Image-Goal Navigation Splits

We provide test splits for the Image-Goal navigation task for Matterport3D and Gibson datasets. We provide multiple splits for each dataset which are divded based on difficulty. Specifically sub-divide test episodes into two categories: `straight' and `curved'. In `straight' episodes the ratio of shortest path geodesic-distance to euclidean-distance between the start and goal locations is < 1.2 and rotational difference between the orientation of the start position and goal image is < 45 degrees. All other start-goal location pairs are labeled as `curved' episodes. We make this distinction to test narrow field of view agents. We further subdivide each of these 2 categories into 3 difficulty sub-categories: `easy', `medium' and `hard'. Difficulty is determined by length of the shortest path between the start and goal locations. The `easy', `medium' and `hard' settings are (1.5-3m), (3-5m), and (5-10m) respectively. We generated these test episodes by uniformly sample start-goal location pairs from the test scenes to create approximately 1000 episodes per setting.

Matterport splits

matterport_test_splits.zip (1 MB)

Straight- Easy: 1,000 episodes, 18 scenes
Straight- Medium: 1,000 episodes, 18 scenes
Straight- Hard: 1,000 episodes, 18 scenes
Curved- Easy: 1,000 episodes, 18 scenes
Curved- Medium: 1,000 episodes, 18 scenes
Curved- Hard: 1,000 episodes, 18 scenes

Gibson splits

gibson_test_splits.zip (1 MB)

Straight- Easy: 1,000 episodes, 14 scenes
Straight- Medium: 1,000 episodes, 14 scenes
Straight- Hard: 806 episodes, 14 scenes
Curved- Easy: 1,000 episodes, 14 scenes
Curved- Medium: 1,000 episodes, 14 scenes
Curved- Hard: 1,000 episodes, 14 scenes