The dataset viewer is not available for this split.
Error code: FeaturesError
Exception: ArrowInvalid
Message: JSON parse error: Column(/episodes/[]/goals/[]/extras/ref_object) changed from array to object in row 0
Traceback: Traceback (most recent call last):
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/packaged_modules/json/json.py", line 160, in _generate_tables
df = pandas_read_json(f)
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/packaged_modules/json/json.py", line 38, in pandas_read_json
return pd.read_json(path_or_buf, **kwargs)
File "/src/services/worker/.venv/lib/python3.9/site-packages/pandas/io/json/_json.py", line 815, in read_json
return json_reader.read()
File "/src/services/worker/.venv/lib/python3.9/site-packages/pandas/io/json/_json.py", line 1025, in read
obj = self._get_object_parser(self.data)
File "/src/services/worker/.venv/lib/python3.9/site-packages/pandas/io/json/_json.py", line 1051, in _get_object_parser
obj = FrameParser(json, **kwargs).parse()
File "/src/services/worker/.venv/lib/python3.9/site-packages/pandas/io/json/_json.py", line 1187, in parse
self._parse()
File "/src/services/worker/.venv/lib/python3.9/site-packages/pandas/io/json/_json.py", line 1402, in _parse
self.obj = DataFrame(
File "/src/services/worker/.venv/lib/python3.9/site-packages/pandas/core/frame.py", line 778, in __init__
mgr = dict_to_mgr(data, index, columns, dtype=dtype, copy=copy, typ=manager)
File "/src/services/worker/.venv/lib/python3.9/site-packages/pandas/core/internals/construction.py", line 503, in dict_to_mgr
return arrays_to_mgr(arrays, columns, index, dtype=dtype, typ=typ, consolidate=copy)
File "/src/services/worker/.venv/lib/python3.9/site-packages/pandas/core/internals/construction.py", line 114, in arrays_to_mgr
index = _extract_index(arrays)
File "/src/services/worker/.venv/lib/python3.9/site-packages/pandas/core/internals/construction.py", line 680, in _extract_index
raise ValueError(
ValueError: Mixing dicts with non-Series may lead to ambiguous ordering.
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/split/first_rows.py", line 228, in compute_first_rows_from_streaming_response
iterable_dataset = iterable_dataset._resolve_features()
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 3339, in _resolve_features
features = _infer_features_from_batch(self.with_format(None)._head())
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 2096, in _head
return next(iter(self.iter(batch_size=n)))
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 2300, in iter
for key, example in iterator:
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 1856, in __iter__
for key, pa_table in self._iter_arrow():
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 1878, in _iter_arrow
yield from self.ex_iterable._iter_arrow()
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 476, in _iter_arrow
for key, pa_table in iterator:
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 323, in _iter_arrow
for key, pa_table in self.generate_tables_fn(**gen_kwags):
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/packaged_modules/json/json.py", line 163, in _generate_tables
raise e
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/packaged_modules/json/json.py", line 137, in _generate_tables
pa_table = paj.read_json(
File "pyarrow/_json.pyx", line 308, in pyarrow._json.read_json
File "pyarrow/error.pxi", line 154, in pyarrow.lib.pyarrow_internal_check_status
File "pyarrow/error.pxi", line 91, in pyarrow.lib.check_status
pyarrow.lib.ArrowInvalid: JSON parse error: Column(/episodes/[]/goals/[]/extras/ref_object) changed from array to object in row 0Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
This repository contains the LangNav dataset for the paper "LangNavBench: Evaluation of Natural Language Understanding in Semantic Navigation". [webpage, code]
The LangNav dataset contains two splits - val and test. Each folder contains a 'content' folder, which in turn contains multiple .gz files, corresponding to the HSSD scenes. The .gz file contains a list of episodes for that scene.
Abstract
Recent progress in large vision–language models has driven improvements in language-based semantic navigation, where an embodied agent must reach a target object described in natural language. Despite these advances, we still lack a clear, language-focused benchmark for testing how well such agents ground the words in their instructions. We address this gap with LangNav, an open-set dataset specifically created to test an agent’s ability to locate objects described at different levels of detail, from broad category names to fine attributes and object–object relations. Every description in LangNav was manually checked, yielding a lower error rate than existing lifelong- and semantic-navigation datasets. On top of LangNav we build LangNavBench, a benchmark that measures how well current semantic-navigation methods understand and act on these descriptions while moving toward their targets. LangNavBench allows to systematically compare models on their handling of attributes, spatial and relational cues, and category hierarchies, offering the first thorough, language-centred evaluation of embodied navigation systems. We also present Multi-Layered Feature Map (MLFM), a method that builds a queryable multi-layered semantic map, particularly effective when dealing with small objects or instructions involving spatial relations. MLFM outperforms state-of-the-art mapping-based navigation baselines on the LangNav dataset.
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