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

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}
}