schema_version stringclasses 1
value | id stringlengths 24 24 | query_id stringlengths 24 24 | pair_group_id stringlengths 24 24 | split stringclasses 1
value | scene stringclasses 43
values | household_id stringclasses 43
values | target dict | query_time float64 64.8k 6.9M | history listlengths 1 16 | candidate_states listlengths 5 7 | start dict | navigation_budget dict | task_type stringclasses 5
values | world_variant stringclasses 1
value | success_criteria dict | question stringlengths 0 106 | answer_type stringclasses 8
values | language_goal stringclasses 64
values | generalization_split stringclasses 1
value | goal_constraints dict | analysis_labels null |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
native_v10 | 1dd563c99c1a41ea6655b69b | 5b1f9adce88389044a6fb886 | 5b1f9adce88389044a6fb886 | train | 102343992 | 316519cbc3f8927851167f76 | {
"object_id": "698ccdd0a0f49c546932e4a1",
"category": ""
} | 72,265.911823 | [
{
"timestamp": 28722.8747232556,
"rgb": "observations/rgb/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.png",
"depth": "observations/depth/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.npz",
"camera_pose": {
"position": [
8.7009544373,
... | [
{
"state_id": "8dd02d353385feacb1585113",
"room": "kitchen",
"receptacle_category": "table",
"relation": "on",
"viewpoint": [
14.2057914734,
0.0749998391,
-5.9590005875
],
"inspection_views": [
{
"view_id": "8dd02d353385feacb1585113",
"position": [... | {
"position": [
-2.1407101154,
0.0749998391,
-9.7634124756
],
"rotation_wxyz": [
1,
0,
0,
0
],
"view_id": "048b5754d38d60c0be8ed91c"
} | {
"max_steps": 500,
"max_distance_m": 100,
"max_inspections": 10,
"max_seconds": 3600
} | N4 | unlabeled | {
"requires_visual_identification": true,
"viewpoint_distance_m": 1
} | Find and visually verify the mug, previously observed in the dining room. | temporal | {
"last_observed_room": "dining room",
"requires_visual_verification": true
} | null | ||
native_v10 | 0a7f877fd16521cb9060e9fb | 5b1f9adce88389044a6fb886 | 5b1f9adce88389044a6fb886 | train | 102343992 | 316519cbc3f8927851167f76 | {
"object_id": "698ccdd0a0f49c546932e4a1",
"category": ""
} | 72,265.911823 | [
{
"timestamp": 28722.8747232556,
"rgb": "observations/rgb/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.png",
"depth": "observations/depth/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.npz",
"camera_pose": {
"position": [
8.7009544373,
... | [
{
"state_id": "8dd02d353385feacb1585113",
"room": "kitchen",
"receptacle_category": "table",
"relation": "on",
"viewpoint": [
14.2057914734,
0.0749998391,
-5.9590005875
],
"inspection_views": [
{
"view_id": "8dd02d353385feacb1585113",
"position": [... | {
"position": [
-2.1407101154,
0.0749998391,
-9.7634124756
],
"rotation_wxyz": [
1,
0,
0,
0
],
"view_id": "048b5754d38d60c0be8ed91c"
} | {
"max_steps": 500,
"max_distance_m": 100,
"max_inspections": 10,
"max_seconds": 3600
} | N4 | unlabeled | {
"requires_visual_identification": true,
"viewpoint_distance_m": 1
} | Find and visually verify the mug, previously observed in the dining room. | temporal | {
"last_observed_room": "dining room",
"requires_visual_verification": true
} | null | ||
native_v10 | 256127868b74111effc0c2fa | 5b1f9adce88389044a6fb886 | 5b1f9adce88389044a6fb886 | train | 102343992 | 316519cbc3f8927851167f76 | {
"object_id": "698ccdd0a0f49c546932e4a1",
"category": ""
} | 72,265.911823 | [
{
"timestamp": 28722.8747232556,
"rgb": "observations/rgb/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.png",
"depth": "observations/depth/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.npz",
"camera_pose": {
"position": [
8.7009544373,
... | [
{
"state_id": "8dd02d353385feacb1585113",
"room": "kitchen",
"receptacle_category": "table",
"relation": "on",
"viewpoint": [
14.2057914734,
0.0749998391,
-5.9590005875
],
"inspection_views": [
{
"view_id": "8dd02d353385feacb1585113",
"position": [... | {
"position": [
-2.1407101154,
0.0749998391,
-9.7634124756
],
"rotation_wxyz": [
1,
0,
0,
0
],
"view_id": "048b5754d38d60c0be8ed91c"
} | {
"max_steps": 500,
"max_distance_m": 100,
"max_inspections": 10,
"max_seconds": 3600
} | N4 | unlabeled | {
"requires_visual_identification": true,
"viewpoint_distance_m": 1
} | Find and visually verify the mug, previously observed in the dining room. | temporal | {
"last_observed_room": "dining room",
"requires_visual_verification": true
} | null | ||
native_v10 | b0820bcafbb2d6b7e4d36971 | 5b1f9adce88389044a6fb886 | 5b1f9adce88389044a6fb886 | train | 102343992 | 316519cbc3f8927851167f76 | {
"object_id": "698ccdd0a0f49c546932e4a1",
"category": ""
} | 72,265.911823 | [
{
"timestamp": 28722.8747232556,
"rgb": "observations/rgb/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.png",
"depth": "observations/depth/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.npz",
"camera_pose": {
"position": [
8.7009544373,
... | [
{
"state_id": "8dd02d353385feacb1585113",
"room": "kitchen",
"receptacle_category": "table",
"relation": "on",
"viewpoint": [
14.2057914734,
0.0749998391,
-5.9590005875
],
"inspection_views": [
{
"view_id": "8dd02d353385feacb1585113",
"position": [... | {
"position": [
-2.1407101154,
0.0749998391,
-9.7634124756
],
"rotation_wxyz": [
1,
0,
0,
0
],
"view_id": "048b5754d38d60c0be8ed91c"
} | {
"max_steps": 500,
"max_distance_m": 100,
"max_inspections": 10,
"max_seconds": 3600
} | N4 | unlabeled | {
"requires_visual_identification": true,
"viewpoint_distance_m": 1
} | Find and visually verify the mug, previously observed in the dining room. | temporal | {
"last_observed_room": "dining room",
"requires_visual_verification": true
} | null | ||
native_v10 | 51c0d944866ee1316521f16b | 02d6885ac4fb024d2a51a639 | 02d6885ac4fb024d2a51a639 | train | 102343992 | 316519cbc3f8927851167f76 | {
"object_id": "698ccdd0a0f49c546932e4a1",
"category": "mug"
} | 68,942.936514 | [
{
"timestamp": 28722.8747232556,
"rgb": "observations/rgb/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.png",
"depth": "observations/depth/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.npz",
"camera_pose": {
"position": [
8.7009544373,
... | [
{
"state_id": "8dd02d353385feacb1585113",
"room": "kitchen",
"receptacle_category": "table",
"relation": "on",
"viewpoint": [
14.2057914734,
0.0749998391,
-5.9590005875
],
"inspection_views": [
{
"view_id": "8dd02d353385feacb1585113",
"position": [... | {
"position": [
-2.1407101154,
0.0749998391,
-9.7634124756
],
"rotation_wxyz": [
1,
0,
0,
0
],
"view_id": "048b5754d38d60c0be8ed91c"
} | {
"max_steps": 500,
"max_distance_m": 100,
"max_inspections": 10,
"max_seconds": 3600
} | EQA | unlabeled | {
"requires_visual_identification": true,
"viewpoint_distance_m": 1
} | How many positive observations of the mug are in the provided history? | count | temporal | {
"last_observed_room": "",
"requires_visual_verification": true
} | null | |
native_v10 | a3e09af1af15a51ee7f0da8c | 02d6885ac4fb024d2a51a639 | 02d6885ac4fb024d2a51a639 | train | 102343992 | 316519cbc3f8927851167f76 | {
"object_id": "698ccdd0a0f49c546932e4a1",
"category": "mug"
} | 68,942.936514 | [
{
"timestamp": 28722.8747232556,
"rgb": "observations/rgb/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.png",
"depth": "observations/depth/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.npz",
"camera_pose": {
"position": [
8.7009544373,
... | [
{
"state_id": "8dd02d353385feacb1585113",
"room": "kitchen",
"receptacle_category": "table",
"relation": "on",
"viewpoint": [
14.2057914734,
0.0749998391,
-5.9590005875
],
"inspection_views": [
{
"view_id": "8dd02d353385feacb1585113",
"position": [... | {
"position": [
-2.1407101154,
0.0749998391,
-9.7634124756
],
"rotation_wxyz": [
1,
0,
0,
0
],
"view_id": "048b5754d38d60c0be8ed91c"
} | {
"max_steps": 500,
"max_distance_m": 100,
"max_inspections": 10,
"max_seconds": 3600
} | EQA | unlabeled | {
"requires_visual_identification": true,
"viewpoint_distance_m": 1
} | How many positive observations of the mug are in the provided history? | count | temporal | {
"last_observed_room": "",
"requires_visual_verification": true
} | null | |
native_v10 | 752a063508c9e504aee2606c | 02d6885ac4fb024d2a51a639 | 02d6885ac4fb024d2a51a639 | train | 102343992 | 316519cbc3f8927851167f76 | {
"object_id": "698ccdd0a0f49c546932e4a1",
"category": "mug"
} | 68,942.936514 | [
{
"timestamp": 28722.8747232556,
"rgb": "observations/rgb/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.png",
"depth": "observations/depth/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.npz",
"camera_pose": {
"position": [
8.7009544373,
... | [
{
"state_id": "8dd02d353385feacb1585113",
"room": "kitchen",
"receptacle_category": "table",
"relation": "on",
"viewpoint": [
14.2057914734,
0.0749998391,
-5.9590005875
],
"inspection_views": [
{
"view_id": "8dd02d353385feacb1585113",
"position": [... | {
"position": [
-2.1407101154,
0.0749998391,
-9.7634124756
],
"rotation_wxyz": [
1,
0,
0,
0
],
"view_id": "048b5754d38d60c0be8ed91c"
} | {
"max_steps": 500,
"max_distance_m": 100,
"max_inspections": 10,
"max_seconds": 3600
} | EQA | unlabeled | {
"requires_visual_identification": true,
"viewpoint_distance_m": 1
} | How many positive observations of the mug are in the provided history? | count | temporal | {
"last_observed_room": "",
"requires_visual_verification": true
} | null | |
native_v10 | bb530463d9480849522f361c | 02d6885ac4fb024d2a51a639 | 02d6885ac4fb024d2a51a639 | train | 102343992 | 316519cbc3f8927851167f76 | {
"object_id": "698ccdd0a0f49c546932e4a1",
"category": "mug"
} | 68,942.936514 | [
{
"timestamp": 28722.8747232556,
"rgb": "observations/rgb/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.png",
"depth": "observations/depth/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.npz",
"camera_pose": {
"position": [
8.7009544373,
... | [
{
"state_id": "8dd02d353385feacb1585113",
"room": "kitchen",
"receptacle_category": "table",
"relation": "on",
"viewpoint": [
14.2057914734,
0.0749998391,
-5.9590005875
],
"inspection_views": [
{
"view_id": "8dd02d353385feacb1585113",
"position": [... | {
"position": [
-2.1407101154,
0.0749998391,
-9.7634124756
],
"rotation_wxyz": [
1,
0,
0,
0
],
"view_id": "048b5754d38d60c0be8ed91c"
} | {
"max_steps": 500,
"max_distance_m": 100,
"max_inspections": 10,
"max_seconds": 3600
} | EQA | unlabeled | {
"requires_visual_identification": true,
"viewpoint_distance_m": 1
} | How many positive observations of the mug are in the provided history? | count | temporal | {
"last_observed_room": "",
"requires_visual_verification": true
} | null | |
native_v10 | cfe523721467fca879d01533 | 9ae75e211c74ee039b8b06cc | 9ae75e211c74ee039b8b06cc | train | 102343992 | 316519cbc3f8927851167f76 | {
"object_id": "698ccdd0a0f49c546932e4a1",
"category": "mug"
} | 66,925.553788 | [
{
"timestamp": 28722.8747232556,
"rgb": "observations/rgb/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.png",
"depth": "observations/depth/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.npz",
"camera_pose": {
"position": [
8.7009544373,
... | [
{
"state_id": "8dd02d353385feacb1585113",
"room": "kitchen",
"receptacle_category": "table",
"relation": "on",
"viewpoint": [
14.2057914734,
0.0749998391,
-5.9590005875
],
"inspection_views": [
{
"view_id": "8dd02d353385feacb1585113",
"position": [... | {
"position": [
-2.1407101154,
0.0749998391,
-9.7634124756
],
"rotation_wxyz": [
1,
0,
0,
0
],
"view_id": "048b5754d38d60c0be8ed91c"
} | {
"max_steps": 500,
"max_distance_m": 100,
"max_inspections": 10,
"max_seconds": 3600
} | N2 | unlabeled | {
"requires_visual_identification": true,
"viewpoint_distance_m": 1
} | temporal | {
"last_observed_room": "",
"requires_visual_verification": true
} | null | |||
native_v10 | 6f077b6c9a48897ad0bc41a2 | 9ae75e211c74ee039b8b06cc | 9ae75e211c74ee039b8b06cc | train | 102343992 | 316519cbc3f8927851167f76 | {
"object_id": "698ccdd0a0f49c546932e4a1",
"category": "mug"
} | 66,925.553788 | [
{
"timestamp": 28722.8747232556,
"rgb": "observations/rgb/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.png",
"depth": "observations/depth/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.npz",
"camera_pose": {
"position": [
8.7009544373,
... | [
{
"state_id": "8dd02d353385feacb1585113",
"room": "kitchen",
"receptacle_category": "table",
"relation": "on",
"viewpoint": [
14.2057914734,
0.0749998391,
-5.9590005875
],
"inspection_views": [
{
"view_id": "8dd02d353385feacb1585113",
"position": [... | {
"position": [
-2.1407101154,
0.0749998391,
-9.7634124756
],
"rotation_wxyz": [
1,
0,
0,
0
],
"view_id": "048b5754d38d60c0be8ed91c"
} | {
"max_steps": 500,
"max_distance_m": 100,
"max_inspections": 10,
"max_seconds": 3600
} | N2 | unlabeled | {
"requires_visual_identification": true,
"viewpoint_distance_m": 1
} | temporal | {
"last_observed_room": "",
"requires_visual_verification": true
} | null | |||
native_v10 | 8baee46ec7e7f4d238e0282d | 9ae75e211c74ee039b8b06cc | 9ae75e211c74ee039b8b06cc | train | 102343992 | 316519cbc3f8927851167f76 | {
"object_id": "698ccdd0a0f49c546932e4a1",
"category": "mug"
} | 66,925.553788 | [
{
"timestamp": 28722.8747232556,
"rgb": "observations/rgb/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.png",
"depth": "observations/depth/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.npz",
"camera_pose": {
"position": [
8.7009544373,
... | [
{
"state_id": "8dd02d353385feacb1585113",
"room": "kitchen",
"receptacle_category": "table",
"relation": "on",
"viewpoint": [
14.2057914734,
0.0749998391,
-5.9590005875
],
"inspection_views": [
{
"view_id": "8dd02d353385feacb1585113",
"position": [... | {
"position": [
-2.1407101154,
0.0749998391,
-9.7634124756
],
"rotation_wxyz": [
1,
0,
0,
0
],
"view_id": "048b5754d38d60c0be8ed91c"
} | {
"max_steps": 500,
"max_distance_m": 100,
"max_inspections": 10,
"max_seconds": 3600
} | N2 | unlabeled | {
"requires_visual_identification": true,
"viewpoint_distance_m": 1
} | temporal | {
"last_observed_room": "",
"requires_visual_verification": true
} | null | |||
native_v10 | 70dff18862611909b9cec9d4 | 9ae75e211c74ee039b8b06cc | 9ae75e211c74ee039b8b06cc | train | 102343992 | 316519cbc3f8927851167f76 | {
"object_id": "698ccdd0a0f49c546932e4a1",
"category": "mug"
} | 66,925.553788 | [
{
"timestamp": 28722.8747232556,
"rgb": "observations/rgb/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.png",
"depth": "observations/depth/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.npz",
"camera_pose": {
"position": [
8.7009544373,
... | [
{
"state_id": "8dd02d353385feacb1585113",
"room": "kitchen",
"receptacle_category": "table",
"relation": "on",
"viewpoint": [
14.2057914734,
0.0749998391,
-5.9590005875
],
"inspection_views": [
{
"view_id": "8dd02d353385feacb1585113",
"position": [... | {
"position": [
-2.1407101154,
0.0749998391,
-9.7634124756
],
"rotation_wxyz": [
1,
0,
0,
0
],
"view_id": "048b5754d38d60c0be8ed91c"
} | {
"max_steps": 500,
"max_distance_m": 100,
"max_inspections": 10,
"max_seconds": 3600
} | N2 | unlabeled | {
"requires_visual_identification": true,
"viewpoint_distance_m": 1
} | temporal | {
"last_observed_room": "",
"requires_visual_verification": true
} | null | |||
native_v10 | 1ea048e52c671ad9ee5fdbee | fad54f6b80c6ab2233963645 | fad54f6b80c6ab2233963645 | train | 102343992 | 316519cbc3f8927851167f76 | {
"object_id": "698ccdd0a0f49c546932e4a1",
"category": ""
} | 68,885.688216 | [
{
"timestamp": 28722.8747232556,
"rgb": "observations/rgb/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.png",
"depth": "observations/depth/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.npz",
"camera_pose": {
"position": [
8.7009544373,
... | [
{
"state_id": "8dd02d353385feacb1585113",
"room": "kitchen",
"receptacle_category": "table",
"relation": "on",
"viewpoint": [
14.2057914734,
0.0749998391,
-5.9590005875
],
"inspection_views": [
{
"view_id": "8dd02d353385feacb1585113",
"position": [... | {
"position": [
-2.1407101154,
0.0749998391,
-9.7634124756
],
"rotation_wxyz": [
1,
0,
0,
0
],
"view_id": "048b5754d38d60c0be8ed91c"
} | {
"max_steps": 500,
"max_distance_m": 100,
"max_inspections": 10,
"max_seconds": 3600
} | N3 | unlabeled | {
"requires_visual_identification": true,
"viewpoint_distance_m": 1
} | Find and visually verify the mug, previously observed in the dining room. | temporal | {
"last_observed_room": "dining room",
"requires_visual_verification": true
} | null | ||
native_v10 | 497b37d124be590b08f8ed61 | fad54f6b80c6ab2233963645 | fad54f6b80c6ab2233963645 | train | 102343992 | 316519cbc3f8927851167f76 | {
"object_id": "698ccdd0a0f49c546932e4a1",
"category": ""
} | 68,885.688216 | [
{
"timestamp": 28722.8747232556,
"rgb": "observations/rgb/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.png",
"depth": "observations/depth/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.npz",
"camera_pose": {
"position": [
8.7009544373,
... | [
{
"state_id": "8dd02d353385feacb1585113",
"room": "kitchen",
"receptacle_category": "table",
"relation": "on",
"viewpoint": [
14.2057914734,
0.0749998391,
-5.9590005875
],
"inspection_views": [
{
"view_id": "8dd02d353385feacb1585113",
"position": [... | {
"position": [
-2.1407101154,
0.0749998391,
-9.7634124756
],
"rotation_wxyz": [
1,
0,
0,
0
],
"view_id": "048b5754d38d60c0be8ed91c"
} | {
"max_steps": 500,
"max_distance_m": 100,
"max_inspections": 10,
"max_seconds": 3600
} | N3 | unlabeled | {
"requires_visual_identification": true,
"viewpoint_distance_m": 1
} | Find and visually verify the mug, previously observed in the dining room. | temporal | {
"last_observed_room": "dining room",
"requires_visual_verification": true
} | null | ||
native_v10 | d48e7f9c5281b20633250af0 | fad54f6b80c6ab2233963645 | fad54f6b80c6ab2233963645 | train | 102343992 | 316519cbc3f8927851167f76 | {
"object_id": "698ccdd0a0f49c546932e4a1",
"category": ""
} | 68,885.688216 | [
{
"timestamp": 28722.8747232556,
"rgb": "observations/rgb/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.png",
"depth": "observations/depth/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.npz",
"camera_pose": {
"position": [
8.7009544373,
... | [
{
"state_id": "8dd02d353385feacb1585113",
"room": "kitchen",
"receptacle_category": "table",
"relation": "on",
"viewpoint": [
14.2057914734,
0.0749998391,
-5.9590005875
],
"inspection_views": [
{
"view_id": "8dd02d353385feacb1585113",
"position": [... | {
"position": [
-2.1407101154,
0.0749998391,
-9.7634124756
],
"rotation_wxyz": [
1,
0,
0,
0
],
"view_id": "048b5754d38d60c0be8ed91c"
} | {
"max_steps": 500,
"max_distance_m": 100,
"max_inspections": 10,
"max_seconds": 3600
} | N3 | unlabeled | {
"requires_visual_identification": true,
"viewpoint_distance_m": 1
} | Find and visually verify the mug, previously observed in the dining room. | temporal | {
"last_observed_room": "dining room",
"requires_visual_verification": true
} | null | ||
native_v10 | 66e4e817c4b0158276824254 | fad54f6b80c6ab2233963645 | fad54f6b80c6ab2233963645 | train | 102343992 | 316519cbc3f8927851167f76 | {
"object_id": "698ccdd0a0f49c546932e4a1",
"category": ""
} | 68,885.688216 | [
{
"timestamp": 28722.8747232556,
"rgb": "observations/rgb/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.png",
"depth": "observations/depth/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.npz",
"camera_pose": {
"position": [
8.7009544373,
... | [
{
"state_id": "8dd02d353385feacb1585113",
"room": "kitchen",
"receptacle_category": "table",
"relation": "on",
"viewpoint": [
14.2057914734,
0.0749998391,
-5.9590005875
],
"inspection_views": [
{
"view_id": "8dd02d353385feacb1585113",
"position": [... | {
"position": [
-2.1407101154,
0.0749998391,
-9.7634124756
],
"rotation_wxyz": [
1,
0,
0,
0
],
"view_id": "048b5754d38d60c0be8ed91c"
} | {
"max_steps": 500,
"max_distance_m": 100,
"max_inspections": 10,
"max_seconds": 3600
} | N3 | unlabeled | {
"requires_visual_identification": true,
"viewpoint_distance_m": 1
} | Find and visually verify the mug, previously observed in the dining room. | temporal | {
"last_observed_room": "dining room",
"requires_visual_verification": true
} | null | ||
native_v10 | 8988ce552519a5232ccf5e5e | bfe82916b7cfca11f33f978b | bfe82916b7cfca11f33f978b | train | 102343992 | 316519cbc3f8927851167f76 | {
"object_id": "698ccdd0a0f49c546932e4a1",
"category": ""
} | 73,763.728362 | [
{
"timestamp": 28722.8747232556,
"rgb": "observations/rgb/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.png",
"depth": "observations/depth/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.npz",
"camera_pose": {
"position": [
8.7009544373,
... | [
{
"state_id": "8dd02d353385feacb1585113",
"room": "kitchen",
"receptacle_category": "table",
"relation": "on",
"viewpoint": [
14.2057914734,
0.0749998391,
-5.9590005875
],
"inspection_views": [
{
"view_id": "8dd02d353385feacb1585113",
"position": [... | {
"position": [
-2.1407101154,
0.0749998391,
-9.7634124756
],
"rotation_wxyz": [
1,
0,
0,
0
],
"view_id": "048b5754d38d60c0be8ed91c"
} | {
"max_steps": 500,
"max_distance_m": 100,
"max_inspections": 10,
"max_seconds": 3600
} | N1 | unlabeled | {
"requires_visual_identification": true,
"viewpoint_distance_m": 1
} | Find and visually verify the mug, previously observed in the dining room. | temporal | {
"last_observed_room": "dining room",
"requires_visual_verification": true
} | null | ||
native_v10 | 8e4436207ecb7afaba4c2e5c | bfe82916b7cfca11f33f978b | bfe82916b7cfca11f33f978b | train | 102343992 | 316519cbc3f8927851167f76 | {
"object_id": "698ccdd0a0f49c546932e4a1",
"category": ""
} | 73,763.728362 | [
{
"timestamp": 28722.8747232556,
"rgb": "observations/rgb/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.png",
"depth": "observations/depth/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.npz",
"camera_pose": {
"position": [
8.7009544373,
... | [
{
"state_id": "8dd02d353385feacb1585113",
"room": "kitchen",
"receptacle_category": "table",
"relation": "on",
"viewpoint": [
14.2057914734,
0.0749998391,
-5.9590005875
],
"inspection_views": [
{
"view_id": "8dd02d353385feacb1585113",
"position": [... | {
"position": [
-2.1407101154,
0.0749998391,
-9.7634124756
],
"rotation_wxyz": [
1,
0,
0,
0
],
"view_id": "048b5754d38d60c0be8ed91c"
} | {
"max_steps": 500,
"max_distance_m": 100,
"max_inspections": 10,
"max_seconds": 3600
} | N1 | unlabeled | {
"requires_visual_identification": true,
"viewpoint_distance_m": 1
} | Find and visually verify the mug, previously observed in the dining room. | temporal | {
"last_observed_room": "dining room",
"requires_visual_verification": true
} | null | ||
native_v10 | 7f928d1269be69c220cd1310 | bfe82916b7cfca11f33f978b | bfe82916b7cfca11f33f978b | train | 102343992 | 316519cbc3f8927851167f76 | {
"object_id": "698ccdd0a0f49c546932e4a1",
"category": ""
} | 73,763.728362 | [
{
"timestamp": 28722.8747232556,
"rgb": "observations/rgb/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.png",
"depth": "observations/depth/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.npz",
"camera_pose": {
"position": [
8.7009544373,
... | [
{
"state_id": "8dd02d353385feacb1585113",
"room": "kitchen",
"receptacle_category": "table",
"relation": "on",
"viewpoint": [
14.2057914734,
0.0749998391,
-5.9590005875
],
"inspection_views": [
{
"view_id": "8dd02d353385feacb1585113",
"position": [... | {
"position": [
-2.1407101154,
0.0749998391,
-9.7634124756
],
"rotation_wxyz": [
1,
0,
0,
0
],
"view_id": "048b5754d38d60c0be8ed91c"
} | {
"max_steps": 500,
"max_distance_m": 100,
"max_inspections": 10,
"max_seconds": 3600
} | N1 | unlabeled | {
"requires_visual_identification": true,
"viewpoint_distance_m": 1
} | Find and visually verify the mug, previously observed in the dining room. | temporal | {
"last_observed_room": "dining room",
"requires_visual_verification": true
} | null | ||
native_v10 | 0117892b03776de883a7d004 | bfe82916b7cfca11f33f978b | bfe82916b7cfca11f33f978b | train | 102343992 | 316519cbc3f8927851167f76 | {
"object_id": "698ccdd0a0f49c546932e4a1",
"category": ""
} | 73,763.728362 | [
{
"timestamp": 28722.8747232556,
"rgb": "observations/rgb/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.png",
"depth": "observations/depth/89/89accdd85063ac66d20de892f620a3163bb70b625874616d0acfbf2c93b16b6e.npz",
"camera_pose": {
"position": [
8.7009544373,
... | [
{
"state_id": "8dd02d353385feacb1585113",
"room": "kitchen",
"receptacle_category": "table",
"relation": "on",
"viewpoint": [
14.2057914734,
0.0749998391,
-5.9590005875
],
"inspection_views": [
{
"view_id": "8dd02d353385feacb1585113",
"position": [... | {
"position": [
-2.1407101154,
0.0749998391,
-9.7634124756
],
"rotation_wxyz": [
1,
0,
0,
0
],
"view_id": "048b5754d38d60c0be8ed91c"
} | {
"max_steps": 500,
"max_distance_m": 100,
"max_inspections": 10,
"max_seconds": 3600
} | N1 | unlabeled | {
"requires_visual_identification": true,
"viewpoint_distance_m": 1
} | Find and visually verify the mug, previously observed in the dining room. | temporal | {
"last_observed_room": "dining room",
"requires_visual_verification": true
} | null | ||
native_v10 | 2a14e4f8ea38bf73b417c0d7 | bdb29bbdb402e7cba334932c | bdb29bbdb402e7cba334932c | train | 102343992 | 316519cbc3f8927851167f76 | {
"object_id": "698ccdd0a0f49c546932e4a1",
"category": "mug"
} | 155,703.278119 | [
{
"timestamp": 115100.6959891021,
"rgb": "observations/rgb/b9/b9837578482489a6eab4ec8755ef9e40e1ae05a6a1aff51853cabd683103db1b.png",
"depth": "observations/depth/b9/b9837578482489a6eab4ec8755ef9e40e1ae05a6a1aff51853cabd683103db1b.npz",
"camera_pose": {
"position": [
14.1249656677,
... | [
{
"state_id": "8dd02d353385feacb1585113",
"room": "kitchen",
"receptacle_category": "table",
"relation": "on",
"viewpoint": [
14.2057914734,
0.0749998391,
-5.9590005875
],
"inspection_views": [
{
"view_id": "8dd02d353385feacb1585113",
"position": [... | {
"position": [
-2.1407101154,
0.0749998391,
-9.7634124756
],
"rotation_wxyz": [
1,
0,
0,
0
],
"view_id": "048b5754d38d60c0be8ed91c"
} | {
"max_steps": 500,
"max_distance_m": 100,
"max_inspections": 10,
"max_seconds": 3600
} | EQA | unlabeled | {
"requires_visual_identification": true,
"viewpoint_distance_m": 1
} | Which household activity is associated with the most recent historically observed placement of the mug? | activity_association | temporal | {
"last_observed_room": "",
"requires_visual_verification": true
} | null | |
native_v10 | 9a6558f75eafd5350c709d84 | bdb29bbdb402e7cba334932c | bdb29bbdb402e7cba334932c | train | 102343992 | 316519cbc3f8927851167f76 | {
"object_id": "698ccdd0a0f49c546932e4a1",
"category": "mug"
} | 155,703.278119 | [
{
"timestamp": 115100.6959891021,
"rgb": "observations/rgb/b9/b9837578482489a6eab4ec8755ef9e40e1ae05a6a1aff51853cabd683103db1b.png",
"depth": "observations/depth/b9/b9837578482489a6eab4ec8755ef9e40e1ae05a6a1aff51853cabd683103db1b.npz",
"camera_pose": {
"position": [
14.1249656677,
... | [
{
"state_id": "8dd02d353385feacb1585113",
"room": "kitchen",
"receptacle_category": "table",
"relation": "on",
"viewpoint": [
14.2057914734,
0.0749998391,
-5.9590005875
],
"inspection_views": [
{
"view_id": "8dd02d353385feacb1585113",
"position": [... | {
"position": [
-2.1407101154,
0.0749998391,
-9.7634124756
],
"rotation_wxyz": [
1,
0,
0,
0
],
"view_id": "048b5754d38d60c0be8ed91c"
} | {
"max_steps": 500,
"max_distance_m": 100,
"max_inspections": 10,
"max_seconds": 3600
} | EQA | unlabeled | {
"requires_visual_identification": true,
"viewpoint_distance_m": 1
} | Which household activity is associated with the most recent historically observed placement of the mug? | activity_association | temporal | {
"last_observed_room": "",
"requires_visual_verification": true
} | null | |
native_v10 | 026e7282390610eeb8350303 | bdb29bbdb402e7cba334932c | bdb29bbdb402e7cba334932c | train | 102343992 | 316519cbc3f8927851167f76 | {
"object_id": "698ccdd0a0f49c546932e4a1",
"category": "mug"
} | 155,703.278119 | [
{
"timestamp": 115100.6959891021,
"rgb": "observations/rgb/b9/b9837578482489a6eab4ec8755ef9e40e1ae05a6a1aff51853cabd683103db1b.png",
"depth": "observations/depth/b9/b9837578482489a6eab4ec8755ef9e40e1ae05a6a1aff51853cabd683103db1b.npz",
"camera_pose": {
"position": [
14.1249656677,
... | [
{
"state_id": "8dd02d353385feacb1585113",
"room": "kitchen",
"receptacle_category": "table",
"relation": "on",
"viewpoint": [
14.2057914734,
0.0749998391,
-5.9590005875
],
"inspection_views": [
{
"view_id": "8dd02d353385feacb1585113",
"position": [... | {
"position": [
-2.1407101154,
0.0749998391,
-9.7634124756
],
"rotation_wxyz": [
1,
0,
0,
0
],
"view_id": "048b5754d38d60c0be8ed91c"
} | {
"max_steps": 500,
"max_distance_m": 100,
"max_inspections": 10,
"max_seconds": 3600
} | EQA | unlabeled | {
"requires_visual_identification": true,
"viewpoint_distance_m": 1
} | Which household activity is associated with the most recent historically observed placement of the mug? | activity_association | temporal | {
"last_observed_room": "",
"requires_visual_verification": true
} | null |
End of preview. Expand in Data Studio
EVOWORLD-BENCH
EVOWORLD-BENCH provides 803,680 world episodes across 54 household scenes over 90 days. It supports N1–N5 navigation, language-conditioned navigation, and seven EQA question types using timestamped RGB-D histories.
Each full episode provides observation history, target identity, candidate states, a query time and a navigation budget.
| Split | Episodes |
|---|---|
| Train | 714,584 |
| Validation | 44,548 |
| Test | 44,548 |
The 803,680 world episodes form 200,920 paired query groups.
- Downloads last month
- 179