Datasets:
image imagewidth (px) 1.02k 1.02k | lang_goal stringlengths 47 49 | trajectory_2d sequencelengths 1 491 | trajectory_3d sequencelengths 1 491 | camera_params stringclasses 1 value | horizon int64 1 491 |
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] | {"resolution": {"width": 1024, "height": 544}, "camera_matrix": {"data": [477.6049499511719, 0.0, 499.5, 0.0, 477.6049499511719, 252.0, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.96917189, -0.04204002, 0.24277247, 0.38786055, 0.04768227, 0.99871085, -0.01740936, 0.00734094, -0.24172764, 0.02844865, 0.96992705, 0.31545253, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -1.85, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -2.05, 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}} | 330 | |
Navigate to <point x="85.1" y="8.6">goal</point> | [[533,517],[532,480],[531,451],[531,426],[530,405],[529,387],[529,372],[529,358],[528,346],[528,334](...TRUNCATED) | [[4.753642146520992,-0.07814229801282124,0.018437967284006263],[5.067742774809581,-0.078920073979489(...TRUNCATED) | "{\"resolution\": {\"width\": 1024, \"height\": 544}, \"camera_matrix\": {\"data\": [477.60494995117(...TRUNCATED) | 329 | |
Navigate to <point x="85.2" y="8.3">goal</point> | [[532,510],[530,476],[530,446],[529,423],[528,402],[528,385],[528,370],[528,356],[527,343],[527,330](...TRUNCATED) | [[4.786884180861147,-0.07067732226285983,0.03856418360859415],[5.0946246844442875,-0.078637857515154(...TRUNCATED) | "{\"resolution\": {\"width\": 1024, \"height\": 544}, \"camera_matrix\": {\"data\": [477.60494995117(...TRUNCATED) | 330 |
End of preview. Expand
in Data Studio
TartanDrive 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: 79023
- Training examples: 63052
- Validation examples: 15971
- Total size: 14.65 GB
- Number of files: 9
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