mateoguaman/vamos_navigation_only
Robotics
•
3B
•
Updated
•
33
Dataset Viewer
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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Navigate to x=<loc0263>, y=<loc0408>
|
<loc0289><loc0719><loc0320><loc0534><loc0318><loc0466><loc0298><loc0432><loc0263><loc0408>
|
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|
Navigate to <point x="93.9" y="21.3">goal</point>
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Navigate to x=<loc0409>, y=<loc0246>
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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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[
165,
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[
165,
177
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Navigate to x=<loc0165>, y=<loc0333>
|
<loc0559><loc0291><loc0493><loc0301><loc0344><loc0321><loc0216><loc0333><loc0165><loc0333>
|
[
[
"<loc0559>",
"<loc0291>"
],
[
"<loc0493>",
"<loc0301>"
],
[
"<loc0344>",
"<loc0321>"
],
[
"<loc0216>",
"<loc0333>"
],
[
"<loc0165>",
"<loc0333>"
]
] | 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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184
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[
306,
172
],
[
171,
180
],
[
4,
197
]
] |
[
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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[
485,
139
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[
446,
137
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[
408,
137
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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) |
[
[
539,
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],
[
460,
239
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[
373,
240
],
[
224,
266
],
[
20,
311
]
] |
[
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) |
[
[
506,
251
],
[
502,
192
],
[
495,
160
],
[
509,
144
],
[
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,
303
],
[
271,
254
],
[
330,
227
],
[
439,
206
],
[
514,
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
],
[
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 |
End of preview. Expand
in Data Studio
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.
- Downloads last month
- 91
Size of downloaded dataset files:
120 GB
Size of the auto-converted Parquet files:
120 GB
Number of rows:
499,204