Dataset Viewer
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Navigate to <point x="2.9" y="89.7">goal</point>
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| 40 |
|
Navigate to <point x="2.9" y="89.8">goal</point>
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| 40 |
|
Navigate to <point x="2.9" y="89.8">goal</point>
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| 40 |
|
Navigate to <point x="2.9" y="89.9">goal</point>
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| 40 |
|
Navigate to <point x="2.8" y="89.9">goal</point>
|
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| 40 |
|
Navigate to <point x="2.8" y="90.0">goal</point>
|
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| 40 |
|
Navigate to <point x="2.7" y="90.0">goal</point>
|
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| 40 |
|
Navigate to <point x="2.7" y="90.1">goal</point>
|
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| 40 |
|
Navigate to <point x="2.6" y="90.1">goal</point>
|
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| 40 |
|
Navigate to <point x="2.6" y="90.2">goal</point>
|
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| 40 |
|
Navigate to <point x="2.5" y="90.2">goal</point>
|
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| 39 |
|
Navigate to <point x="2.5" y="90.3">goal</point>
|
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| 39 |
|
Navigate to <point x="2.5" y="90.3">goal</point>
|
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| 39 |
|
Navigate to <point x="2.5" y="90.4">goal</point>
|
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| 39 |
|
Navigate to <point x="2.4" y="90.4">goal</point>
|
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| 39 |
|
Navigate to <point x="2.3" y="90.5">goal</point>
|
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| 39 |
|
Navigate to <point x="2.3" y="90.6">goal</point>
|
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| 39 |
|
Navigate to <point x="2.2" y="90.6">goal</point>
|
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| 39 |
|
Navigate to <point x="2.2" y="90.7">goal</point>
|
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| 39 |
|
Navigate to <point x="2.1" y="90.7">goal</point>
|
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| 39 |
|
Navigate to <point x="2.1" y="90.8">goal</point>
|
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| 39 |
|
Navigate to <point x="2.0" y="90.8">goal</point>
|
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| 39 |
|
Navigate to <point x="2.0" y="90.9">goal</point>
|
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| 39 |
|
Navigate to <point x="2.0" y="90.9">goal</point>
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| 39 |
|
Navigate to <point x="2.0" y="91.0">goal</point>
|
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| 39 |
|
Navigate to <point x="1.9" y="91.0">goal</point>
|
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| 39 |
|
Navigate to <point x="1.8" y="91.1">goal</point>
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| 39 |
|
Navigate to <point x="1.8" y="91.2">goal</point>
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| 39 |
|
Navigate to <point x="1.7" y="91.2">goal</point>
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| 39 |
|
Navigate to <point x="1.7" y="91.3">goal</point>
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| 39 |
|
Navigate to <point x="1.6" y="91.3">goal</point>
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| 39 |
|
Navigate to <point x="1.6" y="91.4">goal</point>
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| 39 |
|
Navigate to <point x="1.6" y="91.4">goal</point>
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| 39 |
|
Navigate to <point x="1.5" y="91.5">goal</point>
|
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| 39 |
|
Navigate to <point x="1.5" y="91.5">goal</point>
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| 39 |
|
Navigate to <point x="1.4" y="91.6">goal</point>
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| 39 |
|
Navigate to <point x="1.4" y="91.7">goal</point>
|
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| 39 |
|
Navigate to <point x="1.3" y="91.7">goal</point>
|
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| 39 |
|
Navigate to <point x="1.3" y="91.8">goal</point>
|
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| 39 |
|
Navigate to <point x="1.2" y="91.8">goal</point>
|
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| 39 |
|
Navigate to <point x="1.1" y="91.9">goal</point>
|
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| 39 |
|
Navigate to <point x="1.1" y="91.9">goal</point>
|
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| 39 |
|
Navigate to <point x="1.1" y="92.0">goal</point>
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| 39 |
|
Navigate to <point x="1.1" y="92.1">goal</point>
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| 39 |
|
Navigate to <point x="1.0" y="92.1">goal</point>
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| 39 |
|
Navigate to <point x="1.0" y="92.2">goal</point>
|
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| 39 |
|
Navigate to <point x="2.0" y="92.6">goal</point>
|
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| 36 |
|
Navigate to <point x="0.8" y="93.5">goal</point>
|
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[
1.0753408971834706,
1.1074339253058914,
-0.02249925323725448
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[
1.0829617689626512,
1.1536118744498856,
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],
[
1.0905803449757934,
1.1997796455667387,
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[
1.094136981463683,
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[
1.0976921842305387,
1.2806022618344957,
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[
1.1178421288680496,
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[
1.1379930710908581,
1.3616698008479007,
-0.05402816868111911
]
] |
{"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 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}}
| 35 |
|
Navigate to <point x="2.3" y="97.3">goal</point>
|
[
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[
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{"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 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}}
| 29 |
|
Navigate to <point x="2.9" y="99.1">goal</point>
|
[
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[
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[
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[
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{"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 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}}
| 13 |
|
Navigate to <point x="25.9" y="98.2">goal</point>
|
[
[
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[
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]
] |
[
[
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],
[
0.9704406936011163,
0.7351908635450576,
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]
] |
{"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 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}}
| 2 |
|
Navigate to <point x="19.2" y="99.9">goal</point>
|
[
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
235,
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] |
[
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[
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{"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 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}}
| 11 |
|
Navigate to <point x="29.4" y="99.1">goal</point>
|
[
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[
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[
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[
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] |
[
[
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[
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[
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[
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],
[
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]
] |
{"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 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}}
| 5 |
|
Navigate to <point x="18.6" y="99.5">goal</point>
|
[
[
228,
1019
]
] |
[
[
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0.9304112044114191,
-0.03281678185112143
]
] |
{"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 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}}
| 1 |
|
Navigate to <point x="0.3" y="91.3">goal</point>
|
[
[
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1021
],
[
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988
],
[
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960
],
[
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] |
[
[
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],
[
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1.238813571578194,
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],
[
1.3315499725781963,
1.3054556082299593,
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],
[
1.4095593252563994,
1.3970818422168332,
-0.12801491300134232
]
] |
{"resolution": {"width": 1224, "height": 1024}, "camera_matrix": {"data": [728.7329, 0.0, 626.0223, 0.0, 729.0125, 531.8843, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9876884, 0.0, 0.1564345, 0.08, 0.0, 1.0, 0.0, 0.1, -0.1564345, 0.0, 0.9876884, -0.03, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.224, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.824, 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}}
| 4 |
End of preview. Expand
in Data Studio
CODa 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: 282140
- Training examples: 230245
- Validation examples: 51895
- Total size: 84.75 GB
- Number of files: 30
- Downloads last month
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