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The Touchdown Dataset
Touchdown is a corpus for executing navigation instructions and resolving spatial descriptions in visual real-world environments. The task is to follow instruction to a goal position and there find a hidden object, Touchdown the bear.
<p align="center"> <img src="touchdown.gif"> </p>The details of the corpus and task are described in: Touchdown: Natural Language Navigation and Spatial Reasoning in Visual Street Environments. Howard Chen, Alane Suhr, Dipendra Misra, Noah Snavely, and Yoav Artzi.
Paper: https://arxiv.org/abs/1811.12354
A short video explaining the task and showing an example: https://youtu.be/uCcDbTZs3v4
The code for the original navigation expriments is available here: https://github.com/lil-lab/ciff
Data
This repository contains the Touchdown corpus. The navigation environment is made of a large number of panoramas. To download the panoramas, please use the StreetLearn environment. You can request access to the panoramic images by filling out the form in StreetLearn Dataset. More details are here.
Starting example
The example runs a random policy with dummy image features in the environment.
python3 navigator.py
Structure of directory
-
data/
: includes JSON filestrain.json
,dev.json
,test.json
. These are the data files for navigation and spatial description resolution (SDR) tasks. -
graph/
: includes .txt files for constructing the graph.nodes.txt
contains all nodes in the graph.links.txt
contains all edges in the graph.
Graph
The script graph_loader.py
loads the graph with the following two files, and base_navigator.py
uses it to initialize the graph.
nodes.txt
: has 4 columnspanoid
,pano_yaw_angle
,latitude
, andlongitude
links.txt
: has 3 columnsstart_panoid
,heading
, andend_panoid
JSON files
The JSON files contain both data for the navigation task and the SDR task. All three files follow the same structure described as follows.
Route information
city
: city nameroute_id
: unique route idelapsed
: time spent on writing instructions for this routefailure_stats
: number of attempts the instrcution writer took to place Touchdown the bear at the final position/panoramanum_finished
: number of runs for followers to find the bearfull_text
: full instructions from navigation to Touchdown bear placement
Navigation task
navigation_text
: instruction text for navigationroute_panoids
: a list of panorama ids of the route from start to endstart_heading
: start heading angle in degreesend_heading
: end heading angle in degrees
Spatial Description Resolution (SDR) task
td_location_text
: instruction text for SDRpre_pano
,main_pano
,post_pano
: panorama ids,main_pano
is the target position pano id where Touchdown is placed.per_pano
andpost_pano
are the before and after target position panoramapre_static_center
,main_static_center
,post_static_center
: the click position{x: width_ratio, y: height_ratio}
of where Touchdown is placed,{x: -1, y: -1}
means Touchdown can't be found for the panorama
You can construct your Gaussian smoothed target from the *_center
click positions or contact us for cached targets.
Experiments reproduction code
The Touchdown tasks are reproduced by Harsh et al (2020). For more details, please refer to this technical report and the VALAN codebase.
License
The Touchdown Dataset (c) 2018
The Touchdown Dataset is licensed under a Creative Commons Attribution 4.0 International License.
You should have received a copy of the license along with this work. If not, see http://creativecommons.org/licenses/by/4.0/.