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env_gs_ecust/astar_data/long/2025-1-10_22-56-30_1848520019 | Begin by proceeding straight towards the large gray building characterized by its rectangular windows and rooftop structures . Then , slightly turn left and move towards the next location , a large white building featuring an L - shaped design . Shift right towards another large gray building that has a rooftop equipped with structures and machinery . Move forward to a medium - sized tan building that is rectangular with glass walls . Finally , slightly turn left again and advance to a small gray rooftop building featuring a rectangular design with transparent railings . | [
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env_gs_ecust/astar_data/long/2025-1-8_21-39-19_532670688 | Proceed straight ahead to a small blue building with a roof , then turn left towards a large white building featuring a rectangular shape with multiple windows . Continue straight to find a large gray building that is rectangular with a flat roof . Slightly turn right and move forward to reach it . Make a left turn towards another large gray building with multiple stories , and finally , walk straight to a medium - sized white building that is rectangular with multiple floors and windows . | [
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env_gs_nwpu01/astar_data/short/2025-1-14_17-37-51_2145174067 | Proceed directly forward to the gray , open paved area of large size , then slightly turn left and walk straight to the gray , large open square area surrounded by buildings . | [
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env_gs_ecust/astar_data/long/2025-1-8_23-50-56_430253414 | Proceed straightforward to the red , medium - sized building with a rectangular shape and a flat roof . Make a left slightly turn to it . Advance forward to yet it . Veer right toward the red building with multiple stories , large windows , and a flat roof . Then , head straight to it . Slightly turn left and proceed straight to the red - brick building , which is large , rectangular , and features a glass entrance . | [
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env_airsim_16/astar_data/medium_average/2025-1-9_12-35-53_2112255763 | Proceed forward towards the gray building with a large dome and antennas , then slightly turn right to continue directly towards it . Next , slightly turn left and go straight on to it . Afterwards , make a right turn to head towards it . Continue straight towards another blue - gray tall apartment building . After that , slightly turn right to proceed straight to a large , gray , tall , rectangular , multi - windowed building , then slightly turn left and keep going straight to reach a gray medium - sized residential building with arched windows and decorative cornices . | [
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env_ue_bigcity/astar_data/low_short/2024-12-20_20-34-24_1541027284 | Walk straight until you reach a large skyscraper with a dark glass facade . Then , slightly turn left and continue going straight to a large office building featuring a dark gray arched entrance with columns . | [
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env_ue_bigcity/astar_data/high_short/2025-1-4_18-16-30_64317458 | Proceed directly forward to the large , modern building characterized by black and white stripes , featuring a flat rooftop equipped with various items . | [
8,
0
] | [
"20250104_181639",
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env_gs_ecust/astar_data/long/2025-1-8_18-1-32_1251300606 | Proceed directly to the large red and gray building characterized by a rectangular shape with large windows , then slightly turn right and keep moving straight to reach it . Make a right turn to arrive at the large red building with a rectangular structure and rooftop equipment , then go directly ahead to the medium - sized red building with rooftop equipment . | [
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env_gs_ecust/astar_data/long/2025-1-8_18-53-3_395279207 | Proceed straight towards the red , rectangular building with multiple floors . Then , slightly turn right and move forward to reach it . Shift right to approach it . Move ahead to it, and then slightly turn right again to go directly ahead to the red building marked by visible rooftop structures . | [
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env_gs_ecust/astar_data/long/2025-1-8_21-0-22_515530019 | Proceed forward to the small , centrally located white building with a gabled roof , then make a slight right turn and continue ahead to the medium - sized gray commercial building with a rectangular shape . After that , take a right turn to the same gray rectangular building , then proceed straight to the large gray building with windows . Lastly , slightly turn left and advance forward to the medium - sized gray building that features a circular structure with a flat roof . | [
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env_gs_ecust/astar_data/long/2025-1-10_13-5-1_221558440 | Walk straight towards a large white and glass building with a rectangular , multi - story , modern design , then slightly turn left and move ahead to it . Shift left towards a substantial brown building with a rectangular structure , and then head straight to encounter a large green space featuring a water body surrounded by pathways . Veer right towards yet another big red building characterized by a symmetrical structure and multiple windows . Finally , proceed straight to it . | [
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env_airsim_16/astar_data/low_average_updown/2025-1-14_16-47-20_767066249 | Start by ascending to the beige skyscraper with its ornate spire and antenna , then proceed slightly straight before turning left to head towards a large gray suspension bridge . After crossing , slightly turn right to face another beige skyscraper , distinguished by its rectangular windows and antennas . Continue and slightly veer right to move towards a beige building featuring multiple arched windows framed in red . Lastly , slightly stop at the beige building with large vertical windows and white frames , known for its classic stone facade . | [
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env_gs_ecust/astar_data/long/2025-1-9_3-6-2_1140384172 | Proceed forward towards the large grey rectangular buildings , then slightly turn right and continue straight towards it . Finally , move ahead towards it . | [
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] | [
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env_ue_bigcity/astar_data/low_short/2024-12-23_22-13-6_87755422 | Begin by walking straight towards the gray building featuring large glass windows , which is an office building . Then , slightly turn right and continue straight . Finally , veer left towards another destination , which is described as a gray , tall commercial office building with a modern glass - panel exterior . | [
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8,
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1,
2,
2,
2,
8,
0
] | [
"20241223_221318",
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] | [
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env_gs_ecust/astar_data/long/2025-1-11_1-46-57_1018041598 | Start by heading straight towards large grey rectangular buildings with windows . Then turn right to face a large grey multi -story building . Proceed slightly straight , shifting left slightly to it . Continue straight towards a large white multi - story building , and finally slightly turn left , walking straight toward it . | [
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env_gs_ecust/astar_data/long/2025-1-8_15-15-6_1876855542 | Walk straight towards a large gray and white rectangular building with multiple windows , then slightly turn left and proceed straight to it . Shift right to the same type of structure , characterized by a grey color and multiple windows . Move ahead to a large white rectangular building with multiple windows , then slightly turn left again and continue straight to a medium - sized grey crossroads intersection with walkways . | [
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env_airsim_18/astar_data/medium_average_updown/2025-1-14_14-55-47_882160379 | Climb to a large gray building with grid - like windows , then walk straight to another large gray building featuring rectangular windows . Slightly turn left and go directly ahead to a large dark gray building characterized by a brick texture , and finally , slightly stop and lower yourself to an elevated large building with a dark brick appearance , which is industrial or commercial . | [
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env_airsim_sh/astar_data/medium_short/2025-1-6_12-4-20_1656478042 | Proceed towards the large beige wall with a blurred surface texture , then slightly turn left and continue straight to reach it . | [
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env_gs_ecust/astar_data/long/2025-1-10_22-15-49_1209734969 | Proceed forward to a large , open , paved area that is gray and square . When you reach a cluster of large , rectangular buildings with brown and gray coloring , slightly turn right and walk straight . Next , veer left to encounter a large building characterized by a rectangular design featuring alternating horizontal stripes of solid material and glass in a white color theme . Continue moving directly ahead to a white building thathas a large courtyard centrally located . Begin to turn slightly to the left and proceed straight ahead , arriving at it . | [
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env_gs_ecust/astar_data/long/2025-1-8_22-4-53_1569229320 | Begin by walking straight towards a tall , light gray building with a large , rectangular structure featuring windows . Then , slightly turn right and advance forward to a large , multi - story beige building . Next , make a right turn to approach a large , gray building characterized by its rectangular shape with multiple floors . Finally , advance forward again to reach it . | [
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env_airsim_18/astar_data/medium_average/2025-1-8_18-51-29_1987231011 | Continue walking straight towards a large gray building with a flat roof , then slightly turn left slightly and proceed towards it . | [
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env_airsim_gz/astar_data/medium_short/2025-1-6_20-46-54_980690626 | Proceed directly forward to the large building characterized by gray with green lights , featuring horizontal stripes and vertical green lights . After that , slightly turn left and move ahead to the medium - sized office building , distinguished by its light gray color and grid - like window pattern . | [
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2,
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0
] | [
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env_airsim_16/astar_data/medium_short/2025-1-9_12-39-52_719346228 | Proceed towards the gray skyscraper characterized by a large , tall structure with rectangular windows . Then , slightly turn left slightly and advance to it . | [
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1,
2,
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9,
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env_airsim_18/astar_data/medium_long/2025-1-8_21-31-46_1626276121 | Move forward to the dark gray building with large arched windows , then slightly turn left and go straight to it . Veer right to the gray building that exhibits a modern industrial design with a flat roof . Slightly turn left again and proceed straight to the medium - sized building with a gray color that presents a grid - like windows pattern , typical of a modern office building . | [
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env_gs_ecust/astar_data/long/2025-1-8_21-25-6_1239036029 | Proceed forward towards a large , beige residential building with a rectangular shape , then slightly turn right and go ahead to another large building , this time gray with a rectangular shape featuring windows . Shift left to a large white building with a rectangular form and multiple floors . Continue straight to yet another large , grey building characterized by multiple floors and windows . Slightly turn right again and head straight to it . | [
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env_ue_bigcity/astar_data/low_short/2024-12-24_21-52-17_1388391521 | Proceed forward towards a gray and black building characterized by a modern design with large windows . Slightly veer right , then continue straight ahead to it . Slightly adjust to the right , move straight , and arrive at a gray mid-rise commercial building distinguished by a glass facade with reflective windows . | [
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] | [
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"20241224_215233",
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env_gs_ecust/astar_data/long/2025-1-9_2-29-4_406011017 | Proceed directly to the red and white building with a large rectangular shape featuring big windows . Then , shift left towards the grey square or plaza with a rectangular structure enclosing a small area . After that , head straight to the white and gray building with a large striped design . Next , slightly turn left and walk straight towards the gray square courtyard featuring benches . | [
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env_ue_bigcity/astar_data/low_short/2024-12-24_19-50-53_1450956042 | Proceed directly to the building characterized by a beige color , large size , and featuring fire escapes . Then , slightly turn right , advancing to another building , this time with cream and red hues but still showcasing fire escapes . Next , make a slight left turn and advance towards another large structure , merging the beige and red shades , which also possesses fire escapes and serves as an apartment building . Following that , make a left turn and go directly to it . After slightly turning right , proceed to a residential property that is medium - sized , light beige in color , including both fire escapes and arched windows . | [
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[
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[
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] | [
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env_ue_bigcity/astar_data/low_short/2024-12-19_13-30-22_1036140795 | Advance forward to the large , gray office building characterized by rectangular windows and modern architecture , then slightly turn left and proceed straight to the multi - story , gray office building distinguished by large glass windows with vertical stone columns . | [
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9,
9,
9,
9,
2,
9,
1,
0
] | [
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"20241219_133059",
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"20241219_133106",
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] | [
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env_gs_ecust/astar_data/long/2025-1-11_12-29-3_2137386989 | Advance towards the large red and gray building with a rooftop equipped with pipes ; then , shift left to another large building maintaining the same color scheme , which is rectangular with a flat roof . Finally , proceed directly ahead to a medium - sized building made of red brick featuring a gray rooftop with visible machinery . | [
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9,
9,
9,
1,
2,
2,
9,
9,
8,
0
] | [
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"20250111_122908_8",
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"20250111_122910_12",
"20250111_122910_14",
"20250111_122911_15",
"20250111_122912_18",
"20250111_122913_21",
"20250111_122913_23",
"20250111_122914_24"
] | [
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env_gs_ecust/astar_data/long/2025-1-9_3-45-31_1891252715 | Advance toward the large red brick building , characterized by its rectangular structure with flat roofs . Then , make a slight right turn and walk straight to another large red building , featuring a rectangular design . Make a right slightly turn towards it . Next , proceed forward to a large open area with trees and paths , colored green and brown , which resembles a square or park . Slightly turn right and move forward to the large grey building with red accents , described as a long rectangular shape with a light roof . | [
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9,
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0
] | [
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"20250109_034546_38",
"20250109_034547_39",
"20250109_034548_42",
"20250109_034548_43"
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env_gs_ecust/astar_data/long/2025-1-11_8-47-27_1247412082 | Proceed directly to the red and gray building featuring a rooftop with HVAC units and pipes , then slightly turn right to reach the brown agricultural fields with large rectangular fields . Next , take a left to the red building with a brick exterior and rooftop installations , and finally , proceed straight to the red medium - sized building with a rooftop featuring pipes and equipment . | [
9,
9,
9,
8,
3,
8,
2,
2,
2,
2,
2,
9,
0
] | [
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"20250111_084734_13",
"20250111_084735_15",
"20250111_084735_16",
"20250111_084735_17",
"20250111_084736_18",
"20250111_084736_19",
"20250111_084737_22",
"20250111_084737_23"
] | [
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env_gs_ecust/astar_data/long/2025-1-9_3-41-13_695748720 | Advance towards the large , grey rectangular building , slightly veer right , and continue forward to a large , gray multi -story structure . Then , slightly turn left , proceed straight towards a medium - sized , gray rectangular building , slightly turn left again , and move forward to an open space with parked vehicles and a blue roof . | [
9,
1,
3,
9,
9,
9,
9,
9,
9,
2,
9,
9,
9,
9,
9,
9,
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2,
9,
9,
0
] | [
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"20250109_034127_33",
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"20250109_034130_42",
"20250109_034130_43",
"20250109_034130_44",
"20250109_034131_47",
"20250109_034132_50",
"20250109_034133_51"
] | [
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[
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env_airsim_18/astar_data/high_short/2025-1-9_16-46-43_407487131 | Proceed directly forward to a building characterized by its light beige color with dark window frames , featuring rectangular windows with a grid pattern . The structure is a medium to large high - rise building . | [
9,
9,
9,
8,
0
] | [
"20250109_164647_2",
"20250109_164648_5",
"20250109_164649_8",
"20250109_164650_10",
"20250109_164650_11"
] | [
[
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[
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[
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] | [
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] |
env_gs_ecust/astar_data/long/2025-1-9_4-46-24_164826621 | Advance forward to a large red building featuring a rooftop with mechanical structures . Then , shift left to another large building , this time red and white , with a rectangular shape , multiple floors , and a flat roof . Lastly , move forward to it . | [
9,
8,
2,
2,
2,
9,
9,
9,
9,
9,
9,
9,
8,
0
] | [
"20250109_044627_2",
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"20250109_044629_8",
"20250109_044630_11",
"20250109_044631_14",
"20250109_044632_17",
"20250109_044633_20",
"20250109_044634_23",
"20250109_044635_26",
"20250109_044636_29",
"20250109_044637_31",
"20250109_044637_32"
] | [
[
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[
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env_ue_bigcity/astar_data/low_short/2024-12-30_3-10-13_2001229904 | Proceed directly towards the large gray building with historic architecture . Then , slightly turn left and continue forward to it . Next , take a right to approach it . Finally , head straight towards it . | [
9,
8,
2,
1,
3,
9,
3,
3,
9,
1,
0
] | [
"20241230_031023",
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"20241230_031029",
"20241230_031031",
"20241230_031033",
"20241230_031039",
"20241230_031041",
"20241230_031043",
"20241230_031049",
"20241230_031051",
"20241230_031053"
] | [
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env_ue_bigcity/astar_data/low_short/2024-12-22_22-12-53_387451659 | Advance forward towards the large modern office building with a dark glass reflective facade ; slightly turn left slightly to it . | [
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env_ue_bigcity/astar_data/low_short/2024-12-27_15-26-47_709393584 | First , proceed directly to the large beige urban structure . Then , slightly turn to your right towards a large green sign with triangle logos and text . Next , turn to the left to observe a large white building adorned with ornate details . Move straight ahead to approach it . Finally , slightly veer left and walk straight to reach a large dark grey modern office building with a grid - like glass facade . | [
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env_gs_ecust/astar_data/long/2025-1-10_15-55-7_212251746 | Advance forward to the large modern building characterized by white and gray colors , featuring glass windows and modern architecture . Slightly turn left and move ahead to a spacious park or square with brown and green hues , and an open grass area near water . Then , go right to encounter a large building with glass and concrete tones , showcasing geometric architecture with multiple stories and large windows . Proceed directly ahead to another large building marked by gray and glass elements and a modern , rectangular design . Finally , slightly turn right , advance forward , and reach it . | [
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env_gs_nwpu02/astar_data/long/2025-1-17_1-24-1_964445884 | Begin by advancing towards the large white building distinguished by its dome - shaped roof , then make a slight left turn and continue towards another structure sharing the same characteristics . Next , execute a right turn towards the large gray building featuring modern architecture . Proceed directly ahead to encounter another large grey building , this one notable for its rectangular shape with a central courtyard . Finally , make a slight right turn , then progress towards a similar large gray building characterized by its rectangular shape and central courtyard or open area . | [
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env_ue_bigcity/astar_data/high_short/2025-1-3_22-58-52_1544617505 | Proceed straight to the gray building , characterized by its medium size , rectangular shape with a flat roof , and uniform windows . | [
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0
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env_gs_ecust/astar_data/long/2025-1-8_18-15-49_1001089438 | Continue straight until you reach a large grey and reddish - brown building , characterized by multiple stories and large windows . Slightly turn right and advance forward to arrive at a medium - sized red building , which is rectangular with windows . Shift left slightly to see it . Walk straight toward it . Slightly turn right and proceed straight to reach it . | [
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env_ue_bigcity/astar_data/low_short/2024-12-19_18-33-32_150517567 | Proceed directly forward towards the gray commercial building , which features ornate decorations , rectangular windows , and is large and multi-storied . | [
8,
0
] | [
"20241219_183339",
"20241219_183341"
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env_airsim_18/astar_data/low_long_updown/2025-1-14_19-9-13_991810563 | Move up to a medium - sized , white building featuring rectangular windows . Advance forward to it . Slightly turn right and move forward to a large , dark gray urban structure described as a tall building . Slightly turn left and continue forward to a medium - sized , white building at middle height with rectangular windows . Take a right to reach a large , gray skyscraper , which is a tall building with multiple windows . Head straight to it . Slightly turn right , walk straight to it . Drop at a multi - story , dark gray modern office building with large glass windows and white columns . | [
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env_gs_ecust/astar_data/long/2025-1-10_12-53-40_1975960378 | Proceed forward to a large , white , rectangular building , then veer left to another large building of light gray color with a flat roof . Head straight towards a large white building featuring large windows , and then continue right slightly to it . Move forward again to it, turn slightly right as you progress , and finally , keep going straight to reach a medium - sized red , rectangular building with a courtyard . | [
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"20250110_125348_17",
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"20250110_125350_23",
"20250110_125351_26",
"20250110_125352_27",
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env_ue_bigcity/astar_data/low_short/2024-12-17_13-29-15_771151432 | Go directly ahead to a beige building featuring windows and fire escapes ; then slightly turn left and move forward to it . Make a left turn towards it . Slightly proceed straight , turn slightly right , and keep straight again . Take a left to reach a building characterized by beige and red hues and fire escape ladders . Head straight towards a building presenting arched windows and fire escapes . Lastly , slightly turn right and move forward to it . | [
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env_ue_bigcity/astar_data/low_short/2024-12-29_11-40-27_78012497 | Proceed ahead to a white building with a modernist facade featuring vertical windows of medium size . Slightly turn right and advance forward to a gray building with a modern glass facade , which is large . Slightly turn left and go directly ahead to another gray building that displays a grid pattern on its facade and is of large size . Turn to the left to reach an urban road characterized by multiple vehicles and traffic lights , all of which are gray and large in size . Then , advance forward to a large gray landmark with a tall building topped by a tower . Slightly turn right and walk straight to a historical building with a decorative roof , which is also large and gray . | [
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env_gs_ecust/astar_data/long/2025-1-9_2-40-58_1130698571 | Walk straight to a large red building characterized by a rectangular structure with multiple stories , then slightly turn right and go directly ahead to it . Veer right to it . Head straight to it, then slightly turn right and move forward to it . | [
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env_gs_ecust/astar_data/long/2025-1-9_0-56-59_826047641 | Proceed straight to the large building characterized by its red and gray color , rectangular shape with visible rooftop structures . Then , veer left slightly towards it . Finally , advance forward to it . | [
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] | [
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env_ue_bigcity/astar_data/low_average_updown/2025-1-14_18-37-56_1914544919 | Begin by ascending to a black office building characterized by large glass windows . Then , move straight ahead towards it . Stop briefly before descending to the final commercial office building , which is black with large windows arranged in a grid - like pattern . | [
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env_gs_nwpu02/astar_data/short/2025-1-16_0-22-33_1848096107 | Proceed to the gray building that features large solar panels on the roof . | [
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] | [
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env_gs_ecust/astar_data/long/2025-1-8_23-38-56_364319529 | Continue moving straight towards the large gray building with a flat roof and cars parked on it , then slightly turn right . Proceed straight to reach the large red and white building that has a rectangular shape and multiple stories , and slightly turn right again . Keep moving ahead until you encounter a medium - sized brown natural landmark consisting of a cluster of trees . Veer right towards the large red and white building with multiple stories , flat roofs , and large glass windows , then proceed forward to a complex of large red and grey buildings with flat roofs . Finally , slightly turn right and head straight towards it . | [
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env_gs_nwpu02/astar_data/short/2025-1-15_19-49-49_1063958031 | Advance to the gray building that features large solar panels on its roof . | [
8,
0
] | [
"20250115_194952_1",
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] | [
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env_ue_bigcity/astar_data/low_short/2024-12-28_6-5-4_260401255 | Continue straight towards the building with a gray exterior and fire escape stairs . Slightly turn left , advance a bit , and then slightly turn right as you make your way to the building with a red - colored fire escape . Navigate towards the red brick building with large windows . Proceed directly forward to the gray building featuring an ornate facade and fire escape . Subtly turn left and walk ahead to approach the gray building with a modern facade adorned with rectangular patterns . | [
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env_gs_ecust/astar_data/long/2025-1-9_6-46-0_1953161956 | Proceed directly towards a large , light gray rectangular building , then slightly veer left and move towards another large , white rectangular building with multiple windows . Next , turn to the right and proceed towards a large , gray rectangular and multi -story building . Continue straight to it . Finally , slightly shift left and advance towards it . | [
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env_gs_ecust/astar_data/long/2025-1-11_14-51-55_22800096 | First , move forward to the large , white building with a rectangular shape featuring multiple windows . Next , veer left slightly towards it . Then , proceed straight to the large , gray building with a rectangular roof . Finally , slightly turn right and go directly ahead to it . | [
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env_gs_ecust/astar_data/long/2025-1-9_10-58-14_1793256508 | Proceed straight to a large square open area with trees and grass , characterized by its brown color . Then , slightly turn left and walk straight towards a large cluster of rectangular buildings that are brick red . Make a left turn to encounter a large rectangular shape with visible roof details , painted red . Move ahead to find a large building with a flat roof , colored grey . Finally , slightly turn right and move forward to reach it . | [
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env_ue_bigcity/astar_data/low_short/2024-12-16_23-36-48_745425661 | Proceed along the path , maintaining a straight course until reaching a gray building with an elaborate facade and arched windows . Slightly veer left and then advance towards another gray structure featuring windows and columns . Keep moving to encounter a large gray building with a rectangular form and windows . Gradually turn right and continue ahead until reaching an ornate architectural structure with large windows . With another slight left turn , go straight onward , and you will find yourself approaching a gray building with ornate facade and detailed stonework . Take a slight right to reach a prominent building in the foreground , described as having a modern design with glass windows . Finally , continue to a gray building embellished with windows and featuring decorative accents , before concluding at a large , brown building characterized by its multiple windows , reminiscent of intricate classic architecture . | [
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env_gs_ecust/astar_data/long/2025-1-8_17-39-27_1297893529 | Proceed forward to the large grey square with a patterned courtyard , slightly turn right to the large green and blue park with a curved walkway and trees , then veer left to the large white and glass building featuring modern architecture with a glass facade . Move ahead to the large gray building with a rectangular shape housing a central courtyard , slightly turn left and continue straight to the medium red and white multi -story building . | [
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env_gs_ecust/astar_data/long/2025-1-11_16-50-31_408671759 | Begin by walking directly towards a large , white L - shaped building . Then , veer right to approach another large white structure with a flat rooftop featuring machinery . Continue straight ahead to reach a medium - sized , brown and gray rectangular building with a flat surface and an open top . After slightly turning left , advance forward towards a medium - sized , brown rectangular court surrounded by a net , which serves as a sports court . | [
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env_gs_ecust/astar_data/long/2025-1-9_0-58-47_887077888 | Proceed towards the white and glassy building featuring a modern design with horizontal lines , then slightly turn left and continue forward to it . Next , take a left to reach the large red building with rectangular windows , before moving forward to encounter the expansive green lake with docks , which is a natural landmark . Then , go right towards the red and white multi - story building with windows , and finally , move ahead to the large red and gray building characterized by its rectangular shape and uniform windows . | [
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env_gs_ecust/astar_data/long/2025-1-9_8-1-47_660916487 | Proceed ahead to a gray and glass multi - story building with large windows . Then , turn left towards a large red building with a brick facade . Continue walking straight to a large building that is red and brown , featuring a multi - story rectangular shape . Slightly turn left and continue forward to a large green lake surrounded by trees . Make a right turn to a large red and white multi - story building with balconies . Finally , advance towards it . | [
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env_gs_ecust/astar_data/long/2025-1-8_19-8-39_927376882 | First , walk directly to a large reddish - brown building . Then , turn right and proceed to a large brown and green open grassy area with trees nearby , resembling a park or square . Continue straight to it . Next , take a left to a large red building with a rectangular shape and multiple floors . Head straight to a large green and brown rectangular field with pathways , characteristic of a park or open field . Slightly turn right , move forward to a medium beige building with a rectangular shape and a flat roof . | [
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env_ue_bigcity/astar_data/low_short/2024-12-29_8-45-55_6939507 | Turn left towards a large , gray building that is a tall , multi - story structure with ornate details . Then , proceed slightly straight and turn right to advance towards a large , gray commercial building featuring arched windows and elaborate carvings . | [
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env_gs_ecust/astar_data/long/2025-1-10_21-29-47_1151297278 | Proceed straight towards a large , gray circular structure and subtly veer left . Continue forward to encounter a large , gray shadow of a building . Following that , make a left slightly turn towards it . Maintain your course straight ahead to it . Slightly turn right and advance to a small , white building with a gabled roof . Then slant left and continue straight towards it . | [
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[
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env_gs_ecust/astar_data/long/2025-1-8_12-22-38_1804289383 | Advance forward to the red multi - story building with windows . Slightly veer right slightly to it, then gently turn left and move straight to it . Continue straight to the large , multi - story L - shaped building with rooftop equipment made of red brick . | [
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] | [
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env_ue_bigcity/astar_data/low_short/2024-12-19_14-28-3_1622597488 | Proceed directly towards the large , dark gray office building with a glass facade featuring a grid pattern . | [
1,
2,
9,
1,
0
] | [
"20241219_142808",
"20241219_142810",
"20241219_142816",
"20241219_142818",
"20241219_142820"
] | [
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[
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] |
env_ue_bigcity/astar_data/high_short/2025-1-5_0-39-46_2108050440 | Proceed directly towards the large , dark gray building that has a hexagonal shape . | [
8,
0
] | [
"20250105_003953",
"20250105_003955"
] | [
[
834.005501685371,
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] | [
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env_gs_ecust/astar_data/long/2025-1-8_23-54-2_1144278050 | Head directly to the large grey building characterized by modern architecture . Then , slightly turn right and proceed straight to the large red and white rectangular building . From there , turn to the left and advance to the medium - to - large building painted light gray , notable for its rectangular shape with multiple windows and a flat roof . Finally , move ahead to it . | [
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] | [
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"20250108_235419_42",
"20250108_235420_45",
"20250108_235421_48",
"20250108_235422_49",
"20250108_235422_50"
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env_gs_nwpu02/astar_data/short/2025-1-16_6-59-27_1236682857 | Proceed directly to the large gray building , which is rectangular with a flat roof . | [
8,
0
] | [
"20250116_065930_1",
"20250116_065930_2"
] | [
[
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[
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] | [
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env_gs_ecust/astar_data/long/2025-1-11_3-10-2_546389569 | Proceed straight to a large , grey multistory building , then slightly turn left and go directly ahead to a large , gray , multistory building with rectangular windows and a flat roof . Slightly turn left again and move forward to a large , gray building characterized by a rectangular structure with multiple windows , then slightly turn right and go directly ahead to a medium - sized structure with gray and beige colors , featuring a rectangular design and multiple floors . | [
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] | [
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"20250111_031013_26",
"20250111_031014_29",
"20250111_031015_32",
"20250111_031016_34",
"20250111_031016_35"
] | [
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env_gs_ecust/astar_data/long/2025-1-9_8-24-2_1604665417 | Proceed straight to a large park characterized by a green and gray color scheme with pathways and water features . Then , slightly turn right to head toward a large area with green and brown hues that hosts a river , surrounded by buildings and vegetation , combining natural and urban landscapes . Shift left to approach a large white and glass building , featuring a rectangular design with a glass façade . Move forward towards a large gray square courtyard within a building . Finally , slightly turn left to move towards a medium - sized red and white building featuring an L - shaped layout with a courtyard . | [
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] | [
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"20250109_082421_49",
"20250109_082422_52",
"20250109_082423_55",
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] | [
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env_ue_bigcity/astar_data/low_short/2024-12-30_1-11-15_1067854538 | Proceed directly ahead to a large gray building characterized by its prominent rectangular windows . Slightly turn right and continue straight to another large building , dark in color with a prominent grid pattern . Then , slightly turn left and keep moving straight to it . Afterwards , slightly turn right and move forward to it . Turn to the right towards it . Move ahead to it, and finally , slightly turn left and head straight to it . | [
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env_gs_ecust/astar_data/long/2025-1-11_4-42-53_81458260 | Proceed straight to the area marked by large red and gray rectangular buildings . Then , take a left to enter a spacious brown open square featuring pathways . Continue straight ahead to reach it . Go left towards the large red buildings with rooftop structures . Finally , go directly ahead to it . | [
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env_ue_bigcity/astar_data/low_short/2024-12-30_0-8-37_524872353 | Proceed straight to a modern white building with large dimensions , then slightly turn left to continue straight toward a tall black office building with a large glass facade . Slightly turn right and proceed straight again to it . Go right to encounter a gray city street filled with large skyscrapers with reflective glass windows . Keep going straight to reach a large black building with a glass exterior , then slightly turn left and keep going straight to it . | [
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env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-35-14_382697713 | Start by ascending towards the red - brown building characterized by large rectangular windows with ornate details . Then proceed directly to the beige building , which features medium - sized decorative architectural details . Gradually slow down and halt at it . | [
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env_gs_ecust/astar_data/long/2025-1-9_0-13-27_1503885238 | Walk straight towards the red building , distinguished by its large rectangular shape with windows . Then , slightly turn right and move ahead towards it . Next , slightly turn left and head straight to a gray square area , characterized by its large rectangular open space with pathways . After that , take a left towards a red building , recognized for its modern architectural design . Finally , proceed straight to it . | [
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-1.047197551196597,
-1.047197551196597
] |
env_ue_bigcity/astar_data/high_short/2025-1-4_4-45-37_1892430639 | Proceed towards the gray building characterized by a rectangular grid of windows with detailed cornices at the top . It is a tall , multi - story structure . | [
8,
0
] | [
"20250104_044545",
"20250104_044547"
] | [
[
689.9737292754963,
-88.73195469491458,
88.4609251153197
],
[
689.9737292754963,
-91.73195469491458,
88.4609251153197
]
] | [
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] |
env_airsim_16/astar_data/medium_short/2025-1-9_14-8-36_114760235 | Go straight towards a gray , very tall skyscraper featuring a rectangular tower with a spire on top . Then , slightly veer left slightly towards it . Next , slightly turn right and advance towards a beige , large skyscraper that is tall with a pointed top and a grid - like window pattern . | [
9,
9,
9,
1,
2,
9,
8,
3,
1,
0
] | [
"20250109_140840_2",
"20250109_140841_5",
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"20250109_140843_9",
"20250109_140843_10",
"20250109_140844_13",
"20250109_140845_15",
"20250109_140846_16",
"20250109_140846_17",
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[
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[
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[
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[
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[
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] |
env_gs_ecust/astar_data/long/2025-1-9_5-34-3_470631541 | Move ahead to a large , light gray building with rectangular rooftops . Then , slightly turn left and walk straight to it . Veer right towards it . Move forward to it . Lastly , slightly turn left and head straight towards it . | [
9,
9,
2,
9,
9,
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3,
3,
3,
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9,
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9,
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2,
9,
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] | [
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"20250109_053419_38",
"20250109_053420_41",
"20250109_053420_42",
"20250109_053421_43"
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[
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] |
env_ue_bigcity/astar_data/low_short/2024-12-27_6-11-9_2130794395 | Take a right towards a large gray building distinguished by its tall structure and detailed facade . Then , go directly ahead to see it . Shift left to find a large stone - colored building featuring columns and arched windows . Proceed straight to approach a large gray building with monumental historic architecture . Slightly turn right and keep going straight towards it . Veer right to encounter a large black office building notable for its reflective windows . Walk straight to be met with a skyscraping large gray building having numerous windows , and slightly turn right to advance forward towards it . Slightly turn right and head directly ahead to a large black building with a glass facade . Continue walking straight to reach a large gray structure with many windows . Shift right and move forward to meet it, and then slightly turn left , keeping straight towards it . Proceed straight ahead to a large gray building characterized by arched windows and a red awning , which serves as a multi - story commercial or office building . | [
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3,
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9,
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"20241227_061318",
"20241227_061324",
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] | [
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env_ue_bigcity/astar_data/low_short/2024-12-25_23-51-31_780821396 | Proceed straight to a large beige building with fire escapes ; then slightly turn left and go directly towards a large off - white building with a similar feature . Next , slightly turn right , head towards a medium - sized beige residential building that has fire escape ladders . | [
9,
9,
1,
2,
8,
3,
8,
3,
9,
0
] | [
"20241225_235140",
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"20241225_235155",
"20241225_235157",
"20241225_235201",
"20241225_235203",
"20241225_235209",
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] | [
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[
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[
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env_ue_bigcity/astar_data/low_short/2024-12-16_22-13-5_439493451 | Proceed towards the medium - sized commercial building characterized by its gray and red brick exterior , which features multiple large windows accented with decorative cornices . | [
9,
9,
9,
9,
9,
8,
0
] | [
"20241216_221318",
"20241216_221325",
"20241216_221333",
"20241216_221341",
"20241216_221348",
"20241216_221353",
"20241216_221356"
] | [
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[
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[
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[
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[
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env_gs_ecust/astar_data/long/2025-1-10_17-46-6_1404196431 | Proceed straight to the red and white large building with a rectangular shape , visible rooftops , and HVAC systems . Then , turn to the right slightly towards it . Finally , proceed straight again to it . | [
9,
9,
9,
1,
3,
3,
3,
3,
3,
9,
8,
0
] | [
"20250110_174609_2",
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"20250110_174613_12",
"20250110_174613_13",
"20250110_174613_14",
"20250110_174614_15",
"20250110_174615_18",
"20250110_174615_20",
"20250110_174616_21"
] | [
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env_ue_bigcity/astar_data/low_short/2024-12-27_13-7-33_452456682 | Proceed directly to a large brown building with a historical facade , then take a left slightly towards it . Finally , advance forward to a mid-sized , multi - story structure in gray with red brick accents , featuring multiple arched windows and a fire escape , serving as an urban residential or commercial building . | [
8,
2,
2,
9,
1,
0
] | [
"20241227_130741",
"20241227_130743",
"20241227_130745",
"20241227_130751",
"20241227_130753",
"20241227_130755"
] | [
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[
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] | [
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env_gs_ecust/astar_data/long/2025-1-9_0-41-51_358532290 | Proceed directly ahead to a neutral - toned central open area with walkways , medium to large in size , and square - shaped . Then slightly turn left and move forward toward a large red building characterized by its multi -story structure with rows of windows . Next , veer right towards a beige building with glass elements , featuring a rectangular shape with a flat roof and large windows , and is medium in size . Continue by walking straight to a large light gray building with a rectangular , multi - story structure . Finally , slightly turn right and move forward to it . | [
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env_airsim_sh/astar_data/low_short/2025-1-1_23-16-19_207026272 | Veer right towards the red and white medium - sized apartment building with a rectangular shape featuring multiple windows . Proceed straight to it . Slightly turn right and head straight towards it . Then , take a left to approach another red and white medium - sized building highlighted by its large windows . Proceed straight to it . Veer left to the gray and white large tower , distinguished by its tall , narrow structure with a spire . Keep going straight towards it . Slightly turn right and go directly ahead to the red brick building with white accents , featuring multiple large windows and vertical wooden panels , which is a medium - sized residential building with several floors . | [
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env_gs_ecust/astar_data/long/2025-1-9_4-50-54_216220853 | Proceed directly to the large building characterized by a white or light gray color and a rectangular layout with multiple floors , then slightly turn right and move ahead to another large building distinguished by a gray color and a circular structure with glass . Next , go left slightly towards it . Continue by walking straight to a medium parking lot with gray and white shades , featuring cars , and classified as an open space . Slightly turn right again and go directly ahead to a small , rectangular building , white with a dark roof and single - story design . | [
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env_gs_ecust/astar_data/long/2025-1-9_7-49-33_1549495354 | Proceed past a medium - sized gray building featuring a flat roof and a rectangular structure , then make a slight right slightly turn towards it . Next , make a left turn towards it . Continue straight to encounter it . Finally , move directly ahead to a medium - sized white building distinguished by its rectangular shape with multiple windows . | [
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env_ue_bigcity/astar_data/low_short/2024-12-25_21-33-54_1476153275 | Proceed directly to the large black office building , characterized by its grid of windows . | [
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0
] | [
"20241225_213403",
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env_gs_ecust/astar_data/long/2025-1-11_0-0-46_240854387 | Proceed directly to a red - brick , multi - story building with a modern glass front , characterized by its large size . Next , turn to the right towards a large , gray building or square , notable for its rectangular shape with an open design . Continue straight towards another gray building with a medium size , distinct for its rectangular shape and transparent roof . Then , slightly turn right and move ahead to a medium - sized dark building featuring a rectangular terrace . | [
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env_ue_bigcity/astar_data/low_short/2024-12-24_1-0-22_982936784 | Veer left to approach a large gray and red building with fire escapes , then move onward to a similarly large light gray building that is multi-story and features arched windows . Next , veer right to see the beige building with ornate architecture , and proceed straight to reach the corner of a large historic gray building with arched windows . Slightly turn left and head straight to encounter a large red - brown building with a brick facade . Finally , slightly turn right and go directly ahead to a large beige building with orange accents , featuring multiple windows and a decorative top , identified as a commercial or office building . | [
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] |
env_ue_bigcity/astar_data/low_short/2024-12-27_21-47-1_400000569 | Proceed towards the large gray office building featuring glass windows with concrete panels . | [
9,
0
] | [
"20241227_214711",
"20241227_214713"
] | [
[
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] | [
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] |
env_gs_ecust/astar_data/long/2025-1-11_0-32-27_1651574882 | Continue straight towards the large , white , rectangular high - rise building , then slightly turn right to head towards the large , gray , rectangular building with a flat roof . Next , make a left turn towards another large , white , rectangular building with windows . Finally , advance forward to it . | [
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9,
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3,
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2,
2,
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] | [
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] |
env_gs_ecust/astar_data/long/2025-1-11_17-52-40_1184154091 | Move forward to the white central courtyard of large size within the building , slightly turn left and go directly ahead to a similar colored building with a flat rooftop . Next , take a right to reach a gray building with a large rectangular roof structure containing units . Move forward to an open square with a surrounding frame , slightly turn left , and move ahead to a gray , medium - sized building featuring a rectangular structure with a flat roof . | [
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9,
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9,
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"20250111_175301_53",
"20250111_175302_54",
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[
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[
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[
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[
439.09801224501376,
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] | [
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] |
env_ue_bigcity/astar_data/low_short/2024-12-23_20-54-53_155324914 | Advance forward to the modern structure with vertical columns , characterized by its light gray and black color scheme and medium size . Slightly turn left , proceed straight , and slightly turn right until reaching the large , multi - story building featuring an arched entrance with decorative details , distinguished by its light beige color scheme . Continue straight to the commercial or office building . | [
9,
1,
2,
1,
3,
1,
3,
1,
0
] | [
"20241223_205503",
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"20241223_205511",
"20241223_205513",
"20241223_205515",
"20241223_205517",
"20241223_205519"
] | [
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[
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] |
env_gs_ecust/astar_data/long/2025-1-8_14-44-28_1494613810 | Proceed ahead to the large , gray building characterized by multi -story structures with regular windows . Then , turn right to encounter another gray , large building , distinguished by its rectangular shape with flat rooftops . Move onward to a large building adorned in white and red , featuring multi-levels with balconies . Slightly turn left and advance toward a medium - sized gray area , which is a parking lot with several parked cars . | [
9,
9,
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9,
9,
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3,
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9,
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2,
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] | [
"20250108_144431_2",
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"20250108_144444_40",
"20250108_144445_43",
"20250108_144446_44",
"20250108_144446_45"
] | [
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] | [
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] |
env_ue_bigcity/astar_data/low_short/2024-12-26_20-41-55_2084420925 | Proceed forward to the historic building characterized by its brown and beige colors , large size , and fire escape ladders , then slightly turn left and go directly ahead to the residential or commercial building , which is beige with dark accents and features fire escape ladders on the side , with a mid-sized , multi - story structure . | [
9,
9,
2,
1,
0
] | [
"20241226_204206",
"20241226_204212",
"20241226_204215",
"20241226_204216",
"20241226_204218"
] | [
[
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[
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] |
env_gs_sjtu01/astar_data/short/2025-1-4_12-35-49_1042613465 | Proceed straight towards the large building characterized by red and gray colors , featuring a U - shaped structure with a green roof and multiple levels . | [
9,
9,
9,
9,
9,
9,
9,
9,
9,
9,
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1,
0
] | [
"20250104_123552_2",
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"20250104_123556_14",
"20250104_123557_17",
"20250104_123558_20",
"20250104_123559_23",
"20250104_123600_26",
"20250104_123601_29",
"20250104_123602_32",
"20250104_123603_33",
"20250104_123603_34"
] | [
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Subsets and Splits