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env_ue_bigcity/astar_data/low_short/2024-12-16_22-9-26_1373226340 | Proceed directly to the large beige building with fire escape stairs . Then , slightly turn left and move forward to it . | [
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env_ue_bigcity/astar_data/low_short/2024-12-20_16-2-43_1776808933 | Make a right turn towards the white and beige building with large rectangular windows , then proceed forward to the large white building featuring modern architecture with black windows . Shift left slightly to it . | [
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env_airsim_gz/astar_data/low_long/2025-1-2_3-14-57_1384095820 | Proceed to the dark gray building with rectangular windows of medium size , slightly veer right to continue along the path until you reach the gray commercial building , characterized by its rectangular shape with multiple windows , and mid-sized dimensions . | [
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env_gs_ecust/astar_data/long/2025-1-9_10-50-9_1308581515 | Proceed straight towards the medium - sized , grey building characterized by its rectangular windows . Then , slightly turn right and continue on the path towards another medium - sized , gray building with a flat roof . Next , veer slightly to the left and head straight , before taking a left towards the large , white , multi - story , rectangular building . Keep moving straight to it . Finally , slightly turn right and advance towards it . | [
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env_gs_ecust/astar_data/long/2025-1-10_23-17-41_522971726 | Walk straight to a medium - sized natural landmark characterized by green and brown colors , featuring a pond surrounded by trees and vegetation . Slightly turn right and continue forward to a large building showcasing modern architecture with white and glass colors , a flat roof , and large glass windows . Then , turn to the left towards another large building marked by a white color and consisting of a U - shaped courtyard with a flat roof housing HVAC units . | [
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env_airsim_23/astar_data/medium_long/2025-01-19_00-45-30_630724 | Continue straight until you see the prominent beige modern building with angular roof structures . Then , slightly turn left and proceed directly ahead to the green building with large rectangular windows . Move up towards the grey communications tower with a metallic frame . Proceed directly ahead to the construction equipment , a large grey crane . Take a right towards the large grey building characterized by horizontal lines and windows . Move forward to it . Slightly turn left and move forward to the large grey building with balconies . Go downwards to it . Finally , slightly turn right and proceed straight to it . | [
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env_gs_ecust/astar_data/long/2025-1-9_10-55-22_360022300 | Walk in a direct path toward a large building characterized by red and gray colors , multiple rooftop structures , and a flat roof . Turn slightly to the right and move ahead to another large structure , which is red and gray , multi - story , and rectangular . Then , go right to a similar building and walk straight again to reach a large green field defined by a rectangular area with construction . Finally , slightly turn right and advance forward to a medium - sized white building with rectangular features and red accents . | [
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"20250109_105538_37",
"20250109_105538_38",
"20250109_105539_40",
"20250109_105539_41"
] | [
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] | [
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env_airsim_16/astar_data/medium_short_updown/2025-1-14_5-54-39_34740865 | Proceed from a tall , large building colored brown / grey to a tall skyscraper with a large size in grey , then slightly turn left and continue straight towards other large skyscraper structures with a grey hue . Afterward , slightly stop and move down towards a medium - sized building characterized by arched windows with grid lines , a facade with vertical columns , and dark colors with blue and purple tones , which serves as a commercial or office space . | [
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-1,
-1,
-1,
-1,
-1,
-1,
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-1,
-1,
-1,
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-1,
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-2,
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-2,
-2,
-2,
-2,
-2
] | [
"20250114_055439_0",
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"20250114_055443_3",
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"20250114_055444_5",
"20250114_055444_6",
"20250114_055445_7",
"20250114_055445_8",
"20250114_055445_9",
"20250114_055446_10",
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"20250114_055449_17",
"20250114_055449_18",
"20250114_055450_21",
"20250114_055452_24",
"20250114_055453_27",
"20250114_055454_30",
"20250114_055455_31",
"20250114_055455_32",
"20250114_055456_34",
"20250114_055456_35",
"20250114_055457_36",
"20250114_055457_37",
"20250114_055458_38",
"20250114_055458_39",
"20250114_055459_40",
"20250114_055459_41",
"20250114_055500_42",
"20250114_055500_43",
"20250114_055500_44",
"20250114_055501_45",
"20250114_055501_46",
"20250114_055502_47",
"20250114_055502_48",
"20250114_055502_49",
"20250114_055503_50",
"20250114_055503_51",
"20250114_055503_52",
"20250114_055504_53",
"20250114_055504_54"
] | [
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] |
env_ue_bigcity/astar_data/low_short/2024-12-17_14-33-25_937370163 | Turn left towards the gray , large skyscraper with a tall building feature , then proceed forward to a similar gray , large skyscraper within a cluster of other similar structures . Slightly turn left and advance to the dark gray , medium office building characterized by a modern glass facade . | [
1,
2,
2,
1,
2,
9,
2,
1,
0
] | [
"20241217_143331",
"20241217_143333",
"20241217_143335",
"20241217_143337",
"20241217_143339",
"20241217_143346",
"20241217_143348",
"20241217_143350",
"20241217_143352"
] | [
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[
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[
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[
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] |
env_gs_ecust/astar_data/long/2025-1-11_1-0-31_805251743 | Advance forward to a large grey square featuring expansive open space with pathways . Shift right to a large red rectangular building . Go directly ahead to it . Proceed right towards it . Walk straight to it, then slightly turn right and move ahead to it . | [
9,
9,
9,
9,
9,
9,
3,
3,
8,
3,
3,
3,
9,
9,
9,
9,
3,
1,
0
] | [
"20250111_010034_2",
"20250111_010035_5",
"20250111_010037_8",
"20250111_010038_11",
"20250111_010039_14",
"20250111_010040_17",
"20250111_010040_18",
"20250111_010041_19",
"20250111_010041_21",
"20250111_010042_23",
"20250111_010042_24",
"20250111_010043_25",
"20250111_010044_28",
"20250111_010045_31",
"20250111_010046_34",
"20250111_010047_37",
"20250111_010047_38",
"20250111_010048_39",
"20250111_010048_40"
] | [
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] | [
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] |
env_gs_ecust/astar_data/long/2025-1-8_16-6-42_1017679567 | First , make a left turn towards the gray , large , circular building with a glass façade . Then , proceed forward to another large , gray circular structure , slightly turn right , and continue straight towards the large grey and white building with a circular design . Afterward , turn left and move forward to the small light gray building with a rectangular shape and a flat roof . | [
1,
2,
2,
9,
9,
9,
3,
9,
9,
2,
2,
2,
2,
2,
2,
9,
9,
9,
9,
9,
9,
9,
8,
0
] | [
"20250108_160645_0",
"20250108_160645_1",
"20250108_160645_2",
"20250108_160646_5",
"20250108_160647_8",
"20250108_160648_11",
"20250108_160649_12",
"20250108_160650_15",
"20250108_160651_18",
"20250108_160651_20",
"20250108_160652_21",
"20250108_160652_22",
"20250108_160652_23",
"20250108_160653_24",
"20250108_160653_25",
"20250108_160654_28",
"20250108_160655_31",
"20250108_160656_34",
"20250108_160657_37",
"20250108_160658_40",
"20250108_160659_43",
"20250108_160700_46",
"20250108_160701_48",
"20250108_160701_49"
] | [
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[
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] | [
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] |
env_ue_bigcity/astar_data/low_short/2024-12-24_23-27-35_1250372661 | Proceed directly to a building characterized by a gray and black color scheme , featuring a modern design with large windows , a medium size , and serving as an office building . | [
8,
0
] | [
"20241224_232743",
"20241224_232745"
] | [
[
494.0112394055531,
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] | [
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env_gs_ecust/astar_data/long/2025-1-9_5-28-38_1162088421 | Continue straight until you reach a small white parking lot , then turn right to encounter a medium - sized gray building with a rectangular shape and flat roof . Keep going straight to find a large gray circular building , and then make a left slightly turn towards it . Finally , head straight to arrive at it . | [
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env_airsim_16/astar_data/medium_short/2025-1-9_13-29-0_1386418627 | Move forward to the light brown , very large skyscraper that is tall with a pointed top , then slightly turn right and move ahead to the light gray skyscraper characterized by vertical windows with arched tops and a prominent central tower . | [
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1,
0
] | [
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env_gs_ecust/astar_data/long/2025-1-10_13-41-29_1139901474 | Begin by heading directly towards the large red and gray building characterized by its rectangular shape and multiple stories . Then , shift right to approach another structure of similar color , but with a rectangular shape featuring multiple windows . Proceed by advancing forward to an academic or institutional building , distinguished by its red and gray hues , and a rectangular configuration with multiple floors . Next , slightly turn left and advance towards a red , multi - story structure . Finally , make a slight right turn and move forward to arrive at a large red and gray edifice with a rectangular design and a flat rooftop . | [
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env_ue_bigcity/astar_data/low_short/2024-12-23_19-36-40_1264095060 | Proceed towards the beige commercial building that features a fire escape and is of medium size . | [
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env_ue_bigcity/astar_data/low_short/2024-12-30_21-37-40_1470503465 | Proceed directly towards the beige apartment building with medium - sized fire escapes . | [
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env_gs_ecust/astar_data/short/2025-1-9_20-30-3_442982639 | Proceed straight towards the large gray building featuring modern architecture with glass windows , then slightly turn right and move forward to the sizable structure characterized by white and glass material with multi-story and horizontal lines . | [
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"20250109_203010_12",
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"20250109_203012_18",
"20250109_203013_21",
"20250109_203013_23",
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env_airsim_18/astar_data/low_long_updown/2025-1-14_2-40-45_1070575321 | Proceed upward to a light gray building characterized by medium - sized rectangular windows . Then move forward towards an off - white building with similar features . Afterward , slightly turn left and walk straight to a gray building boasting medium - sized rectangular windows . Go left to approach a light brown and beige structure , notable for its large size and tall façade with minimal windows . Continue directly ahead to a gray modern skyscraper . Finally , slightly turn right , go slightly straight , then halt before heading downwards to a dark - colored modern commercial building accented by large glass windows and pillars . | [
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1.047197551196597,
1.047197551196597
] |
env_ue_bigcity/astar_data/low_short/2024-12-30_5-31-38_1407392292 | Move ahead to the gray mid-rise commercial / office building featuring large windows with reflections and brick details , comprising multiple stories . | [
8,
0
] | [
"20241230_053146",
"20241230_053148"
] | [
[
-398.2949312817225,
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],
[
-395.2949312817225,
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7.644041043037586
]
] | [
0,
0
] |
env_ue_bigcity/astar_data/low_short/2024-12-20_3-23-44_1034949299 | Proceed directly ahead to a large building characterized by a red - orange hue and intricate architectural details ; then , slightly turn left , moving forward to another large building , this time black , featuring a grid - like facade ; finally , slightly turn right and walk straight to a medium - sized office building , black as well , with a grid pattern facade . | [
9,
9,
9,
9,
2,
9,
3,
8,
0
] | [
"20241220_032355",
"20241220_032401",
"20241220_032407",
"20241220_032413",
"20241220_032415",
"20241220_032420",
"20241220_032422",
"20241220_032426",
"20241220_032428"
] | [
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[
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[
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[
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[
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[
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[
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2.617993877991503,
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] |
env_ue_bigcity/astar_data/low_short/2024-12-31_0-54-32_12895151 | Walk straight towards a tall , beige , and brown office building characterized by a large size and a grid - like window pattern , then slightly turn right and proceed straight to a large , beige building with rectangular windows . Slightly turn left and head straight to a medium - sized gray water tower before slightly turning left again and continuing directly to a large gray building featuring windows with decorative frames . Turn to the right , then slightly go straight before slightly turning left to walk straight to a large , gray historic building with detailed architectural design and fire escapes . Shift right towards a large , brown , old - style brick urban architecture , then continue straight to a tall , historic or governmental structure featuring a light color with a green dome . | [
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3,
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9,
8,
3,
3,
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0
] | [
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"20241231_005508",
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"20241231_005533",
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"20241231_005537",
"20241231_005539",
"20241231_005541",
"20241231_005543",
"20241231_005550",
"20241231_005554",
"20241231_005556",
"20241231_005558",
"20241231_005604",
"20241231_005606"
] | [
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[
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[
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[
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] | [
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] |
env_ue_bigcity/astar_data/low_long_updown/2025-1-15_4-18-24_296864819 | First , ascend to a large office building characterized by its dark grid - like facade . Move forward to another large office building , this time featuring black glass windows . Slightly stop , then descend to it . | [
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-1,
-1,
-1,
9,
1,
0,
-2,
-2,
-2,
-2
] | [
"20250115_041828",
"20250115_041830",
"20250115_041832",
"20250115_041834",
"20250115_041841",
"20250115_041843",
"20250115_041845",
"20250115_041847",
"20250115_041850",
"20250115_041852",
"20250115_041854"
] | [
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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_ue_bigcity/astar_data/low_long_updown/2025-1-14_20-7-30_610515434 | Ascend to the urban architecture characterized by grey skyscrapers and office buildings , then slightly go straight and turn to the left to reach the large grey building featuring multiple windows and vertical lines . Continue straight to it . Finally , slightly stop and descend at it . | [
-1,
-1,
-1,
1,
2,
2,
8,
0,
-2,
-2,
-2
] | [
"20250114_200734",
"20250114_200736",
"20250114_200738",
"20250114_200741",
"20250114_200743",
"20250114_200745",
"20250114_200750",
"20250114_200752",
"20250114_200754",
"20250114_200756",
"20250114_200758"
] | [
[
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],
[
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[
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[
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[
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[
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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_ue_bigcity/astar_data/low_short/2024-12-19_20-30-11_1095966189 | Proceed straight to the large gray multi - story building with fire escapes , then slightly turn left and keep going straight until you reach another gray building with large windows . Finally , take a right towards the tall white commercial building that features a rectangular design with evenly spaced windows . | [
9,
2,
9,
9,
9,
3,
3,
3,
1,
0
] | [
"20241219_203020",
"20241219_203022",
"20241219_203028",
"20241219_203034",
"20241219_203039",
"20241219_203041",
"20241219_203043",
"20241219_203045",
"20241219_203047",
"20241219_203049"
] | [
[
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[
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[
-1977.50869992603,
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[
-1986.50869992603,
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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_12-36-54_1585990364 | First , move forward toward a large building characterized by a gray and red color scheme , featuring multiple structures with flat roofs and air conditioning units . Then , slightly turn right slightly and proceed to it . Next , take a right and head toward a large building painted red , notable for its rectangular form with multiple stories . Continue advancing to it . Slightly turn right again and move forward to a large , red building that features a rectangular structure with a flat roof . | [
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9,
9,
3,
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3,
3,
3,
9,
9,
9,
9,
1,
3,
9,
1,
0
] | [
"20250110_123658_2",
"20250110_123659_5",
"20250110_123700_8",
"20250110_123701_11",
"20250110_123701_12",
"20250110_123702_15",
"20250110_123703_17",
"20250110_123704_19",
"20250110_123704_20",
"20250110_123705_21",
"20250110_123706_24",
"20250110_123707_27",
"20250110_123708_30",
"20250110_123709_33",
"20250110_123709_34",
"20250110_123709_35",
"20250110_123710_38",
"20250110_123711_39",
"20250110_123711_40"
] | [
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[
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[
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[
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] |
Subsets and Splits