,612],[689,602],[690,592](...TRUNCATED)	[[2.629611281510705,-0.1800953791759241,-0.030162595437762008],[2.713549353854404,-0.192334126529011(...TRUNCATED)	[ [ 718, 456 ], [ 897, 420 ], [ 933, 395 ], [ 864, 379 ], [ 816, 370 ] ]	[ 816, 370 ]	Navigate to x=<loc0652>, y=<loc0526>	<loc0574><loc0648><loc0717><loc0597><loc0746><loc0561><loc0691><loc0539><loc0652><loc0526>	[["<loc0574>","<loc0648>"],["<loc0717>","<loc0597>"],["<loc0746>","<loc0561>"],["<loc0691>","<loc053(...TRUNCATED)	1.91707

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scand_every1_50pct_sub5

Description

Processed scand dataset with filter_every_nth=1, 50% 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: 0.5

  split: train
  
Validation dataset:
  mixer: mateoguaman/scand: 0.5

  split: validation

Additional Information

This dataset was created by consolidating cached processed datasets from the VLM Navigation project.

Downloads last month: 20

Models trained or fine-tuned on mateoguaman/scand_every1_50pct_sub5