dataset stringclasses 1
value | subset stringclasses 1
value | episode_id stringlengths 16 16 | instruction stringlengths 33 372 | instructions listlengths 1 1 | task_type stringclasses 1
value | split stringclasses 1
value | image_dir stringlengths 23 23 | rgb_dir stringlengths 27 27 | num_frames int64 43 334 | num_actions int64 43 334 | actions listlengths 43 334 |
|---|---|---|---|---|---|---|---|---|---|---|---|
bvn | main | 33c92e3f83501323 | Move forward to get to the blue box, and then attempt to locate the sign, and from there go straight to near the sign and halt nearby | [
"Move forward to get to the blue box, and then attempt to locate the sign, and from there go straight to near the sign and halt nearby"
] | beyond_the_view_navigation | train | images/2bd91b8dfe3dd500 | images/2bd91b8dfe3dd500/rgb | 101 | 101 | [
{
"dx": 0.041851380899362835,
"dy": -0.012818128766826841,
"dyaw": -0.1117530062280161
},
{
"dx": 0.005633784901657412,
"dy": 0.0002838382829752487,
"dyaw": -0.11632221977545232
},
{
"dx": 0.042961273389530125,
"dy": 0.013472660694069308,
"dyaw": -0.14211775706449714
},... |
bvn | main | f37e715665f625d2 | Please try to go straight to get to the green belt, and then attempt to seek for the stairs and finally wait nearby | [
"Please try to go straight to get to the green belt, and then attempt to seek for the stairs and finally wait nearby"
] | beyond_the_view_navigation | train | images/9b353a6fb0b8a5a4 | images/9b353a6fb0b8a5a4/rgb | 164 | 164 | [
{
"dx": 0.10679263929651386,
"dy": 0.017668858954475848,
"dyaw": -0.0011223440774594806
},
{
"dx": 0.18110262717812348,
"dy": 0.045338684689564396,
"dyaw": -0.001687240865725137
},
{
"dx": 0.17190089952116713,
"dy": 0.09770541332246557,
"dyaw": -0.0038373512841411994
},... |
bvn | main | ab4f80f08e603927 | Move forward to attempt to find the pillar, and then step along to seek the basket and stand in front of it | [
"Move forward to attempt to find the pillar, and then step along to seek the basket and stand in front of it"
] | beyond_the_view_navigation | train | images/c5b42e2c2ba784ec | images/c5b42e2c2ba784ec/rgb | 127 | 127 | [
{
"dx": 0.11078234298681573,
"dy": 0.02393288518618826,
"dyaw": -0.0006640786586755709
},
{
"dx": 0.06212100215720358,
"dy": 0.011669271874398944,
"dyaw": 0.0003964398259621582
},
{
"dx": 0.0816278134501029,
"dy": 0.010320416726535088,
"dyaw": -0.00007819870221803527
},... |
bvn | main | 0c8f5a280cfbf7f8 | First attempt to locate a gray sign with identified content, and then move forward towards it and halt nearby | [
"First attempt to locate a gray sign with identified content, and then move forward towards it and halt nearby"
] | beyond_the_view_navigation | train | images/e399438a290bcb08 | images/e399438a290bcb08/rgb | 139 | 139 | [
{
"dx": 0.18042239043790276,
"dy": -0.012537516360648107,
"dyaw": -0.0006271054420636801
},
{
"dx": 0.2562637752853018,
"dy": 0.12640019559013602,
"dyaw": -0.003924067863739555
},
{
"dx": 0.2619366308299145,
"dy": -0.043830040293560024,
"dyaw": 0.0004730110974939805
},
... |
bvn | main | 32b6ea820cf42a65 | Seek for the sculpture, and then attempt to locate it to move forward and stand in front of it | [
"Seek for the sculpture, and then attempt to locate it to move forward and stand in front of it"
] | beyond_the_view_navigation | train | images/f9ef9373b1a46c33 | images/f9ef9373b1a46c33/rgb | 147 | 147 | [
{
"dx": 0.20208117800847628,
"dy": 0.021104805193656442,
"dyaw": -0.0010816582324770785
},
{
"dx": 0.06973004152045108,
"dy": 0.015459279267504442,
"dyaw": -0.0006264841650147623
},
{
"dx": 0.19001480092807121,
"dy": -0.04002789791516578,
"dyaw": 0.001575835001376369
},... |
bvn | main | 33914927468f3e80 | Move forward to attempt to find the silver sign with marked content, and then turn right to seek for the black stand with a sign and halt nearby | [
"Move forward to attempt to find the silver sign with marked content, and then turn right to seek for the black stand with a sign and halt nearby"
] | beyond_the_view_navigation | train | images/0fb85cc2b2d8fa6f | images/0fb85cc2b2d8fa6f/rgb | 163 | 163 | [
{
"dx": 0.09380814898622038,
"dy": 0.010768619431303715,
"dyaw": -0.003146886588993425
},
{
"dx": 0.07519019895628848,
"dy": 0.04375590925149968,
"dyaw": -0.005191294704927074
},
{
"dx": 0.09522740310286844,
"dy": 0.01773458742740922,
"dyaw": -0.002459796057276531
},
... |
bvn | main | 7503eb5193c35c4e | Go straight till you can see a fridge, and then turn front-right to seek for the silver water dispenser and stand near it | [
"Go straight till you can see a fridge, and then turn front-right to seek for the silver water dispenser and stand near it"
] | beyond_the_view_navigation | train | images/5760fba59330560f | images/5760fba59330560f/rgb | 127 | 127 | [
{
"dx": 0.08781163397870492,
"dy": 0.002148841535433607,
"dyaw": -0.002423499960749087
},
{
"dx": 0.09036767744211627,
"dy": 0.016235294886366422,
"dyaw": -0.004539001083285754
},
{
"dx": 0.08894169926169104,
"dy": 0.022123754652768647,
"dyaw": -0.005041015956687378
},
... |
bvn | main | 3a1266a8301b165b | Move forward to seek for a motorcycle and halt nearby | [
"Move forward to seek for a motorcycle and halt nearby"
] | beyond_the_view_navigation | train | images/78f231f6752bfd37 | images/78f231f6752bfd37/rgb | 139 | 139 | [
{
"dx": 0.11394376971261407,
"dy": 0.00835090643206354,
"dyaw": 0.00021423316252944247
},
{
"dx": 0.15061429355980283,
"dy": 0.01546449474077477,
"dyaw": 0.0006796081527609132
},
{
"dx": 0.1414167720717327,
"dy": 0.015293491246617188,
"dyaw": 0.001184349549353314
},
{... |
bvn | main | ad74347c70f4a89b | Move forward to attempt to find the trailer, and then turn left to step along to seek the area near the cabinet and stand in front of it | [
"Move forward to attempt to find the trailer, and then turn left to step along to seek the area near the cabinet and stand in front of it"
] | beyond_the_view_navigation | train | images/78e7090c4643a33a | images/78e7090c4643a33a/rgb | 147 | 147 | [
{
"dx": 0.08347834688173257,
"dy": 0.022875337896274245,
"dyaw": -0.0024154360636647887
},
{
"dx": 0.08377531666944066,
"dy": 0.025234353225826733,
"dyaw": -0.0033118405255145866
},
{
"dx": 0.07418435332012183,
"dy": 0.016560553969094057,
"dyaw": -0.0030259611819398735
... |
bvn | main | db9aa17aa3c89251 | Go straight till you can see the black and yellow mop, and then go forward to seek for a red bucket, and then walk there and halt by it | [
"Go straight till you can see the black and yellow mop, and then go forward to seek for a red bucket, and then walk there and halt by it"
] | beyond_the_view_navigation | train | images/5a22405896730302 | images/5a22405896730302/rgb | 136 | 136 | [
{
"dx": 0.10919792417967716,
"dy": 0.019644171629909075,
"dyaw": 0.0006683043698840763
},
{
"dx": 0.07594101576585478,
"dy": 0.03269393270467185,
"dyaw": -0.001905945686019539
},
{
"dx": 0.059850113504551786,
"dy": 0.013574429177052767,
"dyaw": -0.0006613497582494965
},... |
bvn | main | 4d4e62f8e1604c21 | Move forward to attempt to find the green sign ahead, and then turn right to step along to seek the white cart and stand in front of it | [
"Move forward to attempt to find the green sign ahead, and then turn right to step along to seek the white cart and stand in front of it"
] | beyond_the_view_navigation | train | images/f092a712873a01bb | images/f092a712873a01bb/rgb | 143 | 143 | [
{
"dx": 0.23135517988785684,
"dy": 0.030337512929405314,
"dyaw": -0.00034437992677505136
},
{
"dx": 0.0660142813180053,
"dy": 0.049227963645511616,
"dyaw": -0.0021316836351079615
},
{
"dx": 0.12391878576820857,
"dy": 0.028838803137663627,
"dyaw": -0.002658335133861378
}... |
bvn | main | bcd7b873fd5da41a | Please try to go straight to get to the red fire box, and then attempt to locate the white dog-shaped sculpture, and then turn left to go straight to get to the white dog-shaped sculpture and stop by it | [
"Please try to go straight to get to the red fire box, and then attempt to locate the white dog-shaped sculpture, and then turn left to go straight to get to the white dog-shaped sculpture and stop by it"
] | beyond_the_view_navigation | train | images/2bb455b7fdb270d8 | images/2bb455b7fdb270d8/rgb | 162 | 162 | [
{
"dx": 0.1301700958603805,
"dy": 0.010039305163997835,
"dyaw": -0.0009331512657513308
},
{
"dx": 0.1025519950885077,
"dy": 0.00707838926746706,
"dyaw": -0.00029317746837831393
},
{
"dx": 0.1447114747272063,
"dy": 0.01769283325292688,
"dyaw": 0.00016218339665741155
},
... |
bvn | main | 444a73ffc1f9bb74 | Move forward to attempt to find the red-and-white shelf, and then turn front-right to seek for the silver fire extinguisher box and stand in front of it | [
"Move forward to attempt to find the red-and-white shelf, and then turn front-right to seek for the silver fire extinguisher box and stand in front of it"
] | beyond_the_view_navigation | train | images/46fd63e3ba756f84 | images/46fd63e3ba756f84/rgb | 152 | 152 | [
{
"dx": 0.07048625279834284,
"dy": 0.002406606421606554,
"dyaw": -0.00251327886463093
},
{
"dx": 0.09154447206464295,
"dy": 0.009121659324752306,
"dyaw": -0.001048178705318925
},
{
"dx": 0.07565312447363709,
"dy": 0.01797104609828871,
"dyaw": -0.002452183509944472
},
... |
bvn | main | b800b777603b9196 | Go straight till you reach the car ahead, and then seek for a standing sign and halt by it | [
"Go straight till you reach the car ahead, and then seek for a standing sign and halt by it"
] | beyond_the_view_navigation | train | images/2ae02e1dbfa7ef29 | images/2ae02e1dbfa7ef29/rgb | 175 | 175 | [
{
"dx": 0.19004973570231892,
"dy": 0.05050758990077518,
"dyaw": -0.003189786295478836
},
{
"dx": 0.18080083463394042,
"dy": 0.011385693709211053,
"dyaw": -0.0008900448265016792
},
{
"dx": 0.1521913058632525,
"dy": 0.029499078302074287,
"dyaw": -0.0016046151032536038
},
... |
bvn | main | e65980609d901ffc | Move forward to attempt to locate a silver transparent cabinet and stand nearby | [
"Move forward to attempt to locate a silver transparent cabinet and stand nearby"
] | beyond_the_view_navigation | train | images/cddb45dfb8aa828d | images/cddb45dfb8aa828d/rgb | 157 | 157 | [
{
"dx": 0.10861055517053038,
"dy": -0.000382532426614555,
"dyaw": -0.0006404179964687451
},
{
"dx": 0.09152353211911246,
"dy": -0.033071491217858726,
"dyaw": 0.003470455649505766
},
{
"dx": 0.08480620277900618,
"dy": -0.03824690295628605,
"dyaw": 0.006193858903131844
},... |
bvn | main | 7f0832ad6ddff7ff | Seek for an indication board straight ahead till you see it and halt by it | [
"Seek for an indication board straight ahead till you see it and halt by it"
] | beyond_the_view_navigation | train | images/48d29ae381785d48 | images/48d29ae381785d48/rgb | 160 | 160 | [
{
"dx": 0.21238209751714604,
"dy": 0.008612266491996132,
"dyaw": 0.00200612845139414
},
{
"dx": -0.0060724383330443416,
"dy": 0.10881420307456335,
"dyaw": -0.013560943151457394
},
{
"dx": 0.14709448695597757,
"dy": 0.028294049251799264,
"dyaw": 0.0005333269152587583
},
... |
bvn | main | b39745bcb2fc88d3 | Move forward to attempt to find the corridor, then turn right to go straight till you can see the black sofa and stand in front of it | [
"Move forward to attempt to find the corridor, then turn right to go straight till you can see the black sofa and stand in front of it"
] | beyond_the_view_navigation | train | images/08191ee6b616fcf2 | images/08191ee6b616fcf2/rgb | 129 | 129 | [
{
"dx": 0.11375918341173792,
"dy": 0.004553671193263128,
"dyaw": 0.0015492005546384746
},
{
"dx": 0.14721821334172652,
"dy": 0.016285916561844978,
"dyaw": 0.0016440053592101656
},
{
"dx": 0.12744970703782638,
"dy": 0.03865129002114165,
"dyaw": -0.002548155473335978
},
... |
bvn | main | f2464e6fd1158358 | Move forward to attempt to find the billboard, and then turn left to move forward to attempt to find the railing and halt nearby | [
"Move forward to attempt to find the billboard, and then turn left to move forward to attempt to find the railing and halt nearby"
] | beyond_the_view_navigation | train | images/6591bae79aad7acd | images/6591bae79aad7acd/rgb | 141 | 141 | [
{
"dx": 0.10809706304614394,
"dy": 0.026118287883004507,
"dyaw": -0.002870705861531153
},
{
"dx": 0.10218542947145565,
"dy": 0.02237009511475064,
"dyaw": -0.003606684366202817
},
{
"dx": 0.06305453128705367,
"dy": -0.02781253677269497,
"dyaw": 0.0011493171266283575
},
... |
bvn | main | c89020cab5105018 | Move forward to attempt to find the chair, and then step along to seek for the fire cabinet and stand in front of it | [
"Move forward to attempt to find the chair, and then step along to seek for the fire cabinet and stand in front of it"
] | beyond_the_view_navigation | train | images/0029bb1cd17e4c03 | images/0029bb1cd17e4c03/rgb | 134 | 134 | [
{
"dx": 0.020562755037760536,
"dy": 0.015089630466919815,
"dyaw": -0.003209794316377579
},
{
"dx": 0.12010437222139074,
"dy": 0.007557594674810807,
"dyaw": 0.0005619468740829525
},
{
"dx": 0.09243562060378388,
"dy": 0.032599197204556916,
"dyaw": -0.002133877459570943
},... |
bvn | main | 6e274c9261efcefb | Move forward to the silver cabinet, and then turn left to go straight to seek for the fire extinguisher box and stand in front of it | [
"Move forward to the silver cabinet, and then turn left to go straight to seek for the fire extinguisher box and stand in front of it"
] | beyond_the_view_navigation | train | images/33ad8bf4bdd1e029 | images/33ad8bf4bdd1e029/rgb | 149 | 149 | [
{
"dx": 0.13760439482175735,
"dy": 0.007489973075644515,
"dyaw": -0.00008900150351109914
},
{
"dx": 0.16973082106564336,
"dy": 0.007635977110057715,
"dyaw": 0.0017242810483377724
},
{
"dx": 0.16167503735604302,
"dy": 0.025345800499938065,
"dyaw": -0.0013225265379679385
... |
bvn | main | 52600b7d813a9db0 | Move forward to attempt to find the white air conditioner, and then turn right to move straight to a metal object and stand in front of it | [
"Move forward to attempt to find the white air conditioner, and then turn right to move straight to a metal object and stand in front of it"
] | beyond_the_view_navigation | train | images/68b0d468673e3377 | images/68b0d468673e3377/rgb | 159 | 159 | [
{
"dx": 0.11512261202110645,
"dy": 0.001016467694934806,
"dyaw": 0.0007700511732431359
},
{
"dx": 0.12987924230422354,
"dy": 0.03142850041940664,
"dyaw": -0.0017475769408372699
},
{
"dx": 0.08051412157973395,
"dy": 0.033576464535074235,
"dyaw": -0.0038507005321912757
},... |
bvn | main | 001f5cb50baef348 | Move forward to attempt to locate the blue bicycle in front, and then turn left to try to find the white bicycle and halt nearby it | [
"Move forward to attempt to locate the blue bicycle in front, and then turn left to try to find the white bicycle and halt nearby it"
] | beyond_the_view_navigation | train | images/298b9f4202277ba4 | images/298b9f4202277ba4/rgb | 163 | 163 | [
{
"dx": 0.19519887800320557,
"dy": 0.0212664269386829,
"dyaw": -0.00011071545635221725
},
{
"dx": 0.14408521742128402,
"dy": 0.07328424029410183,
"dyaw": -0.0024578044049432535
},
{
"dx": 0.21852461744989332,
"dy": -0.03235680287723616,
"dyaw": -0.0025841243299051797
},... |
bvn | main | 970dad87e9dad562 | Go straight till you can see a spacious area, and then attempt to locate the fire cabinet, walk to it and wait there | [
"Go straight till you can see a spacious area, and then attempt to locate the fire cabinet, walk to it and wait there"
] | beyond_the_view_navigation | train | images/a96d753f5c02388a | images/a96d753f5c02388a/rgb | 144 | 144 | [
{
"dx": 0.09200800912568924,
"dy": 0.013401661014902852,
"dyaw": -0.0009245995284294928
},
{
"dx": 0.10520507245618818,
"dy": 0.0035279677169127513,
"dyaw": 0.001419491258939587
},
{
"dx": 0.08509774040165524,
"dy": 0.01853851810591976,
"dyaw": -0.0035799495916166713
},... |
bvn | main | a611a25adab49b73 | Move forward to attempt to find the white sculpture, and then turn left to move towards the white trash can and stand nearby | [
"Move forward to attempt to find the white sculpture, and then turn left to move towards the white trash can and stand nearby"
] | beyond_the_view_navigation | train | images/ce5e827aca938787 | images/ce5e827aca938787/rgb | 155 | 155 | [
{
"dx": 0.14454066464368542,
"dy": 0.014668685396469164,
"dyaw": -0.0004279019925581551
},
{
"dx": 0.13161427402805942,
"dy": 0.01586120603545233,
"dyaw": -0.0005720946546303729
},
{
"dx": 0.12314055806025553,
"dy": 0.017198873859002033,
"dyaw": -0.002215997298669059
},... |
bvn | main | 1040dcbc1c8e99a6 | March to the pillar, and then attempt to look for the red cloth and stop by it | [
"March to the pillar, and then attempt to look for the red cloth and stop by it"
] | beyond_the_view_navigation | train | images/dcad2eef782a7dab | images/dcad2eef782a7dab/rgb | 153 | 153 | [
{
"dx": 0.09675415616535363,
"dy": 0.03650240454400251,
"dyaw": -0.0022092451812980585
},
{
"dx": 0.08220494037491627,
"dy": 0.0426739500944803,
"dyaw": -0.0033346903553366225
},
{
"dx": 0.12246220857950707,
"dy": 0.03580976840068534,
"dyaw": -0.0014418726025202666
},
... |
bvn | main | ee4e5a799f1f24b9 | Step ahead to look for the fire hydrant and stop by it | [
"Step ahead to look for the fire hydrant and stop by it"
] | beyond_the_view_navigation | train | images/03d8fb62aea39c3c | images/03d8fb62aea39c3c/rgb | 144 | 144 | [
{
"dx": 0.14326254482917977,
"dy": -0.012220633324530043,
"dyaw": -0.0004500543468743956
},
{
"dx": 0.1105871467951037,
"dy": 0.0013715466096498388,
"dyaw": -0.001296635059107043
},
{
"dx": 0.07196859432303639,
"dy": -0.00640734799531692,
"dyaw": 0.0004441887790251897
}... |
bvn | main | f59dc47b57116485 | Go straight till you can see the billboard, and then attempt to look for the display screen and halt by it | [
"Go straight till you can see the billboard, and then attempt to look for the display screen and halt by it"
] | beyond_the_view_navigation | train | images/54f7095a44ec2378 | images/54f7095a44ec2378/rgb | 132 | 132 | [
{
"dx": 0.05664536377231826,
"dy": 0.027001529874823058,
"dyaw": -0.0002579900113817146
},
{
"dx": 0.04625861132166261,
"dy": 0.0023240405669552495,
"dyaw": 0.0005969290905434299
},
{
"dx": 0.10517648054606582,
"dy": -0.003937473548245448,
"dyaw": 0.001436263472588628
}... |
bvn | main | a038edfcbcd2c364 | You need to go straight forward to look for the bicycle, and then stand in front of it and halt | [
"You need to go straight forward to look for the bicycle, and then stand in front of it and halt"
] | beyond_the_view_navigation | train | images/ac85e15cc4dcf728 | images/ac85e15cc4dcf728/rgb | 151 | 151 | [
{
"dx": 0.3476673690671384,
"dy": 0.027706014664460543,
"dyaw": -0.0015884459098458592
},
{
"dx": 0.23388720446921166,
"dy": 0.09568794852053704,
"dyaw": -0.0021431509579228347
},
{
"dx": 0.2566418557673685,
"dy": 0.07702234061563046,
"dyaw": -0.0009162836520428819
},
... |
bvn | main | 4708f3b08e6e5e7d | Move forward to seek for a white pot with green plants and stand near it | [
"Move forward to seek for a white pot with green plants and stand near it"
] | beyond_the_view_navigation | train | images/1d3184e8c0bb26bf | images/1d3184e8c0bb26bf/rgb | 133 | 133 | [
{
"dx": 0.11123661653015837,
"dy": 0.006635463573973503,
"dyaw": -0.0013732480509984768
},
{
"dx": 0.12660011756253794,
"dy": 0.014317543153528081,
"dyaw": -0.0006458078913929022
},
{
"dx": 0.11228376902674952,
"dy": 0.032486560355703756,
"dyaw": -0.002794473942652864
}... |
bvn | main | ace0f208e5e0c6b1 | Move forward to the corridor to go straight through it, and then turn left to go straight till you can attempt to locate the blue standing sign and stand in front of it | [
"Move forward to the corridor to go straight through it, and then turn left to go straight till you can attempt to locate the blue standing sign and stand in front of it"
] | beyond_the_view_navigation | train | images/93e489fa6fa45ab7 | images/93e489fa6fa45ab7/rgb | 157 | 157 | [
{
"dx": 0.12223819691626439,
"dy": 0.011983495373706424,
"dyaw": -0.00034428412827747223
},
{
"dx": 0.10454443650377501,
"dy": 0.015489162727802382,
"dyaw": -0.0020656337448112794
},
{
"dx": 0.08576278418549717,
"dy": 0.03761055823198227,
"dyaw": -0.00915846177002999
},... |
bvn | main | 4f12872bf25e84a3 | Move forward to the pillar, and then turn left to seek for the poster and halt nearby | [
"Move forward to the pillar, and then turn left to seek for the poster and halt nearby"
] | beyond_the_view_navigation | train | images/d0d5aaad959b6b67 | images/d0d5aaad959b6b67/rgb | 150 | 150 | [
{
"dx": 0.16096984305206738,
"dy": 0.00900047703270726,
"dyaw": -0.0012899559864791854
},
{
"dx": 0.21059818270904873,
"dy": 0.07766919412220265,
"dyaw": -0.0003490498819256338
},
{
"dx": 0.13302717573255468,
"dy": 0.04995113140250672,
"dyaw": -0.003992930290749097
},
... |
bvn | main | 71f114d7f2ee34e8 | You need to attempt to seek for a railing while moving forward, and once you are there, halt by it | [
"You need to attempt to seek for a railing while moving forward, and once you are there, halt by it"
] | beyond_the_view_navigation | train | images/86dda09a2b0a659f | images/86dda09a2b0a659f/rgb | 110 | 110 | [
{
"dx": 0.23813986871691503,
"dy": 0.04205682415909555,
"dyaw": -0.006489309641295904
},
{
"dx": 0.0887279642294331,
"dy": 0.03047321890115079,
"dyaw": -0.004720493561465755
},
{
"dx": 0.15208850622758976,
"dy": 0.0050228657242629565,
"dyaw": -0.00815635752821553
},
{... |
bvn | main | 11e02a3a6a7705bb | Move forward to the wall, and then attempt to locate a gray pillar, and then turn right to walk toward the pillar and halt nearby | [
"Move forward to the wall, and then attempt to locate a gray pillar, and then turn right to walk toward the pillar and halt nearby"
] | beyond_the_view_navigation | train | images/f37bef7831e2fd9a | images/f37bef7831e2fd9a/rgb | 122 | 122 | [
{
"dx": 0.10000620185524992,
"dy": 0.01728512563780167,
"dyaw": -0.00030838400152166656
},
{
"dx": 0.02038783694163187,
"dy": 0.06824485832933075,
"dyaw": -0.002492528995660326
},
{
"dx": 0.07532047529907851,
"dy": -0.03994425520546695,
"dyaw": 0.0052645038571617064
},
... |
bvn | main | 3e5ce12c9791ad7e | You need to attempt to locate the outdoor air conditioner unit, and then go straight to get near it and stop | [
"You need to attempt to locate the outdoor air conditioner unit, and then go straight to get near it and stop"
] | beyond_the_view_navigation | train | images/d011880206334fdf | images/d011880206334fdf/rgb | 186 | 186 | [
{
"dx": 0.13951877574905908,
"dy": -0.02126405846878565,
"dyaw": 0.003277374209067929
},
{
"dx": 0.11724991153519038,
"dy": -0.04226778588461625,
"dyaw": 0.007143366734993606
},
{
"dx": 0.14920579503009163,
"dy": -0.009221203222184685,
"dyaw": 0.005775472629196088
},
... |
bvn | main | 0d29c710db738cc9 | Move straight to attempt to find the billboard, and then turn right to step along to seek the chair and stand in front of it | [
"Move straight to attempt to find the billboard, and then turn right to step along to seek the chair and stand in front of it"
] | beyond_the_view_navigation | train | images/bb0d42a4d57a08f3 | images/bb0d42a4d57a08f3/rgb | 162 | 162 | [
{
"dx": 0.05474426833466051,
"dy": 0.015699916142251562,
"dyaw": -0.00008678080325985604
},
{
"dx": 0.04582869373840226,
"dy": 0.030551623992140835,
"dyaw": -0.0012569956032533192
},
{
"dx": 0.026215588221414617,
"dy": 0.00830107080207627,
"dyaw": -0.003309554097836287
... |
bvn | main | e20ccffd76a2684e | Move forward to attempt to find a white pot with green plants, then go toward it and halt nearby | [
"Move forward to attempt to find a white pot with green plants, then go toward it and halt nearby"
] | beyond_the_view_navigation | train | images/d93ad4142156191b | images/d93ad4142156191b/rgb | 144 | 144 | [
{
"dx": 0.0645909483787487,
"dy": -0.007164895768283785,
"dyaw": -0.00003262117465974157
},
{
"dx": 0.08914388844617258,
"dy": 0.008245233765923003,
"dyaw": 0.00000515440543891188
},
{
"dx": 0.08589712890105969,
"dy": 0.007471198185585927,
"dyaw": 0.0009230350935811593
... |
bvn | main | 3e9a6e8163b9f76e | Step along to go straight, and then turn left to move forward to attempt to locate the trash bin and halt nearby | [
"Step along to go straight, and then turn left to move forward to attempt to locate the trash bin and halt nearby"
] | beyond_the_view_navigation | train | images/048b40b4b184c660 | images/048b40b4b184c660/rgb | 158 | 158 | [
{
"dx": 0.0641788828164197,
"dy": 0.008838782532044981,
"dyaw": -0.001928302853809516
},
{
"dx": 0.16347198675249736,
"dy": -0.03354548939327309,
"dyaw": 0.00011121603900887678
},
{
"dx": 0.11888892191791306,
"dy": 0.03346614653321439,
"dyaw": -0.0026444743162037376
},
... |
bvn | main | 99c77bdd8d990319 | Go straight till you can see the end of the intersection, and then attempt to seek for a trash bin, move to the trash bin and halt by it | [
"Go straight till you can see the end of the intersection, and then attempt to seek for a trash bin, move to the trash bin and halt by it"
] | beyond_the_view_navigation | train | images/a6c975efd652350f | images/a6c975efd652350f/rgb | 147 | 147 | [
{
"dx": 0.059003974475178224,
"dy": 0.04525752956203945,
"dyaw": -0.0015129767256651938
},
{
"dx": 0.11413579083859975,
"dy": 0.028305950433590833,
"dyaw": -0.0015817229298003
},
{
"dx": 0.15658727575566925,
"dy": 0.024773641676028423,
"dyaw": -0.003520862577847783
},
... |
bvn | main | fcd53b4423522952 | Move forward through the corridor, and then turn right to step along in search of a black bicycle and halt nearby | [
"Move forward through the corridor, and then turn right to step along in search of a black bicycle and halt nearby"
] | beyond_the_view_navigation | train | images/b371440368e8fc9e | images/b371440368e8fc9e/rgb | 112 | 112 | [
{
"dx": 0.09107463090943885,
"dy": -0.0013426030703355928,
"dyaw": -0.0052715457622425355
},
{
"dx": 0.1330740688582346,
"dy": 0.04006194629945475,
"dyaw": -0.0025560633651289244
},
{
"dx": 0.08541012693139961,
"dy": 0.020626505265795146,
"dyaw": -0.003349147103086647
}... |
bvn | main | 919987ad20e091a9 | Move forward to attempt to locate the area near the wall, and then turn left to step along to find the area near the chair and stand in front of it | [
"Move forward to attempt to locate the area near the wall, and then turn left to step along to find the area near the chair and stand in front of it"
] | beyond_the_view_navigation | train | images/e0fcfcef07a71284 | images/e0fcfcef07a71284/rgb | 144 | 144 | [
{
"dx": 0.22137550481100604,
"dy": -0.01375524655432643,
"dyaw": -0.0006124331893162527
},
{
"dx": 0.15390714173018427,
"dy": -0.021602955503981183,
"dyaw": -0.00021983474184850138
},
{
"dx": 0.1811921641398878,
"dy": -0.02057666948247265,
"dyaw": -0.0009565268102154079
... |
bvn | main | 24d3bd2a117c88e1 | March straight across the grey stairs, and then attempt to locate a brown table and halt by it | [
"March straight across the grey stairs, and then attempt to locate a brown table and halt by it"
] | beyond_the_view_navigation | train | images/e9ceae04b8bd2612 | images/e9ceae04b8bd2612/rgb | 164 | 164 | [
{
"dx": 0.11257346758996287,
"dy": 0.015619264558165875,
"dyaw": 0.0011829589522802664
},
{
"dx": 0.14115788697919776,
"dy": 0.01261145152193048,
"dyaw": 0.001627045151294304
},
{
"dx": 0.1599931286565952,
"dy": 0.03424089147305116,
"dyaw": -0.000539573436917351
},
{
... |
bvn | main | 65232694e67ccfcc | Attempt to seek for chairs, and once you see chairs, move toward them and wait there | [
"Attempt to seek for chairs, and once you see chairs, move toward them and wait there"
] | beyond_the_view_navigation | train | images/96654bda5e973519 | images/96654bda5e973519/rgb | 149 | 149 | [
{
"dx": 0.27066490038070035,
"dy": -0.0004820842705030026,
"dyaw": -0.0009372372883844626
},
{
"dx": -0.01534538772588519,
"dy": 0.027035750464847505,
"dyaw": 0.00021829364401160234
},
{
"dx": -0.006614563407708687,
"dy": 0.05561859157674452,
"dyaw": -0.00403511665458689
... |
bvn | main | cf418627765ed14a | Move forward to attempt to locate the black cabinet and stand in front of it | [
"Move forward to attempt to locate the black cabinet and stand in front of it"
] | beyond_the_view_navigation | train | images/5f302b9a2bab23c7 | images/5f302b9a2bab23c7/rgb | 160 | 160 | [
{
"dx": 0.2095910424640938,
"dy": 0.030038292241846398,
"dyaw": -0.0006090713216537758
},
{
"dx": 0.10018984977947061,
"dy": -0.0007627040751991298,
"dyaw": 0.00008089417099377272
},
{
"dx": 0.12949721465755137,
"dy": 0.034768875293280974,
"dyaw": -0.0005058358266043506
... |
bvn | main | 745e10c0cd8ea22c | You need to go forward till you locate the first blue iron bench, and then keep seeking for the second blue iron bench and stop in front of the final bench | [
"You need to go forward till you locate the first blue iron bench, and then keep seeking for the second blue iron bench and stop in front of the final bench"
] | beyond_the_view_navigation | train | images/a009a739959dd576 | images/a009a739959dd576/rgb | 133 | 133 | [
{
"dx": 0.17995240094044124,
"dy": 0.04023305795939366,
"dyaw": -0.0013587735444611226
},
{
"dx": 0.1211449871300239,
"dy": 0.03775112943625184,
"dyaw": -0.0007373101532373028
},
{
"dx": 0.11035711312282478,
"dy": 0.00021402943610806385,
"dyaw": -0.0010184096904333195
}... |
bvn | main | 452a7a4eea74b973 | Please try to go straight to look for a display screen and finally stop in front of it | [
"Please try to go straight to look for a display screen and finally stop in front of it"
] | beyond_the_view_navigation | train | images/d64ef7bac88c176b | images/d64ef7bac88c176b/rgb | 105 | 105 | [
{
"dx": 0.09827967235933335,
"dy": 0.02697357442967007,
"dyaw": -0.001680310258199036
},
{
"dx": 0.10824268394046135,
"dy": -0.004677385857429692,
"dyaw": 0.00020217423860557915
},
{
"dx": 0.11829539303548924,
"dy": 0.06285237368828483,
"dyaw": -0.01052120869546469
},
... |
bvn | main | b4a777d98cdd03d9 | Move forward to attempt to find the white column, and then turn right to step along to seek the red bag and halt nearby | [
"Move forward to attempt to find the white column, and then turn right to step along to seek the red bag and halt nearby"
] | beyond_the_view_navigation | train | images/0679c7b5a32c9dc0 | images/0679c7b5a32c9dc0/rgb | 144 | 144 | [
{
"dx": 0.07919589804168921,
"dy": -0.022336860698293583,
"dyaw": -0.0003180835508880264
},
{
"dx": 0.09168060434959657,
"dy": -0.004907595886179509,
"dyaw": -0.00016155496101788458
},
{
"dx": 0.12580537268585598,
"dy": -0.0010945431328081255,
"dyaw": -0.00267764553198279... |
bvn | main | dbaa255bb7d37f88 | Move forward to the grass, and then attempt to locate an electrical box, and finally proceed to it and stand in front of it | [
"Move forward to the grass, and then attempt to locate an electrical box, and finally proceed to it and stand in front of it"
] | beyond_the_view_navigation | train | images/384c81de056eabd3 | images/384c81de056eabd3/rgb | 140 | 140 | [
{
"dx": 0.04504394956123929,
"dy": 0.004614291149904286,
"dyaw": -0.0021818666808917087
},
{
"dx": 0.10520960997869266,
"dy": -0.01973453753456742,
"dyaw": 0.0009776372878946837
},
{
"dx": 0.12566771321464465,
"dy": 0.02407321181369152,
"dyaw": -0.002054235441504737
},
... |
bvn | main | cc2e88186fb71947 | Move forward to attempt to find the shop named Peilin by passing it, and then seek for the brand logo of the shop and halt nearby | [
"Move forward to attempt to find the shop named Peilin by passing it, and then seek for the brand logo of the shop and halt nearby"
] | beyond_the_view_navigation | train | images/b2c19435ff3bc92d | images/b2c19435ff3bc92d/rgb | 119 | 119 | [
{
"dx": 0.17086434003322631,
"dy": 0.004174971455230873,
"dyaw": 0.00016391756323530515
},
{
"dx": 0.15628825011738082,
"dy": 0.013961609966448189,
"dyaw": -0.001209297659745534
},
{
"dx": 0.1735760945193928,
"dy": -0.02838907613766952,
"dyaw": 0.0012265837782909905
},
... |
bvn | main | 6c1731540c2af534 | Look for the electronic display screen, march to its vicinity and stop by it | [
"Look for the electronic display screen, march to its vicinity and stop by it"
] | beyond_the_view_navigation | train | images/560e4b7c91337b6f | images/560e4b7c91337b6f/rgb | 145 | 145 | [
{
"dx": 0.10996239345416389,
"dy": -0.015229504204370498,
"dyaw": 0.0006557273545295672
},
{
"dx": 0.07881666447889958,
"dy": 0.015244069333600044,
"dyaw": 0.0019279506576985739
},
{
"dx": 0.14025511338182445,
"dy": 0.02258634341660757,
"dyaw": -0.0008785295161337636
},... |
bvn | main | 82f63adc3b21c6d3 | Move forward to attempt to locate a car, walk toward it and stand in front of it | [
"Move forward to attempt to locate a car, walk toward it and stand in front of it"
] | beyond_the_view_navigation | train | images/def29df408ba1c06 | images/def29df408ba1c06/rgb | 158 | 158 | [
{
"dx": 0.23800808021562905,
"dy": 0.01664614139891757,
"dyaw": 0.0038443298127761594
},
{
"dx": 0.11072311975244088,
"dy": -0.07640558744501952,
"dyaw": 0.005270353477115908
},
{
"dx": 0.13710487520036646,
"dy": -0.02087013396309156,
"dyaw": 0.0022227798554701472
},
... |
bvn | main | dfdef20fa7b26ff7 | Seek forward to find a pillar, and then march to it and stop by it | [
"Seek forward to find a pillar, and then march to it and stop by it"
] | beyond_the_view_navigation | train | images/16160e2a574d93bf | images/16160e2a574d93bf/rgb | 153 | 153 | [
{
"dx": 0.1711053942271559,
"dy": 0.024524622079477726,
"dyaw": -0.0011283726416340123
},
{
"dx": 0.09467921737147762,
"dy": 0.010773687501551608,
"dyaw": 0.00047666779943877913
},
{
"dx": 0.11023508221498754,
"dy": 0.020704490320922874,
"dyaw": 0.0005442452094865935
},... |
bvn | main | b9805f1e49bd3e8f | Move forward to attempt to find the sign, and then look for the cabinet and stand in front of it | [
"Move forward to attempt to find the sign, and then look for the cabinet and stand in front of it"
] | beyond_the_view_navigation | train | images/07d47a12788b8028 | images/07d47a12788b8028/rgb | 134 | 134 | [
{
"dx": 0.13183860364893707,
"dy": 0.013887955211013353,
"dyaw": -0.0010512910741429238
},
{
"dx": 0.16004573333622094,
"dy": 0.027513296026745064,
"dyaw": 0.0012593440777988185
},
{
"dx": 0.16635417699265143,
"dy": 0.05702660128241144,
"dyaw": -0.001058397432581959
},
... |
bvn | main | ec32cbb19ea83aa0 | You need to go forward to seek for a black table, and then walk over to it and stop | [
"You need to go forward to seek for a black table, and then walk over to it and stop"
] | beyond_the_view_navigation | train | images/9179fe53aa132e26 | images/9179fe53aa132e26/rgb | 129 | 129 | [
{
"dx": 0.13929759477889916,
"dy": 0.027131819322982757,
"dyaw": -0.001327308208459499
},
{
"dx": 0.08710684196735616,
"dy": 0.0006383172998722479,
"dyaw": 0.0017533523717006005
},
{
"dx": 0.06132572427826031,
"dy": 0.0048540891501943195,
"dyaw": -0.0013900477781221277
... |
bvn | main | d779ba16c661eeba | Move forward to pass through the wall on the right, and then turn right to attempt to go straight till you can find the white potted plant and halt nearby | [
"Move forward to pass through the wall on the right, and then turn right to attempt to go straight till you can find the white potted plant and halt nearby"
] | beyond_the_view_navigation | train | images/13f5a6c39dc47ca3 | images/13f5a6c39dc47ca3/rgb | 181 | 181 | [
{
"dx": 0.1257152758489553,
"dy": 0.013671928452164785,
"dyaw": -0.0008775325259082756
},
{
"dx": 0.1348423280461541,
"dy": 0.0711151986404797,
"dyaw": -0.0030741004121903615
},
{
"dx": 0.13890256872424442,
"dy": 0.06540023882835336,
"dyaw": -0.0005849777553081914
},
... |
bvn | main | 8b30cb342f27fea5 | Move forward to attempt to find the trash can and stand in front of it | [
"Move forward to attempt to find the trash can and stand in front of it"
] | beyond_the_view_navigation | train | images/ba967f0c1deefd2c | images/ba967f0c1deefd2c/rgb | 154 | 154 | [
{
"dx": 0.0997321599103553,
"dy": -0.0041797798637703415,
"dyaw": 0.0010525114865127527
},
{
"dx": 0.11301906699412292,
"dy": 0.013450012585659199,
"dyaw": -0.0010207822091961027
},
{
"dx": 0.12680002912169272,
"dy": -0.012713279147279086,
"dyaw": -0.0001820152901745864
... |
bvn | main | 3c85e35ecd6f4c32 | Move forward to attempt to locate a black standing sign with identifying content, and approach it to halt nearby | [
"Move forward to attempt to locate a black standing sign with identifying content, and approach it to halt nearby"
] | beyond_the_view_navigation | train | images/120ed1047d24b722 | images/120ed1047d24b722/rgb | 135 | 135 | [
{
"dx": 0.16420570406118612,
"dy": 0.007198315234732744,
"dyaw": 0.0002121101882557319
},
{
"dx": 0.1270532313885534,
"dy": -0.004596964476376822,
"dyaw": 0.00025988058842019157
},
{
"dx": 0.10387958200285631,
"dy": -0.011116120232273263,
"dyaw": -0.0007036802097610817
... |
bvn | main | 1883b41dbb2e5187 | Move forward to attempt to find the white stone, and then turn right to step along to seek another white stone and stand in front of it | [
"Move forward to attempt to find the white stone, and then turn right to step along to seek another white stone and stand in front of it"
] | beyond_the_view_navigation | train | images/af38b392003b4cd5 | images/af38b392003b4cd5/rgb | 126 | 126 | [
{
"dx": 0.20759778504155643,
"dy": -0.0023697002788327943,
"dyaw": -0.002346049009867457
},
{
"dx": 0.2951972521693349,
"dy": 0.031649908565847276,
"dyaw": -0.002749574933943677
},
{
"dx": 0.11876477223429403,
"dy": 0.10796393998787067,
"dyaw": -0.004731341005336009
},
... |
bvn | main | ce1fb192758d2d34 | Please try to go straight to seek for the red and blue bulletin board and stand near it | [
"Please try to go straight to seek for the red and blue bulletin board and stand near it"
] | beyond_the_view_navigation | train | images/91b06e33db9991c7 | images/91b06e33db9991c7/rgb | 154 | 154 | [
{
"dx": 0.15705272597530587,
"dy": -0.010844187518506868,
"dyaw": -0.0003922412354633309
},
{
"dx": 0.10443467947585089,
"dy": 0.00895591977606186,
"dyaw": 0.0009931661475013343
},
{
"dx": 0.1578703736646687,
"dy": 0.011647639242945165,
"dyaw": -0.0011836694550866333
},... |
bvn | main | 519d20a89ec01a61 | Go straight till you can see the white potted plant, and then look for another white potted plant and halt by it | [
"Go straight till you can see the white potted plant, and then look for another white potted plant and halt by it"
] | beyond_the_view_navigation | train | images/b9c6d2de943863de | images/b9c6d2de943863de/rgb | 161 | 161 | [
{
"dx": 0.13129369659473086,
"dy": -0.013682112860485913,
"dyaw": -0.00204325586954468
},
{
"dx": 0.10697436468722014,
"dy": 0.016524898194029743,
"dyaw": -0.002280001079039806
},
{
"dx": 0.1451634616418132,
"dy": 0.013245218764212183,
"dyaw": -0.0027397016941916874
},
... |
bvn | main | 43cf6c098bd7cb94 | Attempt to look for the statue straight ahead and stop in front of it | [
"Attempt to look for the statue straight ahead and stop in front of it"
] | beyond_the_view_navigation | train | images/330609512db03950 | images/330609512db03950/rgb | 159 | 159 | [
{
"dx": 0.08234638571282077,
"dy": 0.023737873449021202,
"dyaw": 0.0014591436507029876
},
{
"dx": 0.039797766255000866,
"dy": -0.015411778880501537,
"dyaw": 0.0007015483148098411
},
{
"dx": 0.0787588780720515,
"dy": -0.009531943239380735,
"dyaw": -0.0016301554578141975
... |
bvn | main | 9689c77c631dff44 | Move forward to attempt to find the white cabinet ahead and stand in front of it | [
"Move forward to attempt to find the white cabinet ahead and stand in front of it"
] | beyond_the_view_navigation | train | images/6ff995f873c21483 | images/6ff995f873c21483/rgb | 125 | 125 | [
{
"dx": 0.10272387043159721,
"dy": -0.013236124842331817,
"dyaw": -0.00023801530804101745
},
{
"dx": 0.11181828602602362,
"dy": -0.007248003952244023,
"dyaw": 0.000348023619711757
},
{
"dx": 0.17021524430994528,
"dy": 0.0023039418507624435,
"dyaw": 0.0008006774101199099
... |
bvn | main | e4f93d33651f1c6c | Go straight till you can see the square center, and then attempt to seek for the Christmas tree, and walk over there and halt by it | [
"Go straight till you can see the square center, and then attempt to seek for the Christmas tree, and walk over there and halt by it"
] | beyond_the_view_navigation | train | images/dbe9c6ef7d26feba | images/dbe9c6ef7d26feba/rgb | 127 | 127 | [
{
"dx": 0.1174788602455331,
"dy": -0.019358351464577518,
"dyaw": 0.0020034457577025044
},
{
"dx": 0.04814164595493092,
"dy": 0.02295962602425764,
"dyaw": -0.0038110022003068345
},
{
"dx": 0.07289027618672328,
"dy": -0.004857254169651014,
"dyaw": -0.0002809443625761965
}... |
bvn | main | 52cd30269551d441 | Move forward to attempt to find the green bicycle, and then turn right to seek the location of the white landmark building and halt nearby | [
"Move forward to attempt to find the green bicycle, and then turn right to seek the location of the white landmark building and halt nearby"
] | beyond_the_view_navigation | train | images/22fe34ef05e8d34b | images/22fe34ef05e8d34b/rgb | 137 | 137 | [
{
"dx": 0.09562624058502936,
"dy": -0.016525237820819078,
"dyaw": 0.000928434956179558
},
{
"dx": 0.18911787183405168,
"dy": 0.05831392318526301,
"dyaw": -0.0020602311714115196
},
{
"dx": 0.20897041986949383,
"dy": 0.040551667861388356,
"dyaw": 0.00009531411595187222
},... |
bvn | main | 0bf7f7d2ebb95d27 | March to the fork, and then attempt to locate the billboard, and halt nearby | [
"March to the fork, and then attempt to locate the billboard, and halt nearby"
] | beyond_the_view_navigation | train | images/10037010e106a7ce | images/10037010e106a7ce/rgb | 156 | 156 | [
{
"dx": 0.09523804079334076,
"dy": -0.0011221271835739587,
"dyaw": 0.0010379764087602439
},
{
"dx": 0.08052015338355244,
"dy": -0.01331562477021337,
"dyaw": 0.0012319525253867702
},
{
"dx": 0.08733290175783993,
"dy": 0.0079016371282873,
"dyaw": -0.0005793952327737273
},... |
bvn | main | 75d124a2cdb1a8f8 | Look for the yellow chair ahead while moving forward, and stop nearby | [
"Look for the yellow chair ahead while moving forward, and stop nearby"
] | beyond_the_view_navigation | train | images/6a16f2b7de107274 | images/6a16f2b7de107274/rgb | 129 | 129 | [
{
"dx": 0.11433508731190836,
"dy": 0.006841372649501087,
"dyaw": -0.0011950408239749244
},
{
"dx": 0.08192304780762363,
"dy": 0.015262194862257732,
"dyaw": -0.0013155044930437398
},
{
"dx": 0.09334859008115973,
"dy": -0.0019010685767358454,
"dyaw": 0.0002580085180516889
... |
bvn | main | c531a78571a1b774 | Look forward to seek for a decorative item and stand in front of it | [
"Look forward to seek for a decorative item and stand in front of it"
] | beyond_the_view_navigation | train | images/b08eb9782087af93 | images/b08eb9782087af93/rgb | 119 | 119 | [
{
"dx": 0.13241406161139524,
"dy": 0.005920780253154491,
"dyaw": 0.00013679360514329275
},
{
"dx": 0.12443148973891438,
"dy": 0.0042179677080771485,
"dyaw": 0.0000933857662750448
},
{
"dx": 0.07716072796123251,
"dy": 0.030798688257008232,
"dyaw": -0.0008043562019435235
... |
bvn | main | dbf1c0fb45c8abfc | March forward to seek for a sculpture and stop nearby | [
"March forward to seek for a sculpture and stop nearby"
] | beyond_the_view_navigation | train | images/c81d4df0beddf09b | images/c81d4df0beddf09b/rgb | 191 | 191 | [
{
"dx": 0.1620827056959861,
"dy": 0.02350247507040433,
"dyaw": -0.00036585597153671046
},
{
"dx": 0.10038086769492086,
"dy": -0.0060591837853705074,
"dyaw": -0.001201745472390492
},
{
"dx": 0.11947575545024679,
"dy": -0.00036523589143930973,
"dyaw": -0.00307797271538357
... |
bvn | main | f5d7fcb680e5b856 | March to seek for the sculpture, go for it and halt at that location | [
"March to seek for the sculpture, go for it and halt at that location"
] | beyond_the_view_navigation | train | images/5c873b0c30cc9d48 | images/5c873b0c30cc9d48/rgb | 123 | 123 | [
{
"dx": 0.08808994118271515,
"dy": -0.031108371620961514,
"dyaw": -0.0007979974735832229
},
{
"dx": 0.05639837060569644,
"dy": -0.02001146952667507,
"dyaw": -0.00014075167558891266
},
{
"dx": 0.1402444582986619,
"dy": -0.0034238295833571644,
"dyaw": -0.0006318553418283024... |
bvn | main | 96575a416f1ba9b1 | Go to seek for the billboard, and then halt by it | [
"Go to seek for the billboard, and then halt by it"
] | beyond_the_view_navigation | train | images/66bb4b98318ebfed | images/66bb4b98318ebfed/rgb | 125 | 125 | [
{
"dx": 0.21356362538047768,
"dy": 0.007506998935219304,
"dyaw": -0.00015740003582198625
},
{
"dx": 0.14536764799410143,
"dy": -0.0011362165319243472,
"dyaw": 0.0012136712431773944
},
{
"dx": 0.1581965109431262,
"dy": 0.02104935162307174,
"dyaw": -0.000383817027924227
}... |
bvn | main | 75a654e037a7fbe2 | Go straight forward while seeking for the black billboard and wait in front of it | [
"Go straight forward while seeking for the black billboard and wait in front of it"
] | beyond_the_view_navigation | train | images/544a30b9fb17d4ad | images/544a30b9fb17d4ad/rgb | 174 | 174 | [
{
"dx": 0.08620102636428403,
"dy": -0.004719402648231508,
"dyaw": 0.0018010316364525103
},
{
"dx": 0.13749330866821743,
"dy": -0.01390630561485462,
"dyaw": 0.0006307021063012286
},
{
"dx": 0.22982491349273426,
"dy": -0.055696192441160745,
"dyaw": 0.0031197719509710176
}... |
bvn | main | 1df7b23ffebc7923 | Move forward to attempt to find the intersection, and then turn left to step along to the handrail and stand in front of it | [
"Move forward to attempt to find the intersection, and then turn left to step along to the handrail and stand in front of it"
] | beyond_the_view_navigation | train | images/2178d7d57bf9bd6f | images/2178d7d57bf9bd6f/rgb | 152 | 152 | [
{
"dx": 0.10429562996904035,
"dy": 0.020638658833238583,
"dyaw": -0.0002284252261017805
},
{
"dx": 0.17872660774178248,
"dy": -0.023643411687810485,
"dyaw": 0.002235946033752878
},
{
"dx": 0.20905086990608948,
"dy": -0.04305686997504557,
"dyaw": 0.001615834349803169
},
... |
bvn | main | 011afa9501325c7f | Go straight till you can see the potted plant, and then attempt to locate the potted plant and wait there | [
"Go straight till you can see the potted plant, and then attempt to locate the potted plant and wait there"
] | beyond_the_view_navigation | train | images/b6ad7b35a4a95861 | images/b6ad7b35a4a95861/rgb | 171 | 171 | [
{
"dx": 0.12639420064935658,
"dy": 0.03077757997735444,
"dyaw": -0.0030340765708123385
},
{
"dx": 0.07124541171777352,
"dy": -0.011060648157884774,
"dyaw": 0.002577080481583227
},
{
"dx": 0.042846825488084175,
"dy": -0.00493655379480307,
"dyaw": -0.0008499663887544529
}... |
bvn | main | 06f1e29b89378c72 | Move straight to the end of the road, and then attempt to locate the black flower pot, and then walk to the black flower pot and stand in front of it | [
"Move straight to the end of the road, and then attempt to locate the black flower pot, and then walk to the black flower pot and stand in front of it"
] | beyond_the_view_navigation | train | images/fe5893dddf0dc93f | images/fe5893dddf0dc93f/rgb | 168 | 168 | [
{
"dx": 0.16762158508510966,
"dy": -0.007778907988399322,
"dyaw": 0.006749983375778701
},
{
"dx": 0.09689692558792218,
"dy": -0.046709831089827375,
"dyaw": -0.001321462181413935
},
{
"dx": 0.2076446244676219,
"dy": 0.019621552155602715,
"dyaw": 0.0029052674325842354
},
... |
bvn | main | 0dafb0518184202c | March straight to the end of the road, and then attempt to seek for a yellow cart, turn left next, and step along to the black shelf to stop by it | [
"March straight to the end of the road, and then attempt to seek for a yellow cart, turn left next, and step along to the black shelf to stop by it"
] | beyond_the_view_navigation | train | images/4daed9b875830240 | images/4daed9b875830240/rgb | 124 | 124 | [
{
"dx": 0.27638850068513077,
"dy": -0.07159852945954899,
"dyaw": -0.009303900038490909
},
{
"dx": 0.12727644571842514,
"dy": -0.07884771243241004,
"dyaw": 0.030202171994439198
},
{
"dx": 0.133783368061265,
"dy": -0.06014954853271973,
"dyaw": 0.007130066064320761
},
{
... |
bvn | main | c0946aef7fbb086a | Please try to go forward till you get to a table, and then turn left to look for a green cabinet, and then proceed forward, then turn right in front of a cup, and finally go to a table and wait by it | [
"Please try to go forward till you get to a table, and then turn left to look for a green cabinet, and then proceed forward, then turn right in front of a cup, and finally go to a table and wait by it"
] | beyond_the_view_navigation | train | images/ed3cc1ec24b4ad7b | images/ed3cc1ec24b4ad7b/rgb | 131 | 131 | [
{
"dx": 0.10756231809258233,
"dy": 0.0035235655961293535,
"dyaw": 0.000047409999226921684
},
{
"dx": 0.09472572346927628,
"dy": 0.023492632308308767,
"dyaw": 0.00016837026926896925
},
{
"dx": 0.17572846813765425,
"dy": 0.022326118179102752,
"dyaw": 0.00020094874320175649
... |
bvn | main | 26a1945c385525e9 | Move forward to seek for the white shutters ahead, and then turn right to attempt to locate the gray cabinet and stand in front of it | [
"Move forward to seek for the white shutters ahead, and then turn right to attempt to locate the gray cabinet and stand in front of it"
] | beyond_the_view_navigation | train | images/c6b1d47cc785ab9e | images/c6b1d47cc785ab9e/rgb | 151 | 151 | [
{
"dx": 0.24514489354646377,
"dy": 0.009381383256991322,
"dyaw": -0.0004738682260074789
},
{
"dx": 0.08524851178949323,
"dy": 0.027786504878145254,
"dyaw": -0.001066482598323315
},
{
"dx": 0.21808007633998716,
"dy": -0.003981501748141776,
"dyaw": -0.001378577831933736
}... |
bvn | main | 5f2841ad97feda7e | Move forward to seek for the potted plant and halt nearby | [
"Move forward to seek for the potted plant and halt nearby"
] | beyond_the_view_navigation | train | images/634d57195107d305 | images/634d57195107d305/rgb | 149 | 149 | [
{
"dx": 0.11813189515034739,
"dy": 0.017132568450339992,
"dyaw": 0.00036279212095546853
},
{
"dx": 0.11491452765783138,
"dy": -0.015425123435134205,
"dyaw": 0.0013993781849124254
},
{
"dx": 0.10700863384404277,
"dy": -0.0015037966405291089,
"dyaw": 0.002750489400825451
... |
bvn | main | 557f738cdbc1a58b | Move forward to seek for a gray stone pier and halt in front of it | [
"Move forward to seek for a gray stone pier and halt in front of it"
] | beyond_the_view_navigation | train | images/690353e863ff32db | images/690353e863ff32db/rgb | 179 | 179 | [
{
"dx": 0.12342519600066842,
"dy": 0.015574780803218807,
"dyaw": -0.0017711034862215591
},
{
"dx": 0.14313147984558394,
"dy": -0.01416505614424475,
"dyaw": 0.00000636691052413596
},
{
"dx": 0.14976976180081136,
"dy": -0.022208560430958646,
"dyaw": -0.00019002330377082544
... |
bvn | main | d8f36bf1c8a40bd4 | Step forward to seek for the flower pot, and then move toward it and stand in front of it | [
"Step forward to seek for the flower pot, and then move toward it and stand in front of it"
] | beyond_the_view_navigation | train | images/f25578fa4dbdd39c | images/f25578fa4dbdd39c/rgb | 177 | 177 | [
{
"dx": 0.07527673823232563,
"dy": -0.039177353059676366,
"dyaw": 0.002208240196032385
},
{
"dx": 0.1972992615209327,
"dy": 0.03289287457439311,
"dyaw": -0.00196917275878139
},
{
"dx": 0.08724262827298424,
"dy": 0.02117387978941302,
"dyaw": -0.0017008119348167483
},
{... |
bvn | main | 12ed9b00c19e76b3 | Please try to go forward to find a blue cargo cart, and then turn right till you find a silver trash can and stop in front of it | [
"Please try to go forward to find a blue cargo cart, and then turn right till you find a silver trash can and stop in front of it"
] | beyond_the_view_navigation | train | images/a5326cd24ee32fce | images/a5326cd24ee32fce/rgb | 149 | 149 | [
{
"dx": 0.12933495091101035,
"dy": 0.013323125547540494,
"dyaw": 0.00015252194419712595
},
{
"dx": 0.13682056787856248,
"dy": 0.02481420719275273,
"dyaw": -0.000005780615694117586
},
{
"dx": 0.10260182035157808,
"dy": -0.0011157539117005637,
"dyaw": 0.0015955365767288399
... |
bvn | main | 47351cef4438d216 | Seek forward for the red sticker, and then march right beside the red sticker to stop by it | [
"Seek forward for the red sticker, and then march right beside the red sticker to stop by it"
] | beyond_the_view_navigation | train | images/662b3695b1189390 | images/662b3695b1189390/rgb | 149 | 149 | [
{
"dx": 0.0881081076924895,
"dy": -0.02681175627189132,
"dyaw": 0.0011118930050151299
},
{
"dx": 0.09288187184123502,
"dy": -0.003719716380716623,
"dyaw": -0.00012990357819342435
},
{
"dx": 0.09813693361608052,
"dy": -0.02831785162499008,
"dyaw": 0.002360063931038603
},... |
bvn | main | 5ccdb9be84f511e7 | Look for the Christmas tree, go straight till you are near it and stop nearby | [
"Look for the Christmas tree, go straight till you are near it and stop nearby"
] | beyond_the_view_navigation | train | images/ab55158c9b6dcddd | images/ab55158c9b6dcddd/rgb | 118 | 118 | [
{
"dx": 0.11363207776319849,
"dy": -0.010754611551476657,
"dyaw": 0.0003673909725292468
},
{
"dx": 0.10651956332775295,
"dy": -0.0039461608217014645,
"dyaw": 0.00013247366661106597
},
{
"dx": 0.16408515942482677,
"dy": -0.0077687141845436125,
"dyaw": 0.0007230839760175023... |
bvn | main | 062e58452c6c9d4a | Step forward to seek for the blind, and stop by it | [
"Step forward to seek for the blind, and stop by it"
] | beyond_the_view_navigation | train | images/d4ee0e89f4978579 | images/d4ee0e89f4978579/rgb | 159 | 159 | [
{
"dx": 0.07641745650533205,
"dy": -0.06381939776009625,
"dyaw": 0.004476420244515111
},
{
"dx": 0.13695465660979939,
"dy": -0.005602805718434089,
"dyaw": 0.004291326141256935
},
{
"dx": 0.14132849327029565,
"dy": 0.0027492402690937334,
"dyaw": 0.0030049792974380374
},
... |
bvn | main | bc7bd5c4fd3a422c | Attempt to locate the human-shaped statue by moving forward, and then walk to the side of the human-shaped statue and stand in front of it | [
"Attempt to locate the human-shaped statue by moving forward, and then walk to the side of the human-shaped statue and stand in front of it"
] | beyond_the_view_navigation | train | images/5d37bc2d6cb9ed8b | images/5d37bc2d6cb9ed8b/rgb | 162 | 162 | [
{
"dx": 0.06061675473956211,
"dy": -0.006674083153577568,
"dyaw": 0.0010032565393287562
},
{
"dx": 0.1204571050203271,
"dy": 0.015841575513132984,
"dyaw": -0.0013118988922791175
},
{
"dx": 0.1387624383094618,
"dy": -0.03418961740787668,
"dyaw": 0.000490736560331495
},
... |
bvn | main | 4e4b2827a98de87d | Attempt to locate the yellow table, and then move forward until you are near it and stand nearby | [
"Attempt to locate the yellow table, and then move forward until you are near it and stand nearby"
] | beyond_the_view_navigation | train | images/762b81d11a024bf2 | images/762b81d11a024bf2/rgb | 137 | 137 | [
{
"dx": 0.17329684847511773,
"dy": 0.023270352480145196,
"dyaw": 0.0005274233837648801
},
{
"dx": 0.051053096608595416,
"dy": -0.02077507699422583,
"dyaw": 0.00046743230236190314
},
{
"dx": 0.13773529459963146,
"dy": -0.005298980588263315,
"dyaw": 0.0011603646650502064
... |
bvn | main | b8146fc96fc8346b | Move forward to seek for a trash can, and then approach it and halt nearby | [
"Move forward to seek for a trash can, and then approach it and halt nearby"
] | beyond_the_view_navigation | train | images/f88f4194c1e3b9c9 | images/f88f4194c1e3b9c9/rgb | 209 | 209 | [
{
"dx": 0.1391096937908164,
"dy": -0.11012778986475227,
"dyaw": 0.0006165907651940472
},
{
"dx": 0.15993782421805935,
"dy": 0.0921018949955747,
"dyaw": -0.005637206265090455
},
{
"dx": 0.036665205599812116,
"dy": 0.145743381191646,
"dyaw": -0.0023592872027151657
},
{
... |
bvn | main | 4c1e5c93be1ffecd | Move forward to the intersection, and then turn right to move forward to seek for the public notice board and halt nearby | [
"Move forward to the intersection, and then turn right to move forward to seek for the public notice board and halt nearby"
] | beyond_the_view_navigation | train | images/2c9e3fd245815817 | images/2c9e3fd245815817/rgb | 228 | 228 | [
{
"dx": -0.010089798994058218,
"dy": 0.0024428433616530063,
"dyaw": -0.006980535268565902
},
{
"dx": 0.07702238164987102,
"dy": 0.024356962988640193,
"dyaw": 0.00009652059329567919
},
{
"dx": 0.1425897519049135,
"dy": -0.008806963558194693,
"dyaw": -0.0047035297343782645
... |
bvn | main | 56fab9b7059dfb81 | Move forward till you can see the wall, and then turn left to seek for the cabinet and stand in front of it | [
"Move forward till you can see the wall, and then turn left to seek for the cabinet and stand in front of it"
] | beyond_the_view_navigation | train | images/73056b11321afd7d | images/73056b11321afd7d/rgb | 147 | 147 | [
{
"dx": 0.10416399598109052,
"dy": 0.011165491125314533,
"dyaw": -0.00039649790090567905
},
{
"dx": 0.10046648748987497,
"dy": 0.013867768523430229,
"dyaw": -0.0016241502707550204
},
{
"dx": 0.05435625891361855,
"dy": 0.012468974686751004,
"dyaw": -0.0014990866301052286
... |
bvn | main | 3b67fd96d6adda88 | March straight forward until you locate the white cylindrical device to step to it and halt by it | [
"March straight forward until you locate the white cylindrical device to step to it and halt by it"
] | beyond_the_view_navigation | train | images/c5d701124e816ff8 | images/c5d701124e816ff8/rgb | 148 | 148 | [
{
"dx": 0.09026250087602264,
"dy": -0.013248366166256749,
"dyaw": 0.00039144666517643145
},
{
"dx": 0.1289030778773804,
"dy": -0.015335352931096877,
"dyaw": -0.0001624339695927013
},
{
"dx": 0.16471016310487702,
"dy": -0.049465743585015674,
"dyaw": 0.001689873127993291
... |
bvn | main | 71d4169c1918c4a9 | Go straight till you can see the cart, and then move forward to attempt to locate the fire cabinet and wait there | [
"Go straight till you can see the cart, and then move forward to attempt to locate the fire cabinet and wait there"
] | beyond_the_view_navigation | train | images/394f5cedd9898689 | images/394f5cedd9898689/rgb | 147 | 147 | [
{
"dx": 0.19930315694400474,
"dy": 0.04072419732858095,
"dyaw": 0.002514606553507548
},
{
"dx": 0.26055122721744356,
"dy": 0.012042632804820944,
"dyaw": 0.0016291881096344163
},
{
"dx": 0.33877847210981266,
"dy": 0.0596613868980352,
"dyaw": 0.0010829041440629794
},
{
... |
bvn | main | 8b9acb533563863b | Move forward to the bed, and then attempt to locate the storage bag and stand in front of it | [
"Move forward to the bed, and then attempt to locate the storage bag and stand in front of it"
] | beyond_the_view_navigation | train | images/4f18bea7f4c66ce3 | images/4f18bea7f4c66ce3/rgb | 129 | 129 | [
{
"dx": 0.1691470461283685,
"dy": -0.0036206784113944346,
"dyaw": -0.001669538966440065
},
{
"dx": 0.1120196239585208,
"dy": 0.035287338211271876,
"dyaw": -0.0021796085729990367
},
{
"dx": 0.23334936874923146,
"dy": 0.07479820790772494,
"dyaw": -0.005160757718761122
},
... |
bvn | main | 65bf630d1cf38e71 | You need to move forward to seek for a fire cabinet and finally stop in front of it | [
"You need to move forward to seek for a fire cabinet and finally stop in front of it"
] | beyond_the_view_navigation | train | images/a6dcdf07f7f0e511 | images/a6dcdf07f7f0e511/rgb | 128 | 128 | [
{
"dx": 0.13626885562523447,
"dy": 0.010172088767323187,
"dyaw": -0.0014063522966809572
},
{
"dx": 0.10768824649771327,
"dy": -0.0036752067505568323,
"dyaw": -0.0005317021505208963
},
{
"dx": 0.1650002848898876,
"dy": -0.03138612182457269,
"dyaw": 0.0004980495476130109
... |
bvn | main | f8c0fdb21552b833 | You need to go straight to seek for a tree with decorations, and then get to the tree with decorations and finally wait there | [
"You need to go straight to seek for a tree with decorations, and then get to the tree with decorations and finally wait there"
] | beyond_the_view_navigation | train | images/c7ec18c26568cbc8 | images/c7ec18c26568cbc8/rgb | 172 | 172 | [
{
"dx": 0.1848818204945841,
"dy": 0.008873698971790758,
"dyaw": -0.0032725068577481586
},
{
"dx": 0.12984841900314015,
"dy": 0.029681844297978197,
"dyaw": -0.001042171510486689
},
{
"dx": 0.09677209414373467,
"dy": -0.00020096760432879168,
"dyaw": -0.0027809494363979503
... |
bvn | main | 1cd687befc18fe4a | You need to go forward, and then attempt to locate a white and blue sign, and finally stop in front of it | [
"You need to go forward, and then attempt to locate a white and blue sign, and finally stop in front of it"
] | beyond_the_view_navigation | train | images/9894697976d0b3c7 | images/9894697976d0b3c7/rgb | 151 | 151 | [
{
"dx": 0.07506751471836744,
"dy": -0.010248290222957911,
"dyaw": -0.0023974245980213915
},
{
"dx": 0.07660739467746655,
"dy": -0.0154555070435517,
"dyaw": 0.00042462206259985535
},
{
"dx": 0.15770527607172363,
"dy": -0.04640146852864371,
"dyaw": 0.0009453993648356196
}... |
bvn | main | 6f0c17a293d0d0be | Please try to seek for the display wall and then stop nearby | [
"Please try to seek for the display wall and then stop nearby"
] | beyond_the_view_navigation | train | images/e35ebf0a33c4d9de | images/e35ebf0a33c4d9de/rgb | 125 | 125 | [
{
"dx": 0.01944806636918329,
"dy": -0.010037617395287829,
"dyaw": 0.00012887692410412654
},
{
"dx": 0.01206146881513926,
"dy": -0.004373170469799818,
"dyaw": -0.0009348144496001964
},
{
"dx": -0.004420263407333126,
"dy": -0.013651665962344097,
"dyaw": 0.000256382534519428... |
bvn | main | f7ae1cbb1c807327 | Walk forward to the movie theater entrance, turn right and find the portrait of the person and stop. | [
"Walk forward to the movie theater entrance, turn right and find the portrait of the person and stop."
] | beyond_the_view_navigation | train | images/193ef6e635abefb8 | images/193ef6e635abefb8/rgb | 121 | 121 | [
{
"dx": 0.1479931566141228,
"dy": 0.011809944978985807,
"dyaw": 0.0012955201039268616
},
{
"dx": 0.04639079347985887,
"dy": -0.006927831166242054,
"dyaw": -0.00014789626502098585
},
{
"dx": 0.1353967282378165,
"dy": 0.00568280456119215,
"dyaw": -0.0004236943381634717
},... |
bvn | main | 94df469534dda77f | Go straight till you can see the glass gate, and then continue to go straight till you can see the bush, and then turn right to attempt to locate a white vending machine and halt by it | [
"Go straight till you can see the glass gate, and then continue to go straight till you can see the bush, and then turn right to attempt to locate a white vending machine and halt by it"
] | beyond_the_view_navigation | train | images/b123c5860461631e | images/b123c5860461631e/rgb | 123 | 123 | [
{
"dx": 0.1693555392362651,
"dy": 0.0024182135052735407,
"dyaw": 0.0005123669352227189
},
{
"dx": 0.12271894762573246,
"dy": 0.00984605726579911,
"dyaw": -0.0003863970396764671
},
{
"dx": 0.14471464329389325,
"dy": 0.02509143401275328,
"dyaw": -0.0009420000789663874
},
... |
bvn | main | e9009ee550502ff2 | You need to go straight to get to the blue barrel, and then attempt to seek for a white shelf, and finally walk to the white shelf and wait by it | [
"You need to go straight to get to the blue barrel, and then attempt to seek for a white shelf, and finally walk to the white shelf and wait by it"
] | beyond_the_view_navigation | train | images/6e08c6434dcfab2a | images/6e08c6434dcfab2a/rgb | 171 | 171 | [
{
"dx": 0.15334482546138356,
"dy": -0.014214220876836478,
"dyaw": 0.004387851491797878
},
{
"dx": 0.21996701505184058,
"dy": 0.0353336384900743,
"dyaw": 0.0007579477821648695
},
{
"dx": 0.2063686323633529,
"dy": 0.07264363579814127,
"dyaw": -0.001500613206804946
},
{
... |
bvn | main | 800f0160f4553aaf | Go straight to look for the massage chair and then stop nearby | [
"Go straight to look for the massage chair and then stop nearby"
] | beyond_the_view_navigation | train | images/0cb39a23baa774c1 | images/0cb39a23baa774c1/rgb | 157 | 157 | [
{
"dx": 0.2145393109443866,
"dy": -0.04933478964380544,
"dyaw": 0.003228438458508176
},
{
"dx": 0.10321148355231569,
"dy": 0.01360975195359936,
"dyaw": -0.0018574234984845006
},
{
"dx": 0.14500597744138236,
"dy": -0.014448598563208183,
"dyaw": 0.0018985213240720888
},
... |
bvn | main | 303817c3da00b83f | March to the store entrance, and then attempt to seek for the yellow shoes, and then march to get in front of the yellow shoes and stop by them | [
"March to the store entrance, and then attempt to seek for the yellow shoes, and then march to get in front of the yellow shoes and stop by them"
] | beyond_the_view_navigation | train | images/af52c81c648f1c3b | images/af52c81c648f1c3b/rgb | 180 | 180 | [
{
"dx": 0.12333469453536158,
"dy": -0.013924291248419506,
"dyaw": 0.00029069223653932497
},
{
"dx": 0.09854893014459085,
"dy": 0.01974079123462974,
"dyaw": -0.001358081096514141
},
{
"dx": 0.09658109787164598,
"dy": 0.04017894014637455,
"dyaw": -0.0010593032467367536
},... |
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