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metadata
license: cc-by-nc-sa-4.0
language:
  - en
tags:
  - iros 2025
  - navigation challenge
  - visual-language navigation (vln)
  - robotics dataset
  - matterport3d
  - interiornav
  - r2r dataset

IROS-2025-Challenge-Nav Dataset

Dataset Summary πŸ“–

This dataset includes the R2R dataset and the InteriorNav dataset, constructed from Matterport3D scanned environments and InteriorNav(kujiale) high-quality modeled environments, respectively, with corresponding navigation trajectories and language instructions.

Trajectory Statistics by Subset

Dataset Train Val Seen Val Unseen Test Unseen
VLN-PE-R2R 8,679 (stair-filtered) 778 1,839 3,408
InteriorNav 649 44 99 165
Total 9,328 822 1,938 3,573

Get started πŸ”₯

Download the Dataset

# Make sure git-lfs is installed (https://git-lfs.com)
git lfs install

git clone https://huggingface.co/datasets/InternRobotics/IROS-2025-Challenge-Nav

# If you want to clone without large files - just their pointers
GIT_LFS_SKIP_SMUDGE=1 git clone https://huggingface.co/datasets/InternRobotics/IROS-2025-Challenge-Nav

Dataset Structure πŸ“

vln_pe
β”œβ”€β”€ raw_data/                       # JSON files defining tasks, navigation goals, and dataset splits
β”‚   └── r2r/
β”‚       β”œβ”€β”€ mini/
β”‚       β”‚   └── mini.json.gz        # For quick Model and Environments validation
β”‚       β”œβ”€β”€ train/
β”‚       β”œβ”€β”€ val_seen/
β”‚       β”‚   └── val_seen.json.gz
β”‚       β”œβ”€β”€ val_unseen/
β”‚       β”‚   └── val_unseen.json.gz
β”‚       └── embeddings.json.gz
└── traj_data                       # training sample data for two types of scenes
    β”œβ”€β”€ interiornav/
    β”‚   β”œβ”€β”€ kujiale_xxxx.tar.gz  
    β”‚   └── ...
    └── r2r/
        β”œβ”€β”€ traj_index/
        β”‚   β”œβ”€β”€ data/
        β”‚   β”œβ”€β”€ meta/
        β”‚   └── videos/
        └── ...

License and Citation

All the data and code within this repo are under CC BY-NC-SA 4.0. Please consider citing our project if it helps your research.

@misc{contributors2025internroboticsrepo,
  title={IROS-2025-Challenge-Nav Colosseum},
  author={IROS-2025-Challenge-Nav Colosseum contributors},
  howpublished={\url{https://github.com/InternRobotics/InternNav/tree/main/challenge}},
  year={2025}
}