mateoguaman/paligemma2-3b-pt-224-sft-lora-vamos_10pct_gpt5_mini
Image-Text-to-Text • Updated
Datasets:
image imagewidth (px) 1.02k 1.28k | lang_goal stringlengths 47 49 | trajectory_2d listlengths 1 489 | trajectory_3d listlengths 1 489 | camera_params stringclasses 4 values | horizon int64 1 489 | shorter_trajectory_2d listlengths 1 471 | shorter_trajectory_3d listlengths 1 471 | subsampled_trajectory_2d listlengths 5 5 | goal_2d listlengths 2 2 | text stringlengths 36 36 | label stringlengths 90 90 | label_list listlengths 5 5 | curvature float64 1 78 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Navigate to <point x="35.9" y="50.8">goal</point> | [
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Navigate to <point x="44.1" y="50.4">goal</point> | [
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Navigate to <point x="34.3" y="27.0">goal</point> | [
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] | Navigate to x=<loc0468>, y=<loc0269> | <loc0513><loc0357><loc0511><loc0301><loc0504><loc0274><loc0485><loc0272><loc0468><loc0269> | [
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Navigate to <point x="40.4" y="34.2">goal</point> | [
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] | Navigate to x=<loc0498>, y=<loc0359> | <loc0572><loc0451><loc0534><loc0408><loc0473><loc0391><loc0522><loc0380><loc0498><loc0359> | [
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Navigate to <point x="50.2" y="50.7">goal</point> | [
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-0.033605... | {"resolution": {"width": 1280, "height": 720}, "camera_matrix": {"data": [608.116, 0.0, 639.186, 0.0, 607.871, 363.069, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9981348, 0.0, 0.0610485, 0.33, 0.0, 1.0, 0.0, 0.0, -0.0610485, 0.0, 0.9981348, 0.65, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.5, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.5, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 151 | [
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] | Navigate to x=<loc0514>, y=<loc0519> | <loc0515><loc0696><loc0517><loc0615><loc0517><loc0573><loc0522><loc0540><loc0514><loc0519> | [
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Navigate to <point x="0.1" y="38.8">goal</point> | [
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-0.05087150934899398... | {"resolution": {"width": 1024, "height": 544}, "camera_matrix": {"data": [477.6049499511719, 0.0, 499.5, 0.0, 477.6049499511719, 252.0, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.96917189, -0.04204002, 0.24277247, 0.38786055, 0.04768227, 0.99871085, -0.01740936, 0.00734094, -0.24172764, 0.02844865, 0.96992705, 0.31545253, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -1.85, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -2.05, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 128 | [
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Navigate to <point x="46.4" y="51.1">goal</point> | [
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[
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[
626,
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[
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590
],
[
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],
[
... | [
[
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-0.03170182450092085
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[
2.9141140475375202,
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-0.0399189905... | {"resolution": {"width": 1280, "height": 720}, "camera_matrix": {"data": [608.116, 0.0, 639.186, 0.0, 607.871, 363.069, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9981348, 0.0, 0.0610485, 0.33, 0.0, 1.0, 0.0, 0.0, -0.0610485, 0.0, 0.9981348, 0.65, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_imu_to_rear_ground": {"data": [1.0, 0.0, 0.0, -0.5, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, -0.5, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "T_camera_to_optical": {"data": [0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}} | 145 | [
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640,
708
],
[
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692
],
[
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679
],
[
636,
662
],
[
639,
653
],
[
639,
640
],
[
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629
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[
636,
620
],
[
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[
626,
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],
[
624,
590
],
[
622,
583
],
[
... | [
[
2.64128978450821,
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],
[
2.717008285912435,
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],
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[
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-0.0399189905... | [
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[
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[
595,
410
],
[
593,
387
],
[
594,
368
]
] | [
594,
368
] | Navigate to x=<loc0475>, y=<loc0523> | <loc0488><loc0715><loc0479><loc0634><loc0476><loc0583><loc0474><loc0550><loc0475><loc0523> | [
[
"<loc0488>",
"<loc0715>"
],
[
"<loc0479>",
"<loc0634>"
],
[
"<loc0476>",
"<loc0583>"
],
[
"<loc0474>",
"<loc0550>"
],
[
"<loc0475>",
"<loc0523>"
]
] | 1.119174 | |
Navigate to <point x="52.0" y="29.8">goal</point> | [[515,540],[517,522],[516,502],[516,482],[516,464],[517,449],[518,434],[517,422],[516,412],[517,401](...TRUNCATED) | [[4.718163062676036,-0.03734600804591326,-0.1228380536481901],[4.871442721601355,-0.0346309550899651(...TRUNCATED) | "{\"resolution\": {\"width\": 1024, \"height\": 544}, \"camera_matrix\": {\"data\": [477.60494995117(...TRUNCATED) | 157 | [[515,540],[517,522],[516,502],[516,482],[516,464],[517,449],[518,434],[517,422],[516,412],[517,401](...TRUNCATED) | [[4.718163062676036,-0.03734600804591326,-0.1228380536481901],[4.871442721601355,-0.0346309550899651(...TRUNCATED) | [
[
519,
286
],
[
533,
230
],
[
536,
199
],
[
521,
179
],
[
532,
162
]
] | [
532,
162
] | Navigate to x=<loc0532>, y=<loc0304> | <loc0519><loc0538><loc0533><loc0432><loc0536><loc0374><loc0521><loc0336><loc0532><loc0304> | [["<loc0519>","<loc0538>"],["<loc0533>","<loc0432>"],["<loc0536>","<loc0374>"],["<loc0521>","<loc033(...TRUNCATED) | 1.115323 | |
Navigate to <point x="53.5" y="31.6">goal</point> | [[522,478],[522,418],[522,374],[523,342],[524,318],[526,300],[528,283],[530,270],[532,260],[534,252](...TRUNCATED) | [[4.986477131679919,-0.015892023671995048,0.10810847807503343],[5.6527504931965495,-0.01635100404655(...TRUNCATED) | "{\"resolution\": {\"width\": 1024, \"height\": 544}, \"camera_matrix\": {\"data\": [477.60494995117(...TRUNCATED) | 39 | [[522,478],[522,418],[522,374],[523,342],[524,318],[526,300],[528,283],[530,270],[532,260],[534,252](...TRUNCATED) | [[4.986477131679919,-0.015892023671995048,0.10810847807503343],[5.6527504931965495,-0.01635100404655(...TRUNCATED) | [
[
530,
270
],
[
542,
212
],
[
546,
192
],
[
548,
180
],
[
548,
172
]
] | [
548,
172
] | Navigate to x=<loc0548>, y=<loc0323> | <loc0530><loc0508><loc0542><loc0399><loc0546><loc0361><loc0548><loc0338><loc0548><loc0323> | [["<loc0530>","<loc0508>"],["<loc0542>","<loc0399>"],["<loc0546>","<loc0361>"],["<loc0548>","<loc033(...TRUNCATED) | 1.006952 | |
Navigate to <point x="0.1" y="40.7">goal</point> | [[715,992],[713,940],[710,896],[710,863],[709,833],[708,820],[708,807],[704,785],[700,765],[703,758](...TRUNCATED) | [[1.1696144951460212,-0.040911466436938326,0.0328177137558443],[1.254012791325252,-0.049827682583426(...TRUNCATED) | "{\"resolution\": {\"width\": 1224, \"height\": 1024}, \"camera_matrix\": {\"data\": [728.7329, 0.0,(...TRUNCATED) | 398 | [[715,992],[713,940],[710,896],[710,863],[709,833],[708,820],[708,807],[704,785],[700,765],[703,758](...TRUNCATED) | [[1.1696144951460212,-0.040911466436938326,0.0328177137558443],[1.254012791325252,-0.049827682583426(...TRUNCATED) | [
[
1064,
455
],
[
791,
428
],
[
531,
423
],
[
320,
426
],
[
1,
417
]
] | [
1,
417
] | Navigate to x=<loc0000>, y=<loc0417> | <loc0890><loc0455><loc0661><loc0428><loc0444><loc0423><loc0267><loc0426><loc0000><loc0417> | [["<loc0890>","<loc0455>"],["<loc0661>","<loc0428>"],["<loc0444>","<loc0423>"],["<loc0267>","<loc042(...TRUNCATED) | 2.321155 |
End of preview. Expand
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vamos_10pct_gpt5_mini
Description
VLN Navigation dataset with 100% of tartandrive data, 50% of scand data, 25% of coda data, 100% of in-domain spot data, and 10% of annotated/augmented data using gpt5-mini. Whenever daatsets aren't 100%, they are ranked by curvature and output of length 5.
Processing Parameters
{}
Dataset Configuration
Train dataset:
mixer: mateoguaman/vlmn_tartandrive100_scand50_coda25_spot100_sub5: 1.0
mateoguaman/vlmn_tartandrive100_scand50_coda25_spot100_sub5_filtered_trajectories_training_10: 1.0
split: train
Validation dataset:
mixer: mateoguaman/vlmn_tartandrive100_scand50_coda25_spot100_sub5: 1.0
mateoguaman/vlmn_tartandrive100_scand50_coda25_spot100_sub5_filtered_trajectories_training_10: 1.0
split: validation
Additional Information
This dataset was created by consolidating cached processed datasets from the VLM Navigation project.
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Size of downloaded dataset files:
158 GB
Size of the auto-converted Parquet files:
158 GB
Number of rows:
736,516
Models trained or fine-tuned on mateoguaman/vamos_10pct_gpt5_mini