mateoguaman/vamos_navigation_only_lora
Robotics • Updated
• 1
image imagewidth (px) 1.02k 1.02k | lang_goal stringlengths 47 49 | trajectory_2d listlengths 1 491 | trajectory_3d listlengths 1 491 | camera_params stringclasses 1 value | horizon int64 1 491 | shorter_trajectory_2d listlengths 1 300 | shorter_trajectory_3d listlengths 1 300 | subsampled_trajectory_2d listlengths 5 5 | goal_2d listlengths 2 2 | text stringlengths 36 36 | label stringlengths 90 90 | label_list listlengths 5 5 | curvature float64 1 128 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Navigate to <point x="56.5" y="22.2">goal</point> | [
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... | [
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-0.02466942702571550... | {"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}} | 390 | [
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... | [
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] | Navigate to x=<loc0263>, y=<loc0408> | <loc0289><loc0719><loc0320><loc0534><loc0318><loc0466><loc0298><loc0432><loc0263><loc0408> | [
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[
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] | 1.180923 | |
Navigate to <point x="93.9" y="21.3">goal</point> | [
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... | [
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-0.247624207275084... | {"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}} | 443 | [
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... | [
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] | [
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] | Navigate to x=<loc0856>, y=<loc0175> | <loc0571><loc0340><loc0685><loc0237><loc0852><loc0169><loc0978><loc0141><loc0856><loc0175> | [
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[
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[
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] | 1.765137 | |
Navigate to <point x="39.9" y="24.1">goal</point> | [
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... | [
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0.143825332433959... | {"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}} | 183 | [
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... | [
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0.143825332433959... | [
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] | [
409,
131
] | Navigate to x=<loc0409>, y=<loc0246> | <loc0538><loc0359><loc0508><loc0291><loc0467><loc0272><loc0433><loc0265><loc0409><loc0246> | [
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[
"<loc0433>",
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[
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] | 1.246355 | |
Navigate to <point x="16.1" y="32.5">goal</point> | [
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[
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[
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[
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... | [
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-0.0430019031... | {"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}} | 286 | [
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... | [
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] | [
165,
177
] | Navigate to x=<loc0165>, y=<loc0333> | <loc0559><loc0291><loc0493><loc0301><loc0344><loc0321><loc0216><loc0333><loc0165><loc0333> | [
[
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[
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[
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[
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[
"<loc0165>",
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] | 1.615868 | |
Navigate to <point x="7.4" y="36.2">goal</point> | [[470,509],[472,476],[473,451],[473,429],[473,412],[474,396],[474,382],[474,370],[475,358],[475,347](...TRUNCATED) | [[5.064965953983872,0.5612637771574214,-0.221978816521343],[5.3992212336858785,0.5775377127182537,-0(...TRUNCATED) | "{\"resolution\": {\"width\": 1024, \"height\": 544}, \"camera_matrix\": {\"data\": [477.60494995117(...TRUNCATED) | 326 | [[470,509],[472,476],[473,451],[473,429],[473,412],[474,396],[474,382],[474,370],[475,358],[475,347](...TRUNCATED) | [[5.064965953983872,0.5612637771574214,-0.221978816521343],[5.3992212336858785,0.5775377127182537,-0(...TRUNCATED) | [
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[
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[
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[
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] | [
4,
197
] | Navigate to x=<loc0004>, y=<loc0370> | <loc0436><loc0387><loc0284><loc0346><loc0306><loc0323><loc0171><loc0338><loc0004><loc0370> | [["<loc0436>","<loc0387>"],["<loc0284>","<loc0346>"],["<loc0306>","<loc0323>"],["<loc0171>","<loc033(...TRUNCATED) | 1.567721 | |
Navigate to <point x="39.8" y="25.2">goal</point> | [[554,514],[557,472],[558,438],[560,409],[563,385],[564,365],[565,350],[566,335],[566,321],[567,307](...TRUNCATED) | [[4.736656305157055,-0.33802026398744545,0.04893353283486768],[5.094525313792786,-0.3858125886479087(...TRUNCATED) | "{\"resolution\": {\"width\": 1024, \"height\": 544}, \"camera_matrix\": {\"data\": [477.60494995117(...TRUNCATED) | 195 | [[554,514],[557,472],[558,438],[560,409],[563,385],[564,365],[565,350],[566,335],[566,321],[567,307](...TRUNCATED) | [[4.736656305157055,-0.33802026398744545,0.04893353283486768],[5.094525313792786,-0.3858125886479087(...TRUNCATED) | [
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[
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[
446,
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],
[
408,
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]
] | [
408,
137
] | Navigate to x=<loc0408>, y=<loc0257> | <loc0568><loc0320><loc0523><loc0272><loc0485><loc0261><loc0446><loc0257><loc0408><loc0257> | [["<loc0568>","<loc0320>"],["<loc0523>","<loc0272>"],["<loc0485>","<loc0261>"],["<loc0446>","<loc025(...TRUNCATED) | 1.298847 | |
Navigate to <point x="27.7" y="44.1">goal</point> | [[547,515],[548,478],[549,447],[550,421],[549,399],[550,381],[549,365],[550,352],[550,339],[551,327](...TRUNCATED) | [[5.127684831893056,-0.16289903947558315,-0.31482001726372744],[5.526500543630117,-0.189108325658914(...TRUNCATED) | "{\"resolution\": {\"width\": 1024, \"height\": 544}, \"camera_matrix\": {\"data\": [477.60494995117(...TRUNCATED) | 251 | [[547,515],[548,478],[549,447],[550,421],[549,399],[550,381],[549,365],[550,352],[550,339],[551,327](...TRUNCATED) | [[5.127684831893056,-0.16289903947558315,-0.31482001726372744],[5.526500543630117,-0.189108325658914(...TRUNCATED) | [
[
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[
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[
373,
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],
[
224,
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],
[
20,
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]
] | [
20,
311
] | Navigate to x=<loc0020>, y=<loc0585> | <loc0539><loc0502><loc0460><loc0449><loc0373><loc0451><loc0224><loc0500><loc0020><loc0585> | [["<loc0539>","<loc0502>"],["<loc0460>","<loc0449>"],["<loc0373>","<loc0451>"],["<loc0224>","<loc050(...TRUNCATED) | 1.391943 | |
Navigate to <point x="52.8" y="26.1">goal</point> | [[509,538],[510,516],[511,496],[511,475],[511,456],[511,441],[511,429],[510,416],[510,404],[509,395](...TRUNCATED) | [[4.70764942905015,0.2595725171087224,-0.10621764864683314],[4.896884247969808,0.26858011190176967,-(...TRUNCATED) | "{\"resolution\": {\"width\": 1024, \"height\": 544}, \"camera_matrix\": {\"data\": [477.60494995117(...TRUNCATED) | 177 | [[509,538],[510,516],[511,496],[511,475],[511,456],[511,441],[511,429],[510,416],[510,404],[509,395](...TRUNCATED) | [[4.70764942905015,0.2595725171087224,-0.10621764864683314],[4.896884247969808,0.26858011190176967,-(...TRUNCATED) | [
[
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[
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],
[
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],
[
509,
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],
[
541,
142
]
] | [
541,
142
] | Navigate to x=<loc0541>, y=<loc0267> | <loc0506><loc0472><loc0502><loc0361><loc0495><loc0301><loc0509><loc0271><loc0541><loc0267> | [["<loc0506>","<loc0472>"],["<loc0502>","<loc0361>"],["<loc0495>","<loc0301>"],["<loc0509>","<loc027(...TRUNCATED) | 1.160277 | |
Navigate to <point x="62.8" y="27.2">goal</point> | [[433,532],[421,491],[413,460],[403,437],[395,420],[384,405],[375,393],[367,381],[359,370],[350,362](...TRUNCATED) | [[4.7993942436016255,1.24465293866092,-0.2501083071718657],[5.149326912564902,1.45876824897843,-0.25(...TRUNCATED) | "{\"resolution\": {\"width\": 1024, \"height\": 544}, \"camera_matrix\": {\"data\": [477.60494995117(...TRUNCATED) | 370 | [[433,532],[421,491],[413,460],[403,437],[395,420],[384,405],[375,393],[367,381],[359,370],[350,362](...TRUNCATED) | [[4.7993942436016255,1.24465293866092,-0.2501083071718657],[5.149326912564902,1.45876824897843,-0.25(...TRUNCATED) | [
[
300,
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[
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[
330,
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],
[
439,
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],
[
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193
]
] | [
514,
193
] | Navigate to x=<loc0514>, y=<loc0363> | <loc0300><loc0570><loc0271><loc0478><loc0330><loc0427><loc0439><loc0387><loc0514><loc0363> | [["<loc0300>","<loc0570>"],["<loc0271>","<loc0478>"],["<loc0330>","<loc0427>"],["<loc0439>","<loc038(...TRUNCATED) | 1.679408 | |
Navigate to <point x="96.8" y="14.3">goal</point> | [[128,534],[132,506],[135,482],[139,460],[143,441],[148,421],[153,404],[158,389],[164,377],[170,365](...TRUNCATED) | [[4.566100959570193,3.7414656562484723,-0.28013505848621634],[4.851459050677818,3.9273211658830007,-(...TRUNCATED) | "{\"resolution\": {\"width\": 1024, \"height\": 544}, \"camera_matrix\": {\"data\": [477.60494995117(...TRUNCATED) | 336 | [[128,534],[132,506],[135,482],[139,460],[143,441],[148,421],[153,404],[158,389],[164,377],[170,365](...TRUNCATED) | [[4.566100959570193,3.7414656562484723,-0.28013505848621634],[4.851459050677818,3.9273211658830007,-(...TRUNCATED) | [
[
233,
284
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[
284,
209
],
[
300,
181
],
[
342,
165
],
[
412,
152
]
] | [
412,
152
] | Navigate to x=<loc0412>, y=<loc0286> | <loc0233><loc0534><loc0284><loc0393><loc0300><loc0340><loc0342><loc0310><loc0412><loc0286> | [["<loc0233>","<loc0534>"],["<loc0284>","<loc0393>"],["<loc0300>","<loc0340>"],["<loc0342>","<loc031(...TRUNCATED) | 1.095984 |
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vamos_navigation_only_dataset
Description
VAMOS navigation-only (without natural language preference annotations nor co-training VQA data) dataset with 100% of TartanDrive 2 data, 50% of SCAND data, 25% of CODa data, and 100% of in-domain spot data. Whenever daatsets aren't 100%, they are ranked by curvature and output of length 5.
License
This dataset is released under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License (CC BY-NC-SA 4.0).
It combines data from the following sources:
| Source | License | URL |
|---|---|---|
| SCAND | CC0 1.0 Universal | https://dataverse.tdl.org/dataset.xhtml?persistentId=doi:10.18738/T8/0PRYRH |
| TartanDrive | MIT License | https://github.com/castacks/tartan_drive_2.0 |
| CODa | CC BY-NC-SA 4.0 | https://amrl.cs.utexas.edu/coda/ |
| Spot | CC-BY 4.0 (Collected by the authors of this work) | -- |
Because this dataset incorporates CODa, redistribution is limited to non-commercial use and any derivatives must be shared under the same license (CC BY-NC-SA 4.0).
Please provide proper attribution to all original sources when using this dataset.
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Size of downloaded dataset files:
120 GB
Size of the auto-converted Parquet files:
120 GB
Number of rows:
499,204