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Dataset · Robotics

habitat_hssd_pointgoal_nav_scenarios

by Song Jinyan0924/habitat_hssd_pointgoal_nav_scenarios

Image-in, trajectory-out navigation scenarios with 3D ground truth, generated in simulation with Habitat-Sim in the houses of HSSD (Habitat Synthetic Scenes Dataset, Khanna et al. 2023).

Rows53,410
Configurations1
Size41.5 GB
Licensecc-by-nc-4.0
AccessPublicly accessible
Monthly Downloads—

Dataset Card

Image-in, trajectory-out navigation scenarios with 3D ground truth, generated in simulation with Habitat-Sim in the houses of HSSD (Habitat Synthetic Scenes Dataset, Khanna et al. 2023). Same schema and evaluator as the real-robot conversions JRDB); the CODa card documents every column, the coordinate frame, the point and map formats and the evaluation protocol. This set is the large training counterpart of those small real-world test sets. Code: - Input, the past. Rendered forward-camera images (640 x 480, 90° horizontal field of view, 1.2 m above the floor) of the 10 past steps and the current step, the agent's own past positions, and the - Ground truth, the future. The shortest navmesh…

Excerpt from the card by Song, licensed cc-by-nc-4.0.

Structure

hssd_2hz 53,410 rows

SplitRowsSize
train37,46235.5 GB
validation6,0896.3 GB
test9,85910.3 GB
scenario_idstringdatasetstringsequencestringsegmentint32rate_hzfloat32current_time_indexint32timestampslistsource_frameslistworld_from_scenariolistpast_imageslistcameravalueegovaluegoallistfuture_tracksvaluetracks_to_predictlistfuture_lidarvaluestatic_mapImagemap_resolutionfloat32num_tracksint32num_pedestriansint32ego_speedfloat32ego_future_distancefloat32

Details

Repository
Jinyan0924/habitat_hssd_pointgoal_nav_scenarios
Publisher
Song
Task category
Robotics
Tags
navigation, trajectory-prediction, point-goal
Size category
10K<n<100K
Languages
Not stated by the source
Revision
7848428e6672aa6df87f7a7670cf2bdfd7eb1969
Last updated
2026-10-04

Files

401 files, 41.5 GB in total.

Data399 files · 41.5 GB
Documentation1 file · 6.5 KB
Repository1 file · 2.5 KB
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data/hssd_2hz/validation-job00123-00006-of-00008.parquetData113.2 MB596cd6a534c4
data/hssd_2hz/validation-job00123-00007-of-00008.parquetData29.9 MB1058458ff5b3
data/hssd_2hz/validation-job00137-00000-of-00003.parquetData87.2 MB57fc42501b6d
data/hssd_2hz/validation-job00137-00001-of-00003.parquetData87.0 MB3bf3ecae5d0d
data/hssd_2hz/validation-job00137-00002-of-00003.parquetData78.7 MB564c6d0bec86
data/hssd_2hz/validation-job00162-00000-of-00005.parquetData82.4 MBf3601d3ab3c1
data/hssd_2hz/validation-job00162-00001-of-00005.parquetData83.4 MB2299e5a82447
data/hssd_2hz/validation-job00162-00002-of-00005.parquetData81.3 MBe2aa32d9b9b1
data/hssd_2hz/validation-job00162-00003-of-00005.parquetData78.8 MB9b33d5391f5c
data/hssd_2hz/validation-job00162-00004-of-00005.parquetData66.7 MBc4f3eeb33e81
README.mdDocumentation6.5 KB—
.gitattributesRepository2.5 KB—

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