semantic_uuid
stringlengths 37
52
| map_name
stringclasses 4
values | sketch_map_name
stringclasses 2
values | start
stringclasses 1
value | end
stringclasses 20
values | drive_map_name
stringclasses 1
value | model_guideline
stringclasses 5
values |
|---|---|---|---|---|---|---|
sim_office/coffee_delivery/misleading/12/3 | sim_office | annotated_occupancy_map | (random) | 13 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/14/64 | sim_office | annotated_occupancy_map | (random) | 15 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_street_road/right_food_delivery/misleading/14/16 | sim_street_road | orthographic_map | (random) | 15 | occupancy_map | You are an outdoor self-driving robot taxi.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed.
5. You must drive on the road.
a. You should drive according to the right-hand-traffic law.
6. You should slow down before entering intersections, speed bumps, and crosswalks. |
sim_office/coffee_delivery/misleading/8/30 | sim_office | annotated_occupancy_map | (random) | 9 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/2/6 | sim_office | annotated_occupancy_map | (random) | 3 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/misleading/18/24 | sim_office | annotated_occupancy_map | (random) | 19 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/12/66 | sim_office | annotated_occupancy_map | (random) | 13 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/10/38 | sim_office | annotated_occupancy_map | (random) | 11 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_orchard/speed_sprayer/precise/5/23 | sim_orchard | annotated_occupancy_map | (random) | 6 | occupancy_map | You are an outdoor speed-sprayer robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/1/17 | sim_office | annotated_occupancy_map | (random) | 2 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/8/49 | sim_office | annotated_occupancy_map | (random) | 9 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/7/48 | sim_office | annotated_occupancy_map | (random) | 8 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_street_road/right_food_delivery/precise/15/2 | sim_street_road | orthographic_map | (random) | 16 | occupancy_map | You are an outdoor self-driving robot taxi.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed.
5. You must drive on the road.
a. You should drive according to the right-hand-traffic law.
6. You should slow down before entering intersections, speed bumps, and crosswalks. |
sim_office/coffee_delivery/precise/5/42 | sim_office | annotated_occupancy_map | (random) | 6 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/4/38 | sim_office | annotated_occupancy_map | (random) | 5 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/14/44 | sim_office | annotated_occupancy_map | (random) | 15 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/14/77 | sim_office | annotated_occupancy_map | (random) | 15 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_street_sidewalk/food_delivery/misleading/17/7 | sim_street_sidewalk | orthographic_map | (random) | 18 | occupancy_map | You are an outdoor last mile delivery robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed.
5. You must drive on the sidewalk.
a. If you need to cross the road, you must use the crosswalk. |
sim_office/coffee_delivery/precise/15/42 | sim_office | annotated_occupancy_map | (random) | 16 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/4/79 | sim_office | annotated_occupancy_map | (random) | 5 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/13/44 | sim_office | annotated_occupancy_map | (random) | 14 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_orchard/speed_sprayer/precise/3/16 | sim_orchard | annotated_occupancy_map | (random) | 4 | occupancy_map | You are an outdoor speed-sprayer robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/misleading/17/28 | sim_office | annotated_occupancy_map | (random) | 18 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_street_road/right_food_delivery/misleading/13/7 | sim_street_road | orthographic_map | (random) | 14 | occupancy_map | You are an outdoor self-driving robot taxi.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed.
5. You must drive on the road.
a. You should drive according to the right-hand-traffic law.
6. You should slow down before entering intersections, speed bumps, and crosswalks. |
sim_office/coffee_delivery/misleading/0/27 | sim_office | annotated_occupancy_map | (random) | 1 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/18/46 | sim_office | annotated_occupancy_map | (random) | 19 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_orchard/speed_sprayer/precise/5/16 | sim_orchard | annotated_occupancy_map | (random) | 6 | occupancy_map | You are an outdoor speed-sprayer robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_street_sidewalk/food_delivery/precise/17/1 | sim_street_sidewalk | orthographic_map | (random) | 18 | occupancy_map | You are an outdoor last mile delivery robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed.
5. You must drive on the sidewalk.
a. If you need to cross the road, you must use the crosswalk. |
sim_office/coffee_delivery/precise/7/49 | sim_office | annotated_occupancy_map | (random) | 8 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_street_sidewalk/food_delivery/misleading/18/10 | sim_street_sidewalk | orthographic_map | (random) | 19 | occupancy_map | You are an outdoor last mile delivery robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed.
5. You must drive on the sidewalk.
a. If you need to cross the road, you must use the crosswalk. |
sim_office/coffee_delivery/precise/2/32 | sim_office | annotated_occupancy_map | (random) | 3 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/4/72 | sim_office | annotated_occupancy_map | (random) | 5 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_street_road/left_food_delivery/misleading/0/14 | sim_street_road | orthographic_map | (random) | 1 | occupancy_map | You are an outdoor self-driving robot taxi.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed.
5. You must drive on the road.
a. You should drive according to the left-hand-traffic law.
6. You should slow down before entering intersections, speed bumps, and crosswalks. |
sim_street_sidewalk/food_delivery/precise/0/6 | sim_street_sidewalk | orthographic_map | (random) | 1 | occupancy_map | You are an outdoor last mile delivery robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed.
5. You must drive on the sidewalk.
a. If you need to cross the road, you must use the crosswalk. |
sim_office/coffee_delivery/precise/8/11 | sim_office | annotated_occupancy_map | (random) | 9 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_street_road/right_food_delivery/misleading/13/12 | sim_street_road | orthographic_map | (random) | 14 | occupancy_map | You are an outdoor self-driving robot taxi.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed.
5. You must drive on the road.
a. You should drive according to the right-hand-traffic law.
6. You should slow down before entering intersections, speed bumps, and crosswalks. |
sim_street_road/left_food_delivery/precise/5/19 | sim_street_road | orthographic_map | (random) | 6 | occupancy_map | You are an outdoor self-driving robot taxi.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed.
5. You must drive on the road.
a. You should drive according to the left-hand-traffic law.
6. You should slow down before entering intersections, speed bumps, and crosswalks. |
sim_office/coffee_delivery/misleading/14/15 | sim_office | annotated_occupancy_map | (random) | 15 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/14/20 | sim_office | annotated_occupancy_map | (random) | 15 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/17/32 | sim_office | annotated_occupancy_map | (random) | 18 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/misleading/16/7 | sim_office | annotated_occupancy_map | (random) | 17 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/misleading/15/13 | sim_office | annotated_occupancy_map | (random) | 16 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/2/55 | sim_office | annotated_occupancy_map | (random) | 3 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/misleading/1/15 | sim_office | annotated_occupancy_map | (random) | 2 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_street_sidewalk/food_delivery/misleading/13/16 | sim_street_sidewalk | orthographic_map | (random) | 14 | occupancy_map | You are an outdoor last mile delivery robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed.
5. You must drive on the sidewalk.
a. If you need to cross the road, you must use the crosswalk. |
sim_office/coffee_delivery/precise/10/40 | sim_office | annotated_occupancy_map | (random) | 11 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_orchard/speed_sprayer/misleading/1/7 | sim_orchard | annotated_occupancy_map | (random) | 2 | occupancy_map | You are an outdoor speed-sprayer robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_street_road/right_food_delivery/misleading/17/6 | sim_street_road | orthographic_map | (random) | 18 | occupancy_map | You are an outdoor self-driving robot taxi.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed.
5. You must drive on the road.
a. You should drive according to the right-hand-traffic law.
6. You should slow down before entering intersections, speed bumps, and crosswalks. |
sim_office/coffee_delivery/precise/5/38 | sim_office | annotated_occupancy_map | (random) | 6 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/misleading/8/33 | sim_office | annotated_occupancy_map | (random) | 9 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_street_sidewalk/food_delivery/precise/12/7 | sim_street_sidewalk | orthographic_map | (random) | 13 | occupancy_map | You are an outdoor last mile delivery robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed.
5. You must drive on the sidewalk.
a. If you need to cross the road, you must use the crosswalk. |
sim_orchard/speed_sprayer/precise/5/33 | sim_orchard | annotated_occupancy_map | (random) | 6 | occupancy_map | You are an outdoor speed-sprayer robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/2/26 | sim_office | annotated_occupancy_map | (random) | 3 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/16/51 | sim_office | annotated_occupancy_map | (random) | 17 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/13/24 | sim_office | annotated_occupancy_map | (random) | 14 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_orchard/speed_sprayer/misleading/1/32 | sim_orchard | annotated_occupancy_map | (random) | 2 | occupancy_map | You are an outdoor speed-sprayer robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_street_sidewalk/food_delivery/precise/13/14 | sim_street_sidewalk | orthographic_map | (random) | 14 | occupancy_map | You are an outdoor last mile delivery robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed.
5. You must drive on the sidewalk.
a. If you need to cross the road, you must use the crosswalk. |
sim_office/coffee_delivery/misleading/7/28 | sim_office | annotated_occupancy_map | (random) | 8 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_street_road/right_food_delivery/misleading/13/13 | sim_street_road | orthographic_map | (random) | 14 | occupancy_map | You are an outdoor self-driving robot taxi.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed.
5. You must drive on the road.
a. You should drive according to the right-hand-traffic law.
6. You should slow down before entering intersections, speed bumps, and crosswalks. |
sim_office/coffee_delivery/precise/6/30 | sim_office | annotated_occupancy_map | (random) | 7 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_street_sidewalk/food_delivery/precise/15/16 | sim_street_sidewalk | orthographic_map | (random) | 16 | occupancy_map | You are an outdoor last mile delivery robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed.
5. You must drive on the sidewalk.
a. If you need to cross the road, you must use the crosswalk. |
sim_office/coffee_delivery/misleading/15/4 | sim_office | annotated_occupancy_map | (random) | 16 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/misleading/13/17 | sim_office | annotated_occupancy_map | (random) | 14 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_street_road/right_food_delivery/misleading/13/0 | sim_street_road | orthographic_map | (random) | 14 | occupancy_map | You are an outdoor self-driving robot taxi.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed.
5. You must drive on the road.
a. You should drive according to the right-hand-traffic law.
6. You should slow down before entering intersections, speed bumps, and crosswalks. |
sim_office/coffee_delivery/precise/6/33 | sim_office | annotated_occupancy_map | (random) | 7 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/misleading/6/38 | sim_office | annotated_occupancy_map | (random) | 7 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/1/24 | sim_office | annotated_occupancy_map | (random) | 2 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/6/24 | sim_office | annotated_occupancy_map | (random) | 7 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_street_sidewalk/food_delivery/precise/11/1 | sim_street_sidewalk | orthographic_map | (random) | 12 | occupancy_map | You are an outdoor last mile delivery robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed.
5. You must drive on the sidewalk.
a. If you need to cross the road, you must use the crosswalk. |
sim_office/coffee_delivery/precise/6/54 | sim_office | annotated_occupancy_map | (random) | 7 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/18/64 | sim_office | annotated_occupancy_map | (random) | 19 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/12/48 | sim_office | annotated_occupancy_map | (random) | 13 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/misleading/14/20 | sim_office | annotated_occupancy_map | (random) | 15 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/10/57 | sim_office | annotated_occupancy_map | (random) | 11 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/misleading/10/16 | sim_office | annotated_occupancy_map | (random) | 11 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_street_sidewalk/food_delivery/misleading/17/1 | sim_street_sidewalk | orthographic_map | (random) | 18 | occupancy_map | You are an outdoor last mile delivery robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed.
5. You must drive on the sidewalk.
a. If you need to cross the road, you must use the crosswalk. |
sim_street_road/right_food_delivery/precise/12/5 | sim_street_road | orthographic_map | (random) | 13 | occupancy_map | You are an outdoor self-driving robot taxi.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed.
5. You must drive on the road.
a. You should drive according to the right-hand-traffic law.
6. You should slow down before entering intersections, speed bumps, and crosswalks. |
sim_street_sidewalk/food_delivery/misleading/1/4 | sim_street_sidewalk | orthographic_map | (random) | 2 | occupancy_map | You are an outdoor last mile delivery robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed.
5. You must drive on the sidewalk.
a. If you need to cross the road, you must use the crosswalk. |
sim_office/coffee_delivery/misleading/15/10 | sim_office | annotated_occupancy_map | (random) | 16 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/2/3 | sim_office | annotated_occupancy_map | (random) | 3 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/2/61 | sim_office | annotated_occupancy_map | (random) | 3 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/misleading/17/15 | sim_office | annotated_occupancy_map | (random) | 18 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/14/62 | sim_office | annotated_occupancy_map | (random) | 15 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/15/47 | sim_office | annotated_occupancy_map | (random) | 16 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/misleading/19/26 | sim_office | annotated_occupancy_map | (random) | 20 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/16/76 | sim_office | annotated_occupancy_map | (random) | 17 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/19/31 | sim_office | annotated_occupancy_map | (random) | 20 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/15/60 | sim_office | annotated_occupancy_map | (random) | 16 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_street_road/left_food_delivery/precise/9/8 | sim_street_road | orthographic_map | (random) | 10 | occupancy_map | You are an outdoor self-driving robot taxi.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed.
5. You must drive on the road.
a. You should drive according to the left-hand-traffic law.
6. You should slow down before entering intersections, speed bumps, and crosswalks. |
sim_office/coffee_delivery/precise/3/69 | sim_office | annotated_occupancy_map | (random) | 4 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_street_road/right_food_delivery/misleading/16/18 | sim_street_road | orthographic_map | (random) | 17 | occupancy_map | You are an outdoor self-driving robot taxi.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed.
5. You must drive on the road.
a. You should drive according to the right-hand-traffic law.
6. You should slow down before entering intersections, speed bumps, and crosswalks. |
sim_street_road/left_food_delivery/precise/5/18 | sim_street_road | orthographic_map | (random) | 6 | occupancy_map | You are an outdoor self-driving robot taxi.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed.
5. You must drive on the road.
a. You should drive according to the left-hand-traffic law.
6. You should slow down before entering intersections, speed bumps, and crosswalks. |
sim_office/coffee_delivery/precise/11/61 | sim_office | annotated_occupancy_map | (random) | 12 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_orchard/speed_sprayer/precise/0/3 | sim_orchard | annotated_occupancy_map | (random) | 1 | occupancy_map | You are an outdoor speed-sprayer robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_orchard/speed_sprayer/precise/3/2 | sim_orchard | annotated_occupancy_map | (random) | 4 | occupancy_map | You are an outdoor speed-sprayer robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/13/9 | sim_office | annotated_occupancy_map | (random) | 14 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/precise/9/44 | sim_office | annotated_occupancy_map | (random) | 10 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_street_road/right_food_delivery/precise/15/16 | sim_street_road | orthographic_map | (random) | 16 | occupancy_map | You are an outdoor self-driving robot taxi.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed.
5. You must drive on the road.
a. You should drive according to the right-hand-traffic law.
6. You should slow down before entering intersections, speed bumps, and crosswalks. |
sim_office/coffee_delivery/precise/18/60 | sim_office | annotated_occupancy_map | (random) | 19 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
sim_office/coffee_delivery/misleading/13/35 | sim_office | annotated_occupancy_map | (random) | 14 | occupancy_map | You are an indoor food-serving robot.
You must follow these driving instructions:
1. You must avoid collisions.
2. You should prioritize reaching the final destination.
3. You should follow the Trajectory Instruction.
a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.
b. You should try to evade any identifiable obstacles.
4. You should maintain a constant driving speed. |
End of preview. Expand
in Dataset Viewer.
COMMAND Dataset 😃
Dataset Structure 🗂️
The COMMAND_dataset is organized as follows:
COMMAND_dataset/
├─ README.md # Documentation for the dataset
├─ map_asset/ # Directory containing map assets 🗺️
│ ├─ map_list.yml # Information of all maps
│ └─ maps/ # Folder containing individual maps
│ └─ <map_name>/ # Folder for a specific map
│ ├─ .png # Image representation of the map
│ └─ .yml # Map info (for ROS map server)
├─ bagfiles/ # Directory containing ROS bagfiles 🎥
│ └─ .bag # ROS bagfile with unique identifier
└─ scenarios/ # Directory containing scenario information 📜
├─.json # Scenario schema
└─.npy # Sketch instructions
How to extract the dataset:
# To recombine the parts, use:
cat COMMAND_part_* > COMMAND.tar.zst
# Then decompress the archive:
tar --use-compress-program=zstd -xf COMMAND.tar.zst
Dataset Overview 📈
Statistics
| Environment | Office (sim_office) | Street (Road) (sim_street_road) | Street (Sidewalk) (sim_street_sidewalk) | Orchard (sim_orchard) |
|---|---|---|---|---|
| Count | 2,253 | 400 | 402 | 262 |
| Avg. Time | 31s | 57s | 103s | 172s |
| Avg. Distance | 32.8m | 80.4m | 150.0m | 191.6m |
| Avg. FD (P / M) | 1.05 / 1.77 | 0.97 / 2.02 | 3.03 / 3.50 | 1.91 / 3.76 |
| % of Misleading | 31% | 51% | 50% | 39% |
Total : 3317 bagfiles, includes 48 hours of driving data over 219 kilometers.
Note: These values differ slightly from the paper because the data version history is missing.
Directory Details 🏗️
map_asset/
map_list.yml: Contains metadata about all maps in the dataset.maps/: Holds individual map folders. Each folder typically includes:.png: An image representation of the map..yml: Detailed map information (compatible with the ROS map server).
bagfiles/
- Contains ROS bagfiles, each identified by a unique UUID (e.g.,
<uuid>.bag).
scenarios/
<uuid>.json: Scenario schema file describing the scenario.<uuid>.npy: Scenario annotations (sketch instructions). It contains a list of(y, x)pixel coordinates on the correspondingsketch_map_namemap image.
Topics in ROS Bagfiles 🎥
/clock- Message Type:
rosgraph_msgs/msg/Clock - Description: Publishes the current simulated time in a ROS system. Useful for synchronizing sensor data and events in simulation.
- Message Type:
/cmd_vel- Message Type:
geometry_msgs/msg/Twist - Description: Represents commanded linear and angular velocities for a robot, typically used to drive mobile robots (e.g., differential drive, holonomic platforms).
- Message Type:
/imu- Message Type:
sensor_msgs/msg/Imu - Description: Provides data from an Inertial Measurement Unit, including orientation (as a quaternion), angular velocity, and linear acceleration.
- Message Type:
/joy- Message Type:
sensor_msgs/msg/Joy - Description: Reports the state of joystick (gamepad) axes and buttons, enabling teleoperation or manual input to the robot.
- Message Type:
/odom- Message Type:
nav_msgs/msg/Odometry - Description: Offers an estimate of the robot’s position and velocity in free space. This serves as ground-truth data in simulation.
- Message Type:
/rgb_front/camera_info,/rgb_left/camera_info,/rgb_right/camera_info- Message Type:
sensor_msgs/msg/CameraInfo - Description: Contains intrinsic and extrinsic parameters of a camera.
- Message Type:
/rgb_front/compressed,/rgb_left/compressed,/rgb_right/compressed- Message Type:
sensor_msgs/msg/CompressedImage - Description: Encoded image data (JPEG/PNG) from a camera feed.
- Message Type:
/tf- Message Type:
tf2_msgs/msg/TFMessage - Description: Provides an odom-to-base_link transform.
- Message Type:
Schema of Scenario JSON 📜
semantic_uuid: A unique identifier for the scenario. Combines map name, scenario name, and either "precise" or "misleading," followed by the scenario number.map_name: The name of the map where the scenario is located.sketch_map_name: The map where the sketch instructions are provided.start: The starting point of the robot (can be a specific point or "random").end: The ending point of the robot, predefined in annotated maps.drive_map_name: The map that the robot uses for navigation, usually an occupancy map.model_guideline: Instructions for the robot to follow during the scenario, serving as input for model training.
Example:
{
"semantic_uuid": "sim_office/coffee_delivery/precise/3/42",
"map_name": "sim_office",
"sketch_map_name": "annotated_occupancy_map",
"start": "(random)",
"end": "4",
"drive_map_name": "occupancy_map",
"model_guideline": "You are an indoor food-serving robot.\n\nYou must follow these driving instructions:\n1. You must avoid collisions.\n2. You should prioritize reaching the final destination.\n3. You should follow the Trajectory Instruction.\n a. If the Trajectory Instruction cannot be followed due to any obstacles, you should deviate to bypass the obstacle.\n b. You should try to evade any identifiable obstacles.\n4. You should maintain a constant driving speed."
}
Citation
If you find this work useful, please cite our paper:
@article{choi2024canvas,
title={CANVAS: Commonsense-Aware Navigation System for Intuitive Human-Robot Interaction},
author={Choi, Suhwan and Cho, Yongjun and Kim, Minchan and Jung, Jaeyoon and Joe, Myunchul and Park, Yubeen and Kim, Minseo and Kim, Sungwoong and Lee, Sungjae and Park, Hwiseong and others},
journal={arXiv preprint arXiv:2410.01273},
year={2024}
}
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