Update README.md from 140h_data

README.md

@@ -27,143 +27,35 @@ configs:
 
 # SparseVideoNav Datasets
 
-![SparseVideoNav dataset overview](assets/dataset_mosaic.png)
+This private repository contains the processed SparseVideoNav IFN and BVN datasets.
+Images are stored in compressed tar.zst shards. Each shard preserves relative paths such as `images/<sequence>/rgb/000.jpg`.
 
-This repository contains the real-world navigation datasets released with [OpenDriveLab/SparseVideoNav](https://github.com/OpenDriveLab/SparseVideoNav):
-
-- **BVN**: Beyond-the-View Navigation.
-- **IFN**: Instruction-Following Navigation.
-
-Project links:
-
-- Project page: https://opendrivelab.com/SparseVideoNav
-- GitHub: https://github.com/OpenDriveLab/SparseVideoNav
-- Paper: https://arxiv.org/abs/2602.05827
-
-## Dataset Summary
-
-SparseVideoNav studies real-world vision-language navigation with sparse future video generation. The datasets contain language instructions, RGB frame sequences, and low-level navigation actions. The number of actions matches the number of RGB frames for every released episode.
-
-Due to policy restrictions, this public release contains the policy-compliant subset of the collected real-world data. At the released sampling rate of **4 fps**, the open-sourced subset contains **about 98 hours** of navigation data.
+The released annotations keep `id`, `video`, `actions`, and `instructions`; `data.jsonl` additionally repeats useful indexing metadata for loading.
+All images in this version have been processed by EgoBlur for face and license-plate blurring.
 
 | Subset | Episodes | RGB frames | Duration @ 4 fps | Task |
 | --- | ---: | ---: | ---: | --- |
-| `bvn` | 5,417 | 695,373 | 48.29 h | Beyond-the-View Navigation |
-| `ifn` | 5,625 | 712,290 | 49.46 h | Instruction-Following Navigation |
-| **Total** | **11,042** | **1,407,663** | **97.75 h** | - |
+| `bvn` | 5,433 | 825,786 | 57.35 h | Beyond-the-View Navigation |
+| `ifn` | 6,260 | 927,268 | 64.39 h | Instruction-Following Navigation |
+| **Total** | **11,693** | **1,753,054** | **121.74 h** | - |
 
 Duration is computed as `num_frames / 4 / 3600`.
 
-## Repository Structure
-
-Images are stored in compressed tar shards to avoid hundreds of thousands of small files in the Hugging Face repository. Each shard preserves the original relative paths.
-
-```text
-.
-├── README.md
-├── assets/
-│   └── dataset_mosaic.png
-├── bvn/
-│   ├── annotations.json
-│   ├── data.jsonl
-│   ├── merge_info.json
-│   ├── shard_manifest.jsonl
-│   └── shards/
-│       ├── bvn-00000.tar.zst
-│       └── ...
-└── ifn/
-    ├── annotations.json
-    ├── data.jsonl
-    ├── merge_info.json
-    ├── shard_manifest.jsonl
-    └── shards/
-        ├── ifn-00000.tar.zst
-        └── ...
-```
-
-## Data Format
-
-Each line in `bvn/data.jsonl` or `ifn/data.jsonl` is an episode-level JSON object.
-
-| Field | Type | Description |
-| --- | --- | --- |
-| `dataset` | string | Dataset subset name, either `bvn` or `ifn`. |
-| `subset` | string | Release subset marker. The current public release uses `main`. |
-| `episode_id` | string | Unique episode identifier. |
-| `instruction` | string | Primary natural-language navigation instruction. |
-| `instructions` | list[string] | Instruction list. Current records contain one instruction. |
-| `task_type` | string | Task label, e.g. `beyond_the_view_navigation` or `instruction_following_navigation`. |
-| `split` | string | Dataset split. Current release uses `train`. |
-| `image_dir` | string | Original relative episode image directory before sharding. |
-| `rgb_dir` | string | Original relative RGB frame directory. |
-| `num_frames` | integer | Number of RGB frames in the episode. |
-| `num_actions` | integer | Number of low-level actions. This matches `num_frames`. |
-| `actions` | list[object] | Per-frame low-level navigation actions. Each action has `dx`, `dy`, and `dyaw`. |
-| `annotation_file` | string | Annotation file path in this repository. |
-| `frame_files` | list[string] | RGB frame paths inside the shard after extraction. |
-| `asset_dirs` | list[string] | Original episode asset directories included in the shard. |
-| `shard` | string | Tar shard containing the episode frames. |
-
-Each action object contains:
-
-| Field | Type | Description |
-| --- | --- | --- |
-| `dx` | float | Relative forward/backward displacement for the corresponding step. |
-| `dy` | float | Relative lateral displacement for the corresponding step. |
-| `dyaw` | float | Relative yaw change for the corresponding step. |
-
-Example:
-
-```json
-{
-  "dataset": "ifn",
-  "episode_id": "36e980e5a1ff4817",
-  "instruction": "please go along with the rail until you are near by a red cone.",
-  "num_frames": 177,
-  "num_actions": 177,
-  "rgb_dir": "images/0e0ec1bdcc61a4ef/rgb",
-  "frame_files": ["images/0e0ec1bdcc61a4ef/rgb/001.jpg"],
-  "shard": "ifn/shards/ifn-00000.tar.zst"
-}
-```
-
-`annotations.json` stores the original annotation records with the core fields `id`, `video`, `actions`, and `instructions`. `shard_manifest.jsonl` stores shard-level metadata, including the shard path, episode ids, raw byte size, compressed byte size, frame count, and file count.
-
-## Usage
-
-Load episode metadata with Hugging Face Datasets:
-
-```python
-from datasets import load_dataset
-
-bvn = load_dataset("OpenDriveLab/SparseVideoNav", "bvn")
-ifn = load_dataset("OpenDriveLab/SparseVideoNav", "ifn")
-```
-
-Download and inspect shards:
-
-```bash
-tar -I zstd -tf ifn/shards/ifn-00000.tar.zst | head
-tar -I zstd -xf ifn/shards/ifn-00000.tar.zst
-```
-
-After extraction, `frame_files` resolve to paths such as:
+## Structure
 
 ```text
-images/<episode_dir>/rgb/001.jpg
+bvn/
+  annotations.json
+  data.jsonl
+  merge_info.json
+  shard_manifest.jsonl
+  shards/bvn-00000.tar.zst
+ifn/
+  annotations.json
+  data.jsonl
+  merge_info.json
+  shard_manifest.jsonl
+  shards/ifn-00000.tar.zst
 ```
 
-## License
-
-The dataset is released under CC BY-NC-SA 4.0.
-
-## Citation
-
-```bibtex
-@article{zhang2026sparse,
-  title={Sparse Video Generation Propels Real-World Beyond-the-View Vision-Language Navigation},
-  author={Zhang, Hai and Liang, Siqi and Chen, Li and Li, Yuxian and Xu, Yukuan and Zhong, Yichao and Zhang, Fu and Li, Hongyang},
-  journal={arXiv preprint arXiv:2602.05827},
-  year={2026}
-}
-```
+Generated at `2026-07-06 14:23:43` from `/mnt/HDD-raid/siqiteam/140h_data`.