README.md

metadata

dataset_info:
  features:
    - name: image
      dtype: image
    - name: lang_goal
      dtype: string
    - name: trajectory_2d
      sequence:
        sequence:
          dtype: int64
    - name: trajectory_3d
      sequence:
        sequence:
          dtype: float64
    - name: camera_params
      dtype: string
    - name: horizon
      dtype: int64
  splits:
    - name: train
      num_bytes: 73661768939
      num_examples: 230245
    - name: validation
      num_bytes: 17336565257
      num_examples: 51895
  download_size: 90998334196
  dataset_size: 90998334196
  configs:
    - config_name: default
      data_files:
        - split: train
          path: train_00000.parquet
        - split: train
          path: train_00001.parquet
        - split: train
          path: train_00002.parquet
        - split: train
          path: train_00003.parquet
        - split: train
          path: train_00004.parquet
        - split: train
          path: train_00005.parquet
        - split: train
          path: train_00006.parquet
        - split: train
          path: train_00007.parquet
        - split: train
          path: train_00008.parquet
        - split: train
          path: train_00009.parquet
        - split: train
          path: train_00010.parquet
        - split: train
          path: train_00011.parquet
        - split: train
          path: train_00012.parquet
        - split: train
          path: train_00013.parquet
        - split: train
          path: train_00014.parquet
        - split: train
          path: train_00015.parquet
        - split: train
          path: train_00016.parquet
        - split: train
          path: train_00017.parquet
        - split: train
          path: train_00018.parquet
        - split: train
          path: train_00019.parquet
        - split: train
          path: train_00020.parquet
        - split: train
          path: train_00021.parquet
        - split: train
          path: train_00022.parquet
        - split: train
          path: train_00023.parquet
        - split: validation
          path: validation_00000.parquet
        - split: validation
          path: validation_00001.parquet
        - split: validation
          path: validation_00002.parquet
        - split: validation
          path: validation_00003.parquet
        - split: validation
          path: validation_00004.parquet
        - split: validation
          path: validation_00005.parquet
license: cc-by-4.0
task_categories:
  - image-to-text
  - robotics
language:
  - en

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