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The first-stage release contains 50,000 trajectories. The complete dataset will be released upon acceptance of the paper.
The dataset is divided into ZIP files, with each ZIP file containing 500 trajectories. For example, 000001_000500.zip contains trajectories numbered from 000001 to 000500:
000001_000500.zip ├── 000001_xxxxxx/ ├── 000002_xxxxxx/ ├── 000003_xxxxxx/ ├── ... └── 000500_xxxxxx/
Each trajectory directory has the following structure:
000001_xxxxxx/
├── instruction.json # Natural-language navigation instruction
├── data.csv # Timestamps, drone poses, and corresponding image paths
├── target_points.csv # Target position and orientation
├── images/
│ └── front/ # Front-facing RGB image sequence
│ ├── frame_1.jpg
│ ├── frame_2.jpg
│ ├── frame_3.jpg
│ └── ...
└── depth/
└── front/ # Front-facing depth image sequence
├── frame_1.jpg
├── frame_2.jpg
├── frame_3.jpg
└── ...
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