Datasets:

InternRobotics
/

IROS-2025-Challenge-Nav

Error code:   FeaturesError
Exception:    ArrowInvalid
Message:      Schema at index 1 was different: 
episodes: list<item: struct<start_position: list<item: double>, start_rotation: list<item: double>, instruction: struct<instruction_text: string, instruction_tokens: list<item: int64>>, reference_path: list<item: list<item: double>>, goals: struct<position: list<item: double>, radius: int64>, scan: string, episode_id: int64, trajectory_id: int64, info: struct<geodesic_distance: double>, scene_id: string>>
vs
episodes: struct<episode_id: int64, goals: list<item: struct<position: list<item: double>, radius: double>>, info: struct<geodesic_distance: double>, instruction: struct<instruction_text: string, instruction_tokens: list<item: int64>>, reference_path: list<item: list<item: double>>, scene_id: string, start_position: list<item: double>, start_rotation: list<item: double>, trajectory_id: int64>
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/split/first_rows.py", line 228, in compute_first_rows_from_streaming_response
                  iterable_dataset = iterable_dataset._resolve_features()
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 3422, in _resolve_features
                  features = _infer_features_from_batch(self.with_format(None)._head())
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 2187, in _head
                  return next(iter(self.iter(batch_size=n)))
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 2391, in iter
                  for key, example in iterator:
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 1882, in __iter__
                  for key, pa_table in self._iter_arrow():
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 1904, in _iter_arrow
                  yield from self.ex_iterable._iter_arrow()
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 543, in _iter_arrow
                  yield new_key, pa.Table.from_batches(chunks_buffer)
                File "pyarrow/table.pxi", line 4116, in pyarrow.lib.Table.from_batches
                File "pyarrow/error.pxi", line 154, in pyarrow.lib.pyarrow_internal_check_status
                File "pyarrow/error.pxi", line 91, in pyarrow.lib.check_status
              pyarrow.lib.ArrowInvalid: Schema at index 1 was different: 
              episodes: list<item: struct<start_position: list<item: double>, start_rotation: list<item: double>, instruction: struct<instruction_text: string, instruction_tokens: list<item: int64>>, reference_path: list<item: list<item: double>>, goals: struct<position: list<item: double>, radius: int64>, scan: string, episode_id: int64, trajectory_id: int64, info: struct<geodesic_distance: double>, scene_id: string>>
              vs
              episodes: struct<episode_id: int64, goals: list<item: struct<position: list<item: double>, radius: double>>, info: struct<geodesic_distance: double>, instruction: struct<instruction_text: string, instruction_tokens: list<item: int64>>, reference_path: list<item: list<item: double>>, scene_id: string, start_position: list<item: double>, start_rotation: list<item: double>, trajectory_id: int64>

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IROS-2025-Challenge-Nav Dataset

Dataset Summary 📖

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 🔥

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 📁

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

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