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CHANGELOG.md

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+# Changelog
+
+## 1.0 (2026-09-28)
+
+First release.

LICENSE

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+Attribution-NonCommercial 4.0 International
+
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dataset/task/SuburbNeighborhood_Day/task_x-000077_y000100_z000098_t1_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Explore the area and go to the gray car.",
+    "Type": 1,
+    "Start_Pose": [
+        -77.059,
+        99.588,
+        98.15,
+        -0.248,
+        0.368,
+        0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x-000077_y000100_z000098_t2_b.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Approach the trash bin visible on the right sidewalk.",
+    "Type": 2,
+    "Start_Pose": [
+        -77.059,
+        99.588,
+        98.15,
+        -0.248,
+        0.368,
+        -0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x-000201_y000780_z000116_t3_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "First go to the garage wall light, then go to the fence corner where the two fences join.",
+    "Type": 3,
+    "Start_Pose": [
+        -201.458,
+        779.99,
+        115.55,
+        -0.05,
+        105.047,
+        -0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x-000625_y000237_z000098_t0_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Go to the trunk of the Y-shaped tree outside the house displaying the American flag.",
+    "Type": 0,
+    "Start_Pose": [
+        -624.603,
+        237.166,
+        98.15,
+        -0.148,
+        150.506,
+        -0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x-001411_y-000146_z000098_t3_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "First, walk to the right end of the white fence, and then proceed to the gray car.",
+    "Type": 3,
+    "Start_Pose": [
+        -1411.433,
+        -145.543,
+        98.15,
+        0.0,
+        -73.308,
+        0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x-001446_y-001732_z000168_t1_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Find and go to the refrigerator.",
+    "Type": 1,
+    "Start_Pose": [
+        -1445.737,
+        -1731.683,
+        168.15,
+        -0.051,
+        120.156,
+        0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x-001594_y-001832_z000168_t1_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Search for the refrigerator and go to it.",
+    "Type": 1,
+    "Start_Pose": [
+        -1593.999,
+        -1831.539,
+        168.15,
+        -0.051,
+        110.798,
+        0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x-001671_y002161_z000169_t4_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Follow the striped runner to the white door at the far end of the hallway and open it.",
+    "Type": 4,
+    "Start_Pose": [
+        -1671.213,
+        2160.865,
+        168.833,
+        0.0,
+        158.929,
+        0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x-001689_y-001840_z000168_t3_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Go to the faucet first, and then proceed to the round dining table.",
+    "Type": 3,
+    "Start_Pose": [
+        -1689.38,
+        -1840.144,
+        168.15,
+        -0.051,
+        9.993,
+        0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x-001966_y-001061_z000127_t0_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Go to the bush near the raised flower bed.",
+    "Type": 0,
+    "Start_Pose": [
+        -1965.511,
+        -1061.355,
+        127.039,
+        -0.051,
+        -168.154,
+        -0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x-001971_y-001722_z000168_t2_b.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Go to the painting on the wall to the left of the doorway.",
+    "Type": 2,
+    "Start_Pose": [
+        -1970.555,
+        -1721.869,
+        168.15,
+        -0.051,
+        -119.31,
+        -0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x-002013_y-001600_z000168_t4_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Cross the bedroom to the white door centered between the two framed pictures and open it.",
+    "Type": 4,
+    "Start_Pose": [
+        -2013.306,
+        -1600.466,
+        168.15,
+        0.0,
+        -83.843,
+        0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x-002327_y-002177_z000169_t3_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "First, go to the white desk in the hallway, then proceed to the nearby door.",
+    "Type": 3,
+    "Start_Pose": [
+        -2326.694,
+        -2177.43,
+        168.793,
+        -0.051,
+        -0.621,
+        0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x-002421_y-002167_z000169_t2_b.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Go to the door on the left.",
+    "Type": 2,
+    "Start_Pose": [
+        -2420.922,
+        -2167.172,
+        168.793,
+        -0.051,
+        157.082,
+        -0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x-002443_y-002139_z000169_t4_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Follow the striped runner to the red grid-window door at the far left and open it.",
+    "Type": 4,
+    "Start_Pose": [
+        -2443.183,
+        -2138.829,
+        168.793,
+        0.0,
+        131.333,
+        0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x-002452_y-002138_z000169_t4_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Cross the office area to the white paneled door on the far wall and open it.",
+    "Type": 4,
+    "Start_Pose": [
+        -2451.684,
+        -2138.455,
+        168.723,
+        0.0,
+        -169.923,
+        0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x-002471_y-002117_z000168_t2_b.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Go to the second wall lamp along the hallway.",
+    "Type": 2,
+    "Start_Pose": [
+        -2470.544,
+        -2116.729,
+        168.398,
+        -0.051,
+        -40.89,
+        -0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x-002556_y-001875_z000169_t3_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "First, go to the office chair by the desk. Then, go to the tall cabinet near the wall.",
+    "Type": 3,
+    "Start_Pose": [
+        -2556.199,
+        -1874.524,
+        168.793,
+        -0.051,
+        -107.92,
+        0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x-002568_y-001759_z000169_t0_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Go to the smaller desk near the tall cabinet.",
+    "Type": 0,
+    "Start_Pose": [
+        -2568.378,
+        -1758.568,
+        168.604,
+        -0.051,
+        -107.92,
+        -0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x-002598_y-001565_z000168_t2_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Go to the closet on your right.",
+    "Type": 2,
+    "Start_Pose": [
+        -2597.968,
+        -1565.315,
+        168.15,
+        -0.051,
+        -50.766,
+        -0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x-003027_y-000582_z000114_t0_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Walk to the stop sign beside the tree.",
+    "Type": 0,
+    "Start_Pose": [
+        -3027.153,
+        -581.578,
+        113.838,
+        -0.301,
+        133.24,
+        -0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x-003195_y001072_z000135_t5_a_p.json

@@ -0,0 +1,23 @@
+{
+    "Instruction": "Pick up the plate near the junction where the white picket fence meets the solid white privacy fence.",
+    "Type": 5,
+    "Start_Pose": [
+        -3195.34,
+        1072.315,
+        135.038,
+        -0.051,
+        177.557,
+        0
+    ],
+    "PD_ID": 16,
+    "PD_Size": 3.0,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -3737.146,
+        1003.345,
+        84.372,
+        90,
+        0,
+        0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x-003726_y000363_z000098_t0_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Go to the trash bin.",
+    "Type": 0,
+    "Start_Pose": [
+        -3725.891,
+        363.38,
+        98.15,
+        -0.051,
+        -99.906,
+        0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x000174_y-001713_z000168_t0_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Go to the refrigerator.",
+    "Type": 0,
+    "Start_Pose": [
+        174.35,
+        -1712.508,
+        168.15,
+        -0.301,
+        -172.34,
+        0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x000192_y001556_z000168_t0_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Go to the blue plastic box on the floor.",
+    "Type": 0,
+    "Start_Pose": [
+        192.419,
+        1556.391,
+        168.15,
+        0.0,
+        99.774,
+        -0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x000355_y-002121_z000168_t4_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Follow the striped hallway runner to the white door at the far end and open it.",
+    "Type": 4,
+    "Start_Pose": [
+        354.669,
+        -2120.826,
+        168.15,
+        0.0,
+        -2.773,
+        0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x000365_y-002176_z000168_t3_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "First go to the sofa, then go to the main door.",
+    "Type": 3,
+    "Start_Pose": [
+        364.828,
+        -2176.132,
+        168.149,
+        -0.148,
+        119.149,
+        0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x000448_y001977_z000168_t3_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Go to the round table first, then go to the floor lamp.",
+    "Type": 3,
+    "Start_Pose": [
+        447.759,
+        1977.029,
+        168.15,
+        -0.199,
+        -25.056,
+        -0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x000664_y001614_z000169_t3_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "First head to the floor lamp, then go to the dining table.",
+    "Type": 3,
+    "Start_Pose": [
+        664.082,
+        1614.241,
+        169.15,
+        -0.05,
+        36.558,
+        0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x000809_y002131_z000336_t2_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Move over to the beige curtain on the right side of the living room.",
+    "Type": 2,
+    "Start_Pose": [
+        809.173,
+        2131.156,
+        336.074,
+        0.0,
+        -66.36,
+        0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x000876_y001659_z000468_t1_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Find the toilet in this area.",
+    "Type": 1,
+    "Start_Pose": [
+        876.401,
+        1659.166,
+        468.15,
+        -0.199,
+        -94.955,
+        -0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x000877_y002132_z000287_t5_a_pd.json

@@ -0,0 +1,23 @@
+{
+    "Instruction": "Pick up the candelabra by the refrigerator, then place it by the lit floor lamp.",
+    "Type": 5,
+    "Start_Pose": [
+        876.866,
+        2132.04,
+        287.448,
+        0,
+        -53.884,
+        0
+    ],
+    "PD_ID": 17,
+    "PD_Size": 1.7,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        1421.267,
+        1858.179,
+        83.15,
+        0,
+        50,
+        0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x000940_y002081_z000244_t1_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Search the room and go to the kitchen sink.",
+    "Type": 1,
+    "Start_Pose": [
+        940.463,
+        2081.037,
+        243.624,
+        -0.301,
+        -127.044,
+        0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x000974_y001940_z000468_t0_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Go to the plant.",
+    "Type": 0,
+    "Start_Pose": [
+        974.153,
+        1939.513,
+        468.149,
+        -0.301,
+        172.836,
+        0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x000996_y001079_z000135_t0_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Head to the tree standing near the row of small shrubs.",
+    "Type": 0,
+    "Start_Pose": [
+        996.196,
+        1078.755,
+        135.467,
+        -0.01,
+        14.262,
+        0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x001122_y002097_z000168_t3_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Go to the door first, then continue to the cabinet beside the refrigerator.",
+    "Type": 3,
+    "Start_Pose": [
+        1122.341,
+        2096.873,
+        168.15,
+        0.0,
+        -36.81,
+        0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x001202_y001844_z000468_t3_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Go to the left nightstand first, then go to the right nightstand.",
+    "Type": 3,
+    "Start_Pose": [
+        1201.611,
+        1843.588,
+        468.15,
+        0.0,
+        6.637,
+        -0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x001318_y002104_z000468_t4_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Look around the bedroom until the white paneled door comes into view, then open it.",
+    "Type": 4,
+    "Start_Pose": [
+        1318.493,
+        2103.858,
+        468.15,
+        0.0,
+        9.622,
+        0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x001363_y001554_z000168_t3_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "First go to the dining table, then go to the sink.",
+    "Type": 3,
+    "Start_Pose": [
+        1362.913,
+        1553.776,
+        167.903,
+        -0.301,
+        84.156,
+        -0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x001370_y001624_z000168_t1_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Explore the area and go to the TV.",
+    "Type": 1,
+    "Start_Pose": [
+        1370.099,
+        1623.982,
+        167.903,
+        -0.301,
+        84.156,
+        -0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x002171_y000704_z000113_t0_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Go to the mailbox.",
+    "Type": 0,
+    "Start_Pose": [
+        2171.211,
+        703.689,
+        113.246,
+        -0.248,
+        -76.27,
+        0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x003087_y000015_z000165_t1_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Search the area and go to the tall street lamp.",
+    "Type": 1,
+    "Start_Pose": [
+        3086.888,
+        15.378,
+        165.111,
+        0.0,
+        -39.268,
+        0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x003223_y001008_z000468_t1_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Find the office chair and move close to it.",
+    "Type": 1,
+    "Start_Pose": [
+        3223.269,
+        1008.188,
+        468.15,
+        0.0,
+        -158.641,
+        0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x003318_y001196_z000468_t4_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Open the left-hand white paneled door in the upstairs hallway.",
+    "Type": 4,
+    "Start_Pose": [
+        3317.859,
+        1195.507,
+        468.15,
+        0.0,
+        3.95,
+        0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x003335_y-000847_z000168_t2_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Walk to the tall plant on the left.",
+    "Type": 2,
+    "Start_Pose": [
+        3334.933,
+        -846.711,
+        168.15,
+        0.0,
+        -83.262,
+        0.0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x003619_y000185_z000469_t0_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Go to the sofa.",
+    "Type": 0,
+    "Start_Pose": [
+        3618.995,
+        185.216,
+        468.943,
+        0,
+        79.796,
+        0
+    ]
+}

dataset/task/SuburbNeighborhood_Day/task_x003871_y-000818_z000168_t4_a.json

@@ -0,0 +1,12 @@
+{
+    "Instruction": "Open the white paneled door on the left side of the kitchen area.",
+    "Type": 4,
+    "Start_Pose": [
+        3870.557,
+        -818.083,
+        168.15,
+        0.0,
+        161.589,
+        -0.0
+    ]
+}

environments.json

@@ -0,0 +1,374 @@
+[
+  {
+    "id": "AbandonedDistrict",
+    "name": "Abandoned District",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "AsianMedivalCity",
+    "name": "Asian Medieval City",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "asianTemple",
+    "name": "Asian Temple",
+    "split": "dataset",
+    "setting": "Indoor"
+  },
+  {
+    "id": "Lv_Bazaar",
+    "name": "Bazaar",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "brass_palace",
+    "name": "Brass Palace",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "Brass_Streets",
+    "name": "Brass Streets",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "Demonstration_Bunker",
+    "name": "Bunker",
+    "split": "dataset",
+    "setting": "Indoor"
+  },
+  {
+    "id": "Demonstration_Castle",
+    "name": "Castle",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "Map_ChemicalPlant_1",
+    "name": "Chemical Plant",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "chineseWaterTown_Ver1",
+    "name": "Chinese Water Town",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "CommandCenter",
+    "name": "Command Center",
+    "split": "dataset",
+    "setting": "Indoor"
+  },
+  {
+    "id": "containeryard_day",
+    "name": "Container Yard (Day)",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "Containeryard_Night",
+    "name": "Container Yard (Night)",
+    "split": "dataset",
+    "setting": "Outdoor, night"
+  },
+  {
+    "id": "colosseum_desert",
+    "name": "Desert Colosseum",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "desert_ruins",
+    "name": "Desert Ruins",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "eastern_Garden",
+    "name": "Eastern Garden",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "ef_grounds",
+    "name": "EF Grounds",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "ef_gus",
+    "name": "EF Gus",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "ef_lewis_2",
+    "name": "EF Lewis",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "EnglishCollege",
+    "name": "English College",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "ultimateFarming",
+    "name": "Farm",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "forestGasStation",
+    "name": "Forest Gas Station",
+    "split": "dataset",
+    "setting": "Mixed, day"
+  },
+  {
+    "id": "qa_Holding_Cells_A",
+    "name": "Holding Cells",
+    "split": "dataset",
+    "setting": "Indoor"
+  },
+  {
+    "id": "hospital",
+    "name": "Hospital",
+    "split": "dataset",
+    "setting": "Indoor"
+  },
+  {
+    "id": "Hotel_Corridor",
+    "name": "Hotel Corridor",
+    "split": "dataset",
+    "setting": "Indoor"
+  },
+  {
+    "id": "JapanTrainStation_Optimised",
+    "name": "Japan Train Station",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "Medieval_Castle",
+    "name": "Medieval Castle",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "MiddleEast",
+    "name": "Middle East",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "modularBuilding",
+    "name": "Modular Building",
+    "split": "dataset",
+    "setting": "Mixed, day"
+  },
+  {
+    "id": "ModularNeighborhood",
+    "name": "Modular Neighborhood",
+    "split": "dataset",
+    "setting": "Mixed, day"
+  },
+  {
+    "id": "Museum",
+    "name": "Museum",
+    "split": "dataset",
+    "setting": "Indoor"
+  },
+  {
+    "id": "Old_Factory_01",
+    "name": "Old Factory",
+    "split": "dataset",
+    "setting": "Mixed, day"
+  },
+  {
+    "id": "Old_Town",
+    "name": "Old Town",
+    "split": "dataset",
+    "setting": "Mixed, day"
+  },
+  {
+    "id": "operaHouse",
+    "name": "Opera House",
+    "split": "dataset",
+    "setting": "Indoor"
+  },
+  {
+    "id": "postSoviet_Village",
+    "name": "Post-Soviet Village",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "Pyramid",
+    "name": "Pyramid",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "racing_track",
+    "name": "Racing Track",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "Demo_Roof",
+    "name": "Roof",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "ruralAustralia_Example_01",
+    "name": "Rural Australia 1",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "ruralAustralia_Example_02",
+    "name": "Rural Australia 2",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "ruralAustralia_Example_03",
+    "name": "Rural Australia 3",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "RussianWinterTownDemo01",
+    "name": "Russian Winter Town",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "science_Fiction_valley_town",
+    "name": "Science Fiction Valley Town",
+    "split": "dataset",
+    "setting": "Outdoor, night"
+  },
+  {
+    "id": "stadium",
+    "name": "Stadium",
+    "split": "dataset",
+    "setting": "Outdoor, night"
+  },
+  {
+    "id": "Storagehouse",
+    "name": "Storage House",
+    "split": "dataset",
+    "setting": "Indoor"
+  },
+  {
+    "id": "SuburbNeighborhood_Day",
+    "name": "Suburb Neighborhood (Day)",
+    "split": "dataset",
+    "setting": "Mixed, day"
+  },
+  {
+    "id": "suburbNeighborhood_Night",
+    "name": "Suburb Neighborhood (Night)",
+    "split": "dataset",
+    "setting": "Mixed, night"
+  },
+  {
+    "id": "Supermarket",
+    "name": "Supermarket",
+    "split": "dataset",
+    "setting": "Indoor"
+  },
+  {
+    "id": "SwimmingPool",
+    "name": "Swimming Pool",
+    "split": "dataset",
+    "setting": "Indoor"
+  },
+  {
+    "id": "Tokyo",
+    "name": "Tokyo",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "UndergroundParking",
+    "name": "Underground Parking",
+    "split": "dataset",
+    "setting": "Indoor"
+  },
+  {
+    "id": "Venice",
+    "name": "Venice",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "VictorianTrainStation",
+    "name": "Victorian Train Station",
+    "split": "dataset",
+    "setting": "Indoor"
+  },
+  {
+    "id": "watermills",
+    "name": "Watermills",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "western_Garden",
+    "name": "Western Garden",
+    "split": "dataset",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "CourtYard",
+    "name": "Courtyard",
+    "split": "benchmark",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "Downtownwest",
+    "name": "Downtown West",
+    "split": "benchmark",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "Greek_Island",
+    "name": "Greek Island",
+    "split": "benchmark",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "IndustrialArea",
+    "name": "Industrial Area",
+    "split": "benchmark",
+    "setting": "Mixed, day"
+  },
+  {
+    "id": "Medieval_Daytime",
+    "name": "Medieval Village (Day)",
+    "split": "benchmark",
+    "setting": "Outdoor, day"
+  },
+  {
+    "id": "medieval_Nighttime",
+    "name": "Medieval Village (Night)",
+    "split": "benchmark",
+    "setting": "Outdoor, night"
+  },
+  {
+    "id": "TemplePlaza",
+    "name": "Temple Plaza",
+    "split": "benchmark",
+    "setting": "Outdoor, day"
+  }
+]