id int64 0 1.84k | episode_id stringlengths 1 4 | scene_id stringclasses 64
values | instruction stringlengths 20 644 | start_position listlengths 3 3 | start_rotation listlengths 4 4 | goal_position listlengths 3 3 | goal_radius float64 3 3 | reference_path stringlengths 238 455 | geodesic_distance float64 3.85 21 | gt_locations stringlengths 1.09k 5.53k | gt_actions stringlengths 72 408 |
|---|---|---|---|---|---|---|---|---|---|---|---|
0 | 1 | s8pcmisQ38h | Walk down the stairs, turn right, and walk towards place with a rug. Wait near the bench and piano along the right side of the wall. | [
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1 | 2 | s8pcmisQ38h | Go down the stairs, and take a right . walk forward towards the leather chairs next to the table. Once you reach the bench on your right stop and stand on the wood between the bench and the carpet. | [
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2 | 3 | s8pcmisQ38h | Go down the stairs. Turn right. Go past the glass display case and wait in front of the bench on the right. | [
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3 | 4 | E9uDoFAP3SH | TURN LEFT YOU FACE A CHANDELIER ABOVE A GREEN TABLE WITH A DOOR WAY TO THE LEFT AND AN OPEN DOOR ON THE FAR WALL, WALK TOWARDS THE OPEN DOOR ON THE FAR WALL, WALK THOUGH THE DOOR AND DOWN THE HALLWAY INTO A ROOM WITH A BLUE PATTERNED CARPET AND A TABLE IN THE MIDDLE OF THE ROOM. | [
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4 | 5 | E9uDoFAP3SH | Walk through the office passed the table and armchairs. Walk through the door on the other side of the table swith the arched window above. Walk down the hall and into the room at the end of the hallway. Walk towards the circular tables in the middle of the large room. | [
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5 | 6 | E9uDoFAP3SH | Exit the room through the only door with an arched, round design above it. Continue straight through the small hall and enter the next room. Stop once you reach the blue mat. | [
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6 | 7 | r1Q1Z4BcV1o | Turn around and then proceed to your left. Enter large room that looks like a lobby. Head left towards stairway. Then take another left into large dining hall. | [
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7 | 8 | r1Q1Z4BcV1o | Walk past the water fountain and turn left. Walk to the doorway directly across from the stairs. Stop in the doorway. | [
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8 | 9 | r1Q1Z4BcV1o | Go towards the water fountain and turn left. Walk into the big room and go to the left again and into a banquet hall. Stand near the door and wait. | [
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9 | 10 | 759xd9YjKW5 | Walk passed the foot of the bed and around to the open door. Walk out of the bedroom and into the hallway. Walk down the hall and into the bedroom with the blue floral blanket. | [
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10 | 11 | 759xd9YjKW5 | Walk around the bed and exit the room going straight to the end of the hallway. Turn left and enter the bedroom. Wait in the doorway. | [
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11 | 12 | 759xd9YjKW5 | move forward in front of the television. turn left and exit the room. go down hallway and step into the bedroom on the left. | [
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12 | 13 | sT4fr6TAbpF | Walk through the open doors and into the bedroom. Walk through the door on the other side of the bedroom passed the bed and lamp. Walk through the hallway and turn the corner. Walk to the entrance of the home and stop in the doorway. | [
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] | 3 | [[-0.9836609959602356, 0.05631500482559204, 3.532670021057129], [0.04104569926857948, 0.05631500482559204, 0.1321440041065216], [0.055189099162817, 0.05631500482559204, -1.7353099584579468], [0.35368698835372925, 0.05631500482559204, -2.9571900367736816], [1.5798749923706055, 0.05631500482559204, -5.153940200805664], [... | 10.973567 | [[-0.9836609959602356, 0.05631500482559204, 3.532670021057129], [-0.8586609959602356, 0.05631500482559204, 3.3161637783050537], [-0.7336609959602356, 0.05631500482559204, 3.0996575355529785], [-0.6086609959602356, 0.05631500482559204, 2.8831512928009033], [-0.4836609959602356, 0.05631500482559204, 2.666645050048828], [... | [3, 3, 1, 1, 1, 1, 1, 3, 1, 2, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 3, 1, 1, 3, 1, 1, 1, 3, 3, 3, 3, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 0] |
13 | 14 | sT4fr6TAbpF | Walk through the bedroom. Take a right turn and stop at the glass doors before the outside exit. | [
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0,
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] | [
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14 | 15 | sT4fr6TAbpF | Exit the bathroom. Walk straight through the bedroom toward the doorway. Exit the bedroom. Turn right into the first door on your right, then turn right again and stop. | [
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] | [
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15 | 16 | JeFG25nYj2p | Walk over the star tile into the bedroom and walk towards the bed. Walk around the bed, and stop next to the left set of windows. | [
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16 | 17 | JeFG25nYj2p | Walk int past the sink area. Walk of the door and past the statue of a hand. Walk down the hall and past the statue of a bird. Walk into the bedroom area with the wooden cabinet. | [
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17 | 18 | JeFG25nYj2p | Go through the doorway to the room with the sink and follow the hallway until you get to a bedroom. Wait at the bedroom door. | [
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18 | 19 | kEZ7cmS4wCh | Move forward past the white coach and then turn left. Continue up the stairs and stop. | [
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0,
0,
0,
1
] | [
-2.181410074234009,
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19 | 20 | kEZ7cmS4wCh | Walk straight into the living room passing the chair and the couch and taking a left behind the couch and past the dining room table and up the stairs into the entry way stopping on the third tile from the left at the top step. | [
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0,
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] | [
-2.181410074234009,
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20 | 21 | kEZ7cmS4wCh | Walk between the couch and the window. Turn left and walk towards the stairway. Go up the three steps and when you get to the top, wait. | [
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0,
0,
0,
1
] | [
-2.181410074234009,
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21 | 22 | PX4nDJXEHrG | Go out the door. turn left and go out that door. Turn right and go toward the table. Proceed to the stairs on the right. | [
-6.216169834136963,
0.11554622650146484,
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0,
0,
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] | [
-10.769399642944336,
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22 | 23 | PX4nDJXEHrG | Go toward the door. Turn left by the black vanity. You will see an indoor glass window. Go toward the glass window and through the doorway. When your in the hallway by the window take a right. Go toward the table with the pictures on it. Then go toward the wall with the security box or thermostat. Next and finally you... | [
-6.216169834136963,
0.11554622650146484,
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0,
0,
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] | [
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23 | 24 | PX4nDJXEHrG | Walk out of the bathroom and take a right. Then take a left. Take another right and wait at the top of the stairs. | [
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24 | 25 | 7y3sRwLe3Va | Turn around and walk towards the table with the plant on it. Turn to the right and walk into the living room and stand just behind the couch and wait. | [
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25 | 26 | 7y3sRwLe3Va | Walk alongside the staircase through the hall towards the backdoor of the home. Turn the corner into the living room area with couches. | [
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0.1518409252166748,
5.0736799240112305
] | 3 | [[-8.096890449523926, 0.1518409252166748, 10.167400360107422], [-8.114720344543457, 0.1518409252166748, 8.467169761657715], [-8.174960136413574, 0.1518409252166748, 5.947000026702881], [-5.986519813537598, 0.1518409252166748, 3.58024001121521], [-4.911049842834473, 0.1518409252166748, 5.0736799240112305]] | 6.961964 | [[-8.096890449523926, 0.1518409252166748, 10.167400360107422], [-8.096890449523926, 0.1518409252166748, 9.917400360107422], [-8.096890449523926, 0.1518409252166748, 9.667400360107422], [-8.096890449523926, 0.1518409252166748, 9.417400360107422], [-8.096890449523926, 0.1518409252166748, 9.167400360107422], [-8.096890449... | [2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 2, 1, 0] |
26 | 27 | 7y3sRwLe3Va | Walk forward past the console table on the right into the open area. In the open area take a right into the living room. In the living room take a right, and stop behind the couch near the right corner. | [
-8.096890449523926,
0.1518409252166748,
10.167400360107422
] | [
0,
0.8660254037844385,
0,
-0.5000000000000002
] | [
-4.911049842834473,
0.1518409252166748,
5.0736799240112305
] | 3 | [[-8.096890449523926, 0.1518409252166748, 10.167400360107422], [-8.114720344543457, 0.1518409252166748, 8.467169761657715], [-8.174960136413574, 0.1518409252166748, 5.947000026702881], [-5.986519813537598, 0.1518409252166748, 3.58024001121521], [-4.911049842834473, 0.1518409252166748, 5.0736799240112305]] | 6.961964 | [[-8.096890449523926, 0.1518409252166748, 10.167400360107422], [-8.096890449523926, 0.1518409252166748, 9.917400360107422], [-8.096890449523926, 0.1518409252166748, 9.667400360107422], [-8.096890449523926, 0.1518409252166748, 9.417400360107422], [-8.096890449523926, 0.1518409252166748, 9.167400360107422], [-8.096890449... | [2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 2, 1, 0] |
27 | 28 | E9uDoFAP3SH | pass bottom of stairs, go to center door on right. | [
2.0657598972320557,
-5.955618858337402,
8.96576976776123
] | [
0,
0.9659258262890683,
0,
-0.25881904510252063
] | [
-3.119610071182251,
-5.955618858337402,
2.073770046234131
] | 3 | [[2.0657598972320557, -5.955618858337402, 8.96576976776123], [2.1868600845336914, -5.955618858337402, 6.766119956970215], [2.298409938812256, -5.955618858337402, 4.447020053863525], [-0.4567739963531494, -5.955618858337402, 3.4851698875427246], [-3.119610071182251, -5.955618858337402, 2.073770046234131]] | 9.840866 | [[2.0657598972320557, -5.955618858337402, 8.96576976776123], [2.0657598972320557, -5.955618858337402, 8.71576976776123], [2.0657598972320557, -5.955618858337402, 8.46576976776123], [2.0657598972320557, -5.955618858337402, 8.21576976776123], [2.0657598972320557, -5.955618858337402, 7.9657697677612305], [2.06575989723205... | [2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 2, 2, 2, 1, 1, 2, 1, 3, 1, 2, 1, 2, 2, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0] |
28 | 29 | E9uDoFAP3SH | Turn around and go down the entranceway, heading toward the staircase. Turn to your left and walk past the staircase to the open door way. Stop near the front of the doorway to the hall. | [
2.0657598972320557,
-5.955618858337402,
8.96576976776123
] | [
0,
0.9659258262890683,
0,
-0.25881904510252063
] | [
-3.119610071182251,
-5.955618858337402,
2.073770046234131
] | 3 | [[2.0657598972320557, -5.955618858337402, 8.96576976776123], [2.1868600845336914, -5.955618858337402, 6.766119956970215], [2.298409938812256, -5.955618858337402, 4.447020053863525], [-0.4567739963531494, -5.955618858337402, 3.4851698875427246], [-3.119610071182251, -5.955618858337402, 2.073770046234131]] | 9.840866 | [[2.0657598972320557, -5.955618858337402, 8.96576976776123], [2.0657598972320557, -5.955618858337402, 8.71576976776123], [2.0657598972320557, -5.955618858337402, 8.46576976776123], [2.0657598972320557, -5.955618858337402, 8.21576976776123], [2.0657598972320557, -5.955618858337402, 7.9657697677612305], [2.06575989723205... | [2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 2, 2, 2, 1, 1, 2, 1, 3, 1, 2, 1, 2, 2, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0] |
29 | 30 | E9uDoFAP3SH | Go to the bottom of the staircase, go to the entrance of first room to the left of the staircase, wait by the chair. | [
2.0657598972320557,
-5.955618858337402,
8.96576976776123
] | [
0,
0.9659258262890683,
0,
-0.25881904510252063
] | [
-3.119610071182251,
-5.955618858337402,
2.073770046234131
] | 3 | [[2.0657598972320557, -5.955618858337402, 8.96576976776123], [2.1868600845336914, -5.955618858337402, 6.766119956970215], [2.298409938812256, -5.955618858337402, 4.447020053863525], [-0.4567739963531494, -5.955618858337402, 3.4851698875427246], [-3.119610071182251, -5.955618858337402, 2.073770046234131]] | 9.840866 | [[2.0657598972320557, -5.955618858337402, 8.96576976776123], [2.0657598972320557, -5.955618858337402, 8.71576976776123], [2.0657598972320557, -5.955618858337402, 8.46576976776123], [2.0657598972320557, -5.955618858337402, 8.21576976776123], [2.0657598972320557, -5.955618858337402, 7.9657697677612305], [2.06575989723205... | [2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 2, 2, 2, 1, 1, 2, 1, 3, 1, 2, 1, 2, 2, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0] |
30 | 31 | dhjEzFoUFzH | Go towards the back of the church, between the long pew on the left and rows of pews on the right Go towards the pack exit. Stop to the left of the of the wall which is to the left of the exit, with a brass handrail. | [
3.125960111618042,
-0.15115001797676086,
-19.32819938659668
] | [
0,
0.49999999999999983,
0,
0.8660254037844387
] | [
1.0684499740600586,
0.2488499879837036,
-4.584499835968018
] | 3 | [[3.125960111618042, -0.15115001797676086, -19.32819938659668], [1.5827699899673462, -0.1093345582485199, -15.34469985961914], [1.5649199485778809, 0.04884999990463257, -13.573399543762207], [1.6165900230407715, 0.04884999990463257, -11.234700202941895], [1.5573999881744385, 0.15576910972595215, -9.412179946899414], [1... | 14.926408 | [[3.125960111618042, -0.15115001797676086, -19.32819938659668], [2.9843075275421143, -0.15115001797676086, -19.110177993774414], [2.8593075275421143, -0.15115001797676086, -18.8936710357666], [2.794602870941162, -0.15115001797676086, -18.652189254760742], [2.72989821434021, -0.15115001797676086, -18.410707473754883], [... | [2, 2, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 3, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 0] |
31 | 32 | dhjEzFoUFzH | Go left down the hall. Continue to the stairs. | [
3.125960111618042,
-0.15115001797676086,
-19.32819938659668
] | [
0,
0.49999999999999983,
0,
0.8660254037844387
] | [
1.0684499740600586,
0.2488499879837036,
-4.584499835968018
] | 3 | [[3.125960111618042, -0.15115001797676086, -19.32819938659668], [1.5827699899673462, -0.1093345582485199, -15.34469985961914], [1.5649199485778809, 0.04884999990463257, -13.573399543762207], [1.6165900230407715, 0.04884999990463257, -11.234700202941895], [1.5573999881744385, 0.15576910972595215, -9.412179946899414], [1... | 14.926408 | [[3.125960111618042, -0.15115001797676086, -19.32819938659668], [2.9843075275421143, -0.15115001797676086, -19.110177993774414], [2.8593075275421143, -0.15115001797676086, -18.8936710357666], [2.794602870941162, -0.15115001797676086, -18.652189254760742], [2.72989821434021, -0.15115001797676086, -18.410707473754883], [... | [2, 2, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 3, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 0] |
32 | 33 | dhjEzFoUFzH | Walk past fan. Walk past baptismal font. Wait at in-ground baptismal pond. | [
3.125960111618042,
-0.15115001797676086,
-19.32819938659668
] | [
0,
0.49999999999999983,
0,
0.8660254037844387
] | [
1.0684499740600586,
0.2488499879837036,
-4.584499835968018
] | 3 | [[3.125960111618042, -0.15115001797676086, -19.32819938659668], [1.5827699899673462, -0.1093345582485199, -15.34469985961914], [1.5649199485778809, 0.04884999990463257, -13.573399543762207], [1.6165900230407715, 0.04884999990463257, -11.234700202941895], [1.5573999881744385, 0.15576910972595215, -9.412179946899414], [1... | 14.926408 | [[3.125960111618042, -0.15115001797676086, -19.32819938659668], [2.9843075275421143, -0.15115001797676086, -19.110177993774414], [2.8593075275421143, -0.15115001797676086, -18.8936710357666], [2.794602870941162, -0.15115001797676086, -18.652189254760742], [2.72989821434021, -0.15115001797676086, -18.410707473754883], [... | [2, 2, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 3, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 0] |
33 | 34 | r47D5H71a5s | Move through pool room door into the sitting area. Move straight through sitting area. Move through door into hallway, turn right, move straight forward down hallway into the locker room. Wait inside locker room. | [
9.918350219726562,
0.09863299131393433,
-1.3446199893951416
] | [
0,
0.258819045102521,
0,
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] | [
1.0321400165557861,
0.09863299131393433,
-9.367389678955078
] | 3 | [[9.918350219726562, 0.09863299131393433, -1.3446199893951416], [8.641420364379883, 0.09863299131393433, -1.4960099458694458], [5.213389873504639, 0.09863299131393433, -2.0612599849700928], [3.9388198852539062, 0.19393226504325867, -2.592560052871704], [1.7699799537658691, 0.09863299131393433, -3.8942599296569824], [1.... | 13.641937 | [[9.918350219726562, 0.09863299131393433, -1.3446199893951416], [9.676868438720703, 0.09863299131393433, -1.4093247652053833], [9.426868438720703, 0.09863299131393433, -1.4093247652053833], [9.176868438720703, 0.09863299131393433, -1.4093247652053833], [8.935386657714844, 0.09863299131393433, -1.474029541015625], [8.69... | [2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 3, 1, 0] |
34 | 35 | r47D5H71a5s | Exit the pool area and walk toward the stairs, enter the hallway to the slight right past the chair, turn right and enter the third door on the left, wait by the lockers. | [
9.918350219726562,
0.09863299131393433,
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0,
0.258819045102521,
0,
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] | [
1.0321400165557861,
0.09863299131393433,
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] | 3 | [[9.918350219726562, 0.09863299131393433, -1.3446199893951416], [8.641420364379883, 0.09863299131393433, -1.4960099458694458], [5.213389873504639, 0.09863299131393433, -2.0612599849700928], [3.9388198852539062, 0.19393226504325867, -2.592560052871704], [1.7699799537658691, 0.09863299131393433, -3.8942599296569824], [1.... | 13.641937 | [[9.918350219726562, 0.09863299131393433, -1.3446199893951416], [9.676868438720703, 0.09863299131393433, -1.4093247652053833], [9.426868438720703, 0.09863299131393433, -1.4093247652053833], [9.176868438720703, 0.09863299131393433, -1.4093247652053833], [8.935386657714844, 0.09863299131393433, -1.474029541015625], [8.69... | [2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 3, 1, 0] |
35 | 36 | r47D5H71a5s | Make a left and walk past the stair case. Walk into the doorway that is next to the short lamp. Make a right and walk past the framed wall art into the locker room. | [
9.918350219726562,
0.09863299131393433,
-1.3446199893951416
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0,
0.258819045102521,
0,
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1.0321400165557861,
0.09863299131393433,
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] | 3 | [[9.918350219726562, 0.09863299131393433, -1.3446199893951416], [8.641420364379883, 0.09863299131393433, -1.4960099458694458], [5.213389873504639, 0.09863299131393433, -2.0612599849700928], [3.9388198852539062, 0.19393226504325867, -2.592560052871704], [1.7699799537658691, 0.09863299131393433, -3.8942599296569824], [1.... | 13.641937 | [[9.918350219726562, 0.09863299131393433, -1.3446199893951416], [9.676868438720703, 0.09863299131393433, -1.4093247652053833], [9.426868438720703, 0.09863299131393433, -1.4093247652053833], [9.176868438720703, 0.09863299131393433, -1.4093247652053833], [8.935386657714844, 0.09863299131393433, -1.474029541015625], [8.69... | [2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 3, 1, 0] |
36 | 37 | D7N2EKCX4Sj | With the bed on your left go forward and out of the room into the hallway. In the hallway take a right and go down the hall, keeping straight. Then take a right into the bedroom that is the first door on your right. Stop in the room just past the door on the inside of the doorway. | [
9.386670112609863,
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] | [
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0.49999999999999994,
0,
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] | [
7.48360013961792,
0.007922172546386719,
-2.137239933013916
] | 3 | [[9.386670112609863, 0.20792198181152344, 1.9203399419784546], [7.373179912567139, 0.007922172546386719, 1.4917500019073486], [7.0871500968933105, 0.007922172546386719, 1.4814800024032593], [6.163010120391846, 0.007922172546386719, -0.3640669882297516], [7.0947699546813965, 0.007922172546386719, -2.0902299880981445], [... | 6.367185 | [[9.386670112609863, 0.20792198181152344, 1.9203399419784546], [9.145188331604004, 0.19489598274230957, 1.855635166168213], [8.903706550598145, 0.16865554451942444, 1.7909303903579712], [8.662224769592285, 0.14241507649421692, 1.7262256145477295], [8.420742988586426, 0.08201560378074646, 1.6615208387374878], [8.1792612... | [2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 3, 1, 3, 1, 1, 1, 1, 1, 3, 1, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 3, 3, 1, 1, 0] |
37 | 38 | D7N2EKCX4Sj | Make a left and stand in the door way to the hall. Make another left in the hall. Make another left into the room next door. | [
9.386670112609863,
0.20792198181152344,
1.9203399419784546
] | [
0,
0.49999999999999994,
0,
-0.8660254037844387
] | [
7.48360013961792,
0.007922172546386719,
-2.137239933013916
] | 3 | [[9.386670112609863, 0.20792198181152344, 1.9203399419784546], [7.373179912567139, 0.007922172546386719, 1.4917500019073486], [7.0871500968933105, 0.007922172546386719, 1.4814800024032593], [6.163010120391846, 0.007922172546386719, -0.3640669882297516], [7.0947699546813965, 0.007922172546386719, -2.0902299880981445], [... | 6.367185 | [[9.386670112609863, 0.20792198181152344, 1.9203399419784546], [9.145188331604004, 0.19489598274230957, 1.855635166168213], [8.903706550598145, 0.16865554451942444, 1.7909303903579712], [8.662224769592285, 0.14241507649421692, 1.7262256145477295], [8.420742988586426, 0.08201560378074646, 1.6615208387374878], [8.1792612... | [2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 3, 1, 3, 1, 1, 1, 1, 1, 3, 1, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 3, 3, 1, 1, 0] |
38 | 39 | D7N2EKCX4Sj | Turn around, go past the bed, out the door and to the right. Go into the next door on the right. You'll see a snowman quilt on the bed. Wait right there. | [
9.386670112609863,
0.20792198181152344,
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] | [
0,
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] | 3 | [[9.386670112609863, 0.20792198181152344, 1.9203399419784546], [7.373179912567139, 0.007922172546386719, 1.4917500019073486], [7.0871500968933105, 0.007922172546386719, 1.4814800024032593], [6.163010120391846, 0.007922172546386719, -0.3640669882297516], [7.0947699546813965, 0.007922172546386719, -2.0902299880981445], [... | 6.367185 | [[9.386670112609863, 0.20792198181152344, 1.9203399419784546], [9.145188331604004, 0.19489598274230957, 1.855635166168213], [8.903706550598145, 0.16865554451942444, 1.7909303903579712], [8.662224769592285, 0.14241507649421692, 1.7262256145477295], [8.420742988586426, 0.08201560378074646, 1.6615208387374878], [8.1792612... | [2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 3, 1, 3, 1, 1, 1, 1, 1, 3, 1, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 3, 3, 1, 1, 0] |
39 | 40 | 29hnd4uzFmX | Walk through the kitchen passed the sink. Turn the corner to the left and walk into the room with wooden walls that is completely empty except for a ceiling lamp. | [
-6.422450065612793,
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0,
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0,
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-0.6310480237007141,
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40 | 41 | 29hnd4uzFmX | Go straight across the room, then into the third door to your left. | [
-6.422450065612793,
-0.2089579850435257,
-6.193950176239014
] | [
0,
0.8660254037844385,
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-0.5000000000000002
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41 | 42 | 29hnd4uzFmX | Walk forward through the kitchen and enter the empty room that is the third door from the left. Stop in the room next to the door. | [
-6.422450065612793,
-0.2089579850435257,
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42 | 43 | 8WUmhLawc2A | Walk through the door and around the table. Turn left and walk to the end of the kitchen bar. Turn right and walk around the chair. Turn left and walk into the small hallway then go into the bedroom. | [
-14.735600471496582,
0.10065700113773346,
-8.571370124816895
] | [
0,
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0,
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-3.37103009223938,
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43 | 44 | 8WUmhLawc2A | Walk down the hall. Turn right at the table. Turn left between the couch and the kitchen area. Go past the chair into the hall and go through the doorway on the right. Go left of the family photos into the bedroom. Stop just inside the doorway. | [
-14.735600471496582,
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] | [
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44 | 45 | 8WUmhLawc2A | Go straight towards the kitchen and turn right after the kitchen table. Walk towards the end table and turn left to walk behind the couch with the kitchen island on your left. Keep going straight beyond the chair on your right. Facing the pictures on the wall go right, down the hall to the door at the end and walk in... | [
-14.735600471496582,
0.10065700113773346,
-8.571370124816895
] | [
0,
0.7071067811865476,
0,
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-3.37103009223938,
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3.0904901027679443
] | 3 | [[-14.735600471496582, 0.10065700113773346, -8.571370124816895], [-12.441499710083008, 0.10065700113773346, -7.925920009613037], [-10.965100288391113, 0.10065700113773346, -4.665229797363281], [-8.572310447692871, 0.10065700113773346, -4.40625], [-5.685239791870117, 0.10065700113773346, -2.544980049133301], [-4.4683899... | 17.402451 | [[-14.735600471496582, 0.10065700113773346, -8.571370124816895], [-14.494118690490723, 0.10065700113773346, -8.506665229797363], [-14.252636909484863, 0.10065700113773346, -8.441960334777832], [-14.011155128479004, 0.10065700113773346, -8.3772554397583], [-13.769673347473145, 0.10065700113773346, -8.31255054473877], [-... | [3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 3, 3, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 0] |
45 | 46 | jh4fc5c5qoQ | With the rocking chair at your back go forward on he patio and go down the stairs passing the table on your left and into the porch and take a left into the kitchen through the door on your left and hang a right going to the white couch stopping at the wall at the edge of the brown rug. | [
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46 | 47 | jh4fc5c5qoQ | Walk through the outdoors deck area towards the open door beside the stair leading into the yard. Walk inside the home and continue around the corner into the living room area near the kitchen sink counter top. | [
5.193739891052246,
0.721511960029602,
2.086440086364746
] | [
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47 | 48 | jh4fc5c5qoQ | Walk down the porch steps and walk into the covered porch. Go inside the house and wait in front of the white couch by the window. | [
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2.086440086364746
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48 | 49 | mJXqzFtmKg4 | Walk passed the kitchen table. Turn around the table and walk passed the counter with bar stools. Walk down the hall and stop near the bathroom entrance. | [
1.998610019683838,
0.027561381459236145,
-2.0969300270080566
] | [
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0,
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-0.7941100001335144,
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49 | 50 | mJXqzFtmKg4 | TURN TO THE RIGHT UNTIL YOU THE DINNING TABLE IS ON THE RIGHT AND PILLARS ARE ON THE LEFT, WALK TOWARDS THE END OF THE TABLE, TURN RIGHT SO THE DINNING TABLE IS ON THE RIGHT AND A BREAKFAST BAR IS ON THE LEFT WITH A DOOR WAY IN FRONT OF YOU, WALK THOUGH THE DOORWAY INTO A SHORT HALLWAY, TURN SLIGHTLY TO THE RIGHT TOWAR... | [
1.998610019683838,
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-2.0969300270080566
] | [
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0,
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-0.7941100001335144,
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] | 3 | [[1.998610019683838, 0.027561381459236145, -2.0969300270080566], [0.17030100524425507, 0.003321051597595215, -1.5843000411987305], [-0.767441987991333, 0.003321051597595215, -3.7431600093841553], [-1.5639899969100952, 0.003321051597595215, -5.665830135345459], [-0.7941100001335144, 0.003321051597595215, -6.369420051574... | 6.578383 | [[1.998610019683838, 0.027561381459236145, -2.0969300270080566], [1.7571284770965576, 0.003321051597595215, -2.0322251319885254], [1.5406221151351929, 0.003321051597595215, -1.9072251319885254], [1.2991406917572021, 0.003321051597595215, -1.8425203561782837], [1.0576592683792114, 0.003321051597595215, -1.77781558036804... | [3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 2, 1, 3, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 3, 3, 3, 3, 1, 1, 2, 1, 0] |
50 | 51 | mJXqzFtmKg4 | turn right towards hallway out of kitchen in hallway turn right to bathroom, stop in doorway facing sink. | [
1.998610019683838,
0.027561381459236145,
-2.0969300270080566
] | [
0,
0.8660254037844385,
0,
-0.5000000000000002
] | [
-0.7941100001335144,
0.003321051597595215,
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] | 3 | [[1.998610019683838, 0.027561381459236145, -2.0969300270080566], [0.17030100524425507, 0.003321051597595215, -1.5843000411987305], [-0.767441987991333, 0.003321051597595215, -3.7431600093841553], [-1.5639899969100952, 0.003321051597595215, -5.665830135345459], [-0.7941100001335144, 0.003321051597595215, -6.369420051574... | 6.578383 | [[1.998610019683838, 0.027561381459236145, -2.0969300270080566], [1.7571284770965576, 0.003321051597595215, -2.0322251319885254], [1.5406221151351929, 0.003321051597595215, -1.9072251319885254], [1.2991406917572021, 0.003321051597595215, -1.8425203561782837], [1.0576592683792114, 0.003321051597595215, -1.77781558036804... | [3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 2, 1, 3, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 3, 3, 3, 3, 1, 1, 2, 1, 0] |
End of preview. Expand in Data Studio
VLN-CE R2R Dataset for EASI
Vision-and-Language Navigation in Continuous Environments (VLN-CE) Room-to-Room (R2R) benchmark, repackaged for the EASI evaluation framework.
Task
An agent receives a natural language navigation instruction and must navigate through a Matterport3D indoor environment to reach a goal location. The agent uses discrete actions: STOP, MOVE_FORWARD (0.25m), TURN_LEFT (15 deg), TURN_RIGHT (15 deg).
Success is measured when the agent stops within 3.0m of the goal position.
Splits
| Split | Episodes |
|---|---|
val_seen |
778 |
val_unseen |
1839 |
test |
3408 |
| Total | 6025 |
Note: The test split does not include ground truth trajectories.
SR and SPL can be computed locally, but NDTW/SDTW require ground truth
and are only available for val_seen and val_unseen.
Data Fields
Each episode row contains:
| Field | Type | Description |
|---|---|---|
id |
int | Sequential index within split |
episode_id |
string | Original VLN-CE episode ID |
scene_id |
string | Matterport3D scene name |
instruction |
string | Natural language navigation instruction |
start_position |
list[float] | Agent start [x, y, z] in meters |
start_rotation |
list[float] | Agent start quaternion [x, y, z, w] |
goal_position |
list[float] | Goal [x, y, z] in meters |
goal_radius |
float | Success radius (3.0m) |
reference_path |
string (JSON) | Waypoint path from start to goal |
geodesic_distance |
float | Shortest path distance in meters |
gt_locations |
string (JSON) or null | Dense ground truth waypoints (null for test) |
gt_actions |
string (JSON) or null | Ground truth action sequence (null for test) |
Scene Data
mp3d_scenes.zip contains Matterport3D .glb and .navmesh files for the
85 scenes used across all evaluation splits. After extraction:
mp3d/
{scene_id}/
{scene_id}.glb # 3D mesh for Habitat-Sim rendering
{scene_id}.navmesh # Navigation mesh for pathfinding
Only .glb (rendering) and .navmesh (pathfinding) are included.
Semantic files (.house, _semantic.ply) are not needed for VLN-CE R2R
since goals are specified as coordinates, not semantic object targets.
Metrics
| Metric | Description |
|---|---|
| SR | Success Rate (agent within 3.0m of goal) |
| SPL | Success weighted by Path Length |
| NDTW | Normalized Dynamic Time Warping (path shape similarity) |
| SDTW | Success-weighted NDTW |
| Oracle SR | Best achievable success along trajectory |
| NE | Navigation Error (distance to goal at episode end) |
| Path Length | Total distance traveled |
Original Sources
- VLN-CE (Krantz et al.)
- R2R Dataset (Anderson et al.)
- Matterport3D (Chang et al.)
Citation
@inproceedings{krantz2020vlnce,
title={Beyond the Nav-Graph: Vision-and-Language Navigation in Continuous Environments},
author={Jacob Krantz and Erik Wijmans and Arjun Majumdar and Dhruv Batra and Stefan Lee},
booktitle={ECCV},
year={2020}
}
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