episode_id stringlengths 15 31 | scene_id stringclasses 38
values | goal_category stringlengths 3 22 | goal_text stringlengths 26 1.08k | images images listlengths 18 343 | pos_rots listlengths 18 343 | action_sequence listlengths 18 343 | action_ids listlengths 19 344 | messages listlengths 37 687 |
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grCommercial_scene1/episode_0 | grCommercial_scene1 | shelf | Slightly turn left, then move forward 4.45 m. Slightly turn right, then move forward 1.78 m. Slightly turn right, then move forward 2.05 m. Slightly turn left, then move forward 2.13 m. You will arrive at the shelf. | [
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grCommercial_scene1/episode_1 | grCommercial_scene1 | bookshelf | Slightly turn left, then move forward 4.11 m. Slightly turn left, then move forward 0.61 m. Slightly turn left, then move forward 1.99 m. You will arrive at the bookshelf. | [
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grCommercial_scene1/episode_10 | grCommercial_scene1 | keyboard | Turn right, then move forward 2.91 m. Turn right, then move forward 5.59 m. Slightly turn left, then move forward 2.95 m. Slightly turn right, then move forward 3.44 m. You will arrive at the keyboard. | [
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grCommercial_scene1/episode_11 | grCommercial_scene1 | basket | Start facing the large wooden cloud-shaped shelving unit. Move forward, passing the blue toy animal on your left and heading towards the center of the shelving structure. As you get closer to the shelves, specifically near the blue circular tunnel seat, turn slightly right to align with the lower shelf section. Continu... | [
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grCommercial_scene1/episode_12 | grCommercial_scene1 | basket | Slightly turn right, then move forward 4.27 m. Turn left, then move forward 1.55 m. Slightly turn left, then move forward 2.53 m. You will arrive at the basket. | [
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grCommercial_scene1/episode_13 | grCommercial_scene1 | shelf | Start by facing the light-colored wooden flooring and a large wooden shelving unit shaped like clouds, filled with various objects like brown teddy bears and blue circular seats. Move forward across the floor, keeping the white desk and black office chair to your right. Continue straight ahead, passing a metal rack wit... | [
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grCommercial_scene1/episode_14 | grCommercial_scene1 | couch | Head towards the white cabinet located between the doorway and the wooden shelving unit filled with stuffed animals. As you pass the wooden shelves on your right, proceed towards the center of the room where a girl is sitting on the rug playing with a toy. Continue moving forward, keeping the girl to your left. You wil... | [
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grCommercial_scene1/episode_16 | grCommercial_scene1 | blanket | Turn slightly left and head towards the large wooden shelf with circular cutouts filled with toys and books. After passing a small blue cylindrical stool, turn left. Move straight across the room, keeping the wooden shelf on your left and heading towards the large window wall. As you approach the area with a large gray... | [
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grCommercial_scene1/episode_17 | grCommercial_scene1 | shelf | Slightly turn left, then move forward 2.83 m. Turn left, then move forward 2.95 m. Slightly turn left, then move forward 3.26 m. You will arrive at the shelf. | [
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grCommercial_scene1/episode_18 | grCommercial_scene1 | bookshelf | "Start facing the wooden shelf on your right, filled with decorative items and bunny figures. Turn s(...TRUNCATED) | [{"src":"https://datasets-server.huggingface.co/assets/tccoin/navverse-benchmark/--/{dataset_git_rev(...TRUNCATED) | [[-0.9479613280252484,5.782564625386031,0.5036037399905974,-0.030394097332655898,-0.0019667615160647(...TRUNCATED) | ["MOVE_FORWARD","MOVE_FORWARD","MOVE_FORWARD","MOVE_FORWARD","MOVE_FORWARD","TURN_LEFT","TURN_LEFT",(...TRUNCATED) | [
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End of preview. Expand in Data Studio
NavVerse Benchmark
This repository hosts the NavVerse dataset.
SFT split
The sft_data/ folder contains a per-scene parquet shard suitable for
supervised fine-tuning of a vision-language navigation agent. Each row is one
episode and uses a schema compatible with
Aasdfip/habitat_web_pose_train:
| column | dtype |
|---|---|
episode_id |
string |
scene_id |
string |
goal_category |
string |
goal_text |
string |
images |
list<Image(decode=False)> (JPEG bytes) |
pos_rots |
list<list<float64>> — [x, y, z, qx, qy, qz, qw] per step |
action_sequence |
list<string> — one of MOVE_FORWARD, TURN_LEFT, TURN_RIGHT, STOP |
action_ids |
list<int64> — leading STOP sentinel + encoded actions |
messages |
list of {role, content: list of {text, type}} — habitat-style chat |
Episodes were sampled onto a habitat-style grid: each MOVE_FORWARD corresponds
to roughly 0.25 m of motion; each TURN_LEFT / TURN_RIGHT to at least ~10°
of yaw change (--turn-label-min-deg 10 in the converter). Exactly one STOP
appears at the end of every episode.
Generated with the scripts under
NavVerse-Benchmark/scripts/:
# 1. Download the raw dataset
python scripts/download_raw_data.py --output-dir .
# 2. Extract the episode_data tarball
mkdir -p extracted
tar -xzf episode_data_v1.tar.gz -C extracted
# 3. Convert episode_data → SFT parquet
python scripts/convert_episode_data_for_sft.py \
--input extracted/episode_data \
--output extracted/episode_data_sft \
--turn-label-min-deg 10
A viewer notebook is included at sft_data/sft_data.ipynb.
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