Datasets:
sample_id stringlengths 24 24 | scene_id stringlengths 24 24 | task_id stringclasses 4
values | setting stringclasses 2
values | branch stringclasses 4
values | difficulty stringclasses 2
values | room_id stringclasses 143
values | receiver_ids listlengths 1 3 | audio_paths listlengths 1 3 | audio_sha256 listlengths 1 3 | sample_rate_hz int64 16k 16k | evaluation_step_s float64 0.2 0.2 | duration_s float64 7.5 9.37 | query_json stringlengths 2 161 | known_robot_poses_json stringlengths 1.49k 2.84k | known_robot_playback_json stringclasses 244
values | prompt stringlengths 2.73k 4.46k |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
000053b0f934765504eeefa6 | 121b55b491800973479f7bd4 | RANGE_TRAJECTORY | edge | easy_human | easy | test_r128 | [
"R01"
] | [
"public/audio/test/121b55b491800973479f7bd4/R01_foa.wav"
] | [
"019c4622221527fc4f57955ee7f4ebfa5c2bcc6212fb9eba1d993ac9b398171c"
] | 16,000 | 0.2 | 8.260188 | {"selection_time_s":0.4,"cue_time_range_s":[0.4,0.6],"initial_sector_deg":[-120,-90]} | [{"robot_id":"R01","yaw_deg":-52,"height_m":1.2,"positions":[[0.0,-2.9,1.2,4.1],[0.2,-2.9,1.2,4.1],[0.4,-2.9,1.2,4.1],[0.6,-2.9,1.2,4.1],[0.8,-2.9,1.2,4.1],[1.0,-2.9,1.2,4.1],[1.2,-2.9,1.2,4.1],[1.4,-2.9,1.2,4.1],[1.6,-2.9,1.2,4.1],[1.8,-2.9,1.2,4.1],[2.0,-2.9,1.2,4.1],[2.2,-2.9,1.2,4.1],[2.4,-2.9,1.2,4.1],[2.6,-2.9,1.... | [{"robot_id":"R02","start_sample":26066,"end_sample":42066,"start_time_s":1.629125,"end_time_s":2.629125,"text":"four"},{"robot_id":"R03","start_sample":44907,"end_sample":60907,"start_time_s":2.8066875,"end_time_s":3.8066875,"text":"zero"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R01: <|AUDIO|><|spatial|>
Audio covers [0.000, 8.260) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source at that scene time; propa... |
0000c8121ef5cb88dfa07981 | 17ce75b641a34025b38f5fc6 | KW_ASR | edge | easy_robot | easy | test_r126 | [
"R02"
] | [
"public/audio/test/17ce75b641a34025b38f5fc6/R02_foa.wav"
] | [
"5c54de31d393a4910cbe7716f92390b60c8fa5dc0fc0c747a6ae7a0523c85804"
] | 16,000 | 0.2 | 8.633813 | {"wake_phrase":"still studying the"} | [{"robot_id":"R01","yaw_deg":-177,"height_m":1.5,"positions":[[0.0,-0.6,1.5,-2.6],[0.2,-0.6,1.5,-2.6],[0.4,-0.6,1.5,-2.6],[0.6,-0.6,1.5,-2.6],[0.8,-0.6,1.5,-2.6],[1.0,-0.6,1.5,-2.6],[1.2,-0.6,1.5,-2.6],[1.4,-0.6,1.5,-2.6],[1.6,-0.6,1.5,-2.6],[1.8,-0.6,1.5,-2.6],[2.0,-0.6,1.5,-2.6],[2.2,-0.6,1.5,-2.6],[2.4,-0.6,1.5,-2.6... | [{"robot_id":"R02","start_sample":36962,"end_sample":56857,"start_time_s":2.310125,"end_time_s":3.5535625,"text":"after all by a narrow"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R02: <|AUDIO|><|spatial|>
Audio covers [0.000, 8.634) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source at that scene time; propa... |
0001d43db5e550a764d21eab | b41130d4899e146ad8865638 | KW_ASR | edge | easy_human | easy | test_r092 | [
"R02"
] | [
"public/audio/test/b41130d4899e146ad8865638/R02_foa.wav"
] | [
"23f23306beefc575ad748d7688e3749d1afbe458c9db2dd5723ffd10668e1050"
] | 16,000 | 0.2 | 7.543813 | {"wake_phrase":"had expressed"} | [{"robot_id":"R01","yaw_deg":2,"height_m":1.5,"positions":[[0.0,0.8,1.5,-1.8],[0.2,0.8,1.5,-1.8],[0.4,0.8,1.5,-1.8],[0.6,0.8,1.5,-1.8],[0.8,0.8,1.5,-1.8],[1.0,0.8,1.5,-1.8],[1.2,0.8,1.5,-1.8],[1.4,0.8,1.5,-1.8],[1.6,0.8,1.5,-1.8],[1.8,0.8,1.5,-1.8],[2.0,0.8,1.5,-1.8],[2.2,0.8,1.5,-1.8],[2.4,0.8,1.5,-1.8],[2.6,0.8,1.5,-... | [{"robot_id":"R02","start_sample":60192,"end_sample":73485,"start_time_s":3.762,"end_time_s":4.5928125,"text":"i am by no"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R02: <|AUDIO|><|spatial|>
Audio covers [0.000, 7.544) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source at that scene time; propa... |
00037806a0ccbafaf181b54b | e4ea6cdc05a52828a189fb43 | KW_ASR | cloud | easy_human | easy | test_r199 | [
"R01",
"R02"
] | [
"public/audio/test/e4ea6cdc05a52828a189fb43/R01_foa.wav",
"public/audio/test/e4ea6cdc05a52828a189fb43/R02_foa.wav"
] | [
"b5ee1c3ba73dd0ed2bee93fd8ed36601fabe5785720084be44e865882bf7ff58",
"9fb1adcb201b4021ce6f2e213c861227f615c3d10a8aaa8cb53b90f54d9635b2"
] | 16,000 | 0.2 | 7.923188 | {"wake_phrase":"and battered out"} | [{"robot_id":"R01","yaw_deg":6,"height_m":1.5,"positions":[[0.0,6.2,1.5,2.2],[0.2,6.2,1.5,2.2],[0.4,6.2,1.5,2.2],[0.6,6.2,1.5,2.2],[0.8,6.2,1.5,2.2],[1.0,6.2,1.5,2.2],[1.2,6.2,1.5,2.2],[1.4,6.2,1.5,2.2],[1.6,6.2,1.5,2.2],[1.8,6.2,1.5,2.2],[2.0,6.2,1.5,2.2],[2.2,6.2,1.5,2.2],[2.4,6.2,1.5,2.2],[2.6,6.2,1.5,2.2],[2.8,6.2,... | [{"robot_id":"R02","start_sample":6599,"end_sample":18956,"start_time_s":0.4124375,"end_time_s":1.18475,"text":"said a lad bout"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R01: <|AUDIO|><|spatial|>
R02: <|AUDIO|><|spatial|>
Audio covers [0.000, 7.923) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source... |
00047a6d213a3084bacac9eb | ff991293e9ba11ae8e101d60 | KW_ASR | edge | easy_human | easy | test_r034 | [
"R02"
] | [
"public/audio/test/ff991293e9ba11ae8e101d60/R02_foa.wav"
] | [
"0edee71a0bed021a46f0c3568c5bd46add6460e17e4a97059aa8771af2e52dc2"
] | 16,000 | 0.2 | 7.568563 | {"wake_phrase":"with"} | [{"robot_id":"R01","yaw_deg":115,"height_m":1.5,"positions":[[0.0,0.1,1.5,-1.8],[0.2,0.1,1.5,-1.8],[0.4,0.1,1.5,-1.8],[0.6,0.1,1.5,-1.8],[0.8,0.1,1.5,-1.8],[1.0,0.1,1.5,-1.8],[1.2,0.1,1.5,-1.8],[1.4,0.1,1.5,-1.8],[1.6,0.1,1.5,-1.8],[1.8,0.1,1.5,-1.8],[2.0,0.1,1.5,-1.8],[2.2,0.1,1.5,-1.8],[2.4,0.1,1.5,-1.8],[2.6,0.1,1.5... | [{"robot_id":"R02","start_sample":7505,"end_sample":17607,"start_time_s":0.4690625,"end_time_s":1.1004375,"text":"the jedge is"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R02: <|AUDIO|><|spatial|>
Audio covers [0.000, 7.569) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source at that scene time; propa... |
00053c3eeedc432d3830fa6e | 87b18885f167c6ba203d88ce | KW_ASR | edge | easy_human | easy | test_r024 | [
"R02"
] | [
"public/audio/test/87b18885f167c6ba203d88ce/R02_foa.wav"
] | [
"fed4d32a3303a5c5846c962e7b69836a1deddfe53c779da3c96d131291a9f0b7"
] | 16,000 | 0.2 | 7.6665 | {"wake_phrase":"or prosecute cases"} | [{"robot_id":"R01","yaw_deg":-86,"height_m":1.3,"positions":[[0.0,-2.3,1.3,-0.3],[0.2,-2.3,1.3,-0.3],[0.4,-2.3,1.3,-0.3],[0.6,-2.3,1.3,-0.3],[0.8,-2.3,1.3,-0.3],[1.0,-2.3,1.3,-0.3],[1.2,-2.3,1.3,-0.3],[1.4,-2.3,1.3,-0.3],[1.6,-2.3,1.3,-0.3],[1.8,-2.3,1.3,-0.3],[2.0,-2.3,1.3,-0.3],[2.2,-2.3,1.3,-0.3],[2.4,-2.3,1.3,-0.3]... | [{"robot_id":"R02","start_sample":4843,"end_sample":18622,"start_time_s":0.3026875,"end_time_s":1.163875,"text":"faintly upon the"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R02: <|AUDIO|><|spatial|>
Audio covers [0.000, 7.667) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source at that scene time; propa... |
00093bdcbae680bd88e9cca9 | 26b2353d92aa153284ada458 | TEXT_TRAJECTORY | cloud | hard_joint_b | hard | test_r092 | [
"R01",
"R02"
] | [
"public/audio/test/26b2353d92aa153284ada458/R01_foa.wav",
"public/audio/test/26b2353d92aa153284ada458/R02_foa.wav"
] | [
"94cb9140812cf9f0334d02ccf937ead408649bf838c44ae86a77e39935e91aa5",
"5b5a1d03cd5eabc619cc9b8996a028b602b238ce8a3029bebdbd7b99c5832fd3"
] | 16,000 | 0.2 | 7.543813 | {"transcript":"told me that it contained an invitation for her to go and see the poet if ever she visited the"} | [{"robot_id":"R01","yaw_deg":2,"height_m":1.5,"positions":[[0.0,0.5,1.5,-4.9],[0.2,0.5,1.5,-4.9],[0.4,0.5,1.5,-4.9],[0.6,0.6,1.5,-4.9],[0.8,0.6,1.5,-4.9],[1.0,0.6,1.5,-5.0],[1.2,0.6,1.5,-5.0],[1.4,0.7,1.5,-5.1],[1.6,0.7,1.5,-5.1],[1.8,0.8,1.5,-5.2],[2.0,0.9,1.5,-5.3],[2.2,1.0,1.5,-5.5],[2.4,1.1,1.5,-5.6],[2.6,1.2,1.5,-... | [{"robot_id":"R02","start_sample":60192,"end_sample":73485,"start_time_s":3.762,"end_time_s":4.5928125,"text":"i am by no"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R01: <|AUDIO|><|spatial|>
R02: <|AUDIO|><|spatial|>
Audio covers [0.000, 7.544) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source... |
000ac00eaabef2d9a16a6201 | c46d451473fb5b7a4ae8ad1d | KW_ASR | cloud | easy_robot | easy | test_r110 | [
"R01",
"R02"
] | [
"public/audio/test/c46d451473fb5b7a4ae8ad1d/R01_foa.wav",
"public/audio/test/c46d451473fb5b7a4ae8ad1d/R02_foa.wav"
] | [
"0b97ae831af92b62b7bd4deb36e02afe7971e66ca71202a2881a9e09d654c409",
"c63567002039f24d855b068b6f83e0a9fd5432a5f54179e3e89b22259ccc9b71"
] | 16,000 | 0.2 | 7.622438 | {"wake_phrase":"crowded"} | [{"robot_id":"R01","yaw_deg":13,"height_m":1.1,"positions":[[0.0,-6.7,1.1,2.0],[0.2,-6.7,1.1,2.0],[0.4,-6.7,1.1,2.0],[0.6,-6.7,1.1,2.0],[0.8,-6.7,1.1,2.0],[1.0,-6.7,1.1,2.0],[1.2,-6.7,1.1,2.0],[1.4,-6.7,1.1,2.0],[1.6,-6.7,1.1,2.0],[1.8,-6.7,1.1,2.0],[2.0,-6.7,1.1,2.0],[2.2,-6.7,1.1,2.0],[2.4,-6.7,1.1,2.0],[2.6,-6.7,1.1... | [{"robot_id":"R02","start_sample":3151,"end_sample":21567,"start_time_s":0.1969375,"end_time_s":1.3479375,"text":"the church at montmartre"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R01: <|AUDIO|><|spatial|>
R02: <|AUDIO|><|spatial|>
Audio covers [0.000, 7.622) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source... |
000bb416ed52dc53af38d3e4 | a3a7d769e3e44dac59f09bee | RANGE_TRAJECTORY | edge | easy_robot | easy | test_r175 | [
"R01"
] | [
"public/audio/test/a3a7d769e3e44dac59f09bee/R01_foa.wav"
] | [
"ff765e43f06da9d5b6d081e5beacfaa5ca20a5d8ebb48d45017280f6c43badbe"
] | 16,000 | 0.2 | 8.126375 | {"selection_time_s":0.4,"cue_time_range_s":[0.4,0.6],"initial_sector_deg":[-90,-60]} | [{"robot_id":"R01","yaw_deg":-112,"height_m":1.4,"positions":[[0.0,-1.0,1.4,4.9],[0.2,-1.0,1.4,4.9],[0.4,-1.0,1.4,4.9],[0.6,-1.0,1.4,4.9],[0.8,-1.0,1.4,4.9],[1.0,-1.0,1.4,4.9],[1.2,-1.0,1.4,4.9],[1.4,-1.0,1.4,4.9],[1.6,-1.0,1.4,4.9],[1.8,-1.0,1.4,4.9],[2.0,-1.0,1.4,4.9],[2.2,-1.0,1.4,4.9],[2.4,-1.0,1.4,4.9],[2.6,-1.0,1... | [{"robot_id":"R02","start_sample":4591,"end_sample":15008,"start_time_s":0.2869375,"end_time_s":0.938,"text":"to her feet"},{"robot_id":"R03","start_sample":47508,"end_sample":57629,"start_time_s":2.96925,"end_time_s":3.6018125,"text":"wishes it he"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R01: <|AUDIO|><|spatial|>
Audio covers [0.000, 8.126) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source at that scene time; propa... |
000c234887aeeebd24f9a0f8 | cfb008c0f2d2bef53ebc2aec | TEXT_TRAJECTORY | cloud | easy_robot | easy | test_r183 | [
"R01",
"R02"
] | [
"public/audio/test/cfb008c0f2d2bef53ebc2aec/R01_foa.wav",
"public/audio/test/cfb008c0f2d2bef53ebc2aec/R02_foa.wav"
] | [
"3fb6a8da2c2081aeefec8c848c0465ea76680d2599170de9466470880ca45d02",
"5d5463c71f462af64680cac7b0b084a908c6b75b198aa7473182dccf025782fc"
] | 16,000 | 0.2 | 7.725938 | {"transcript":"forever gleaming its soft strong blaze calm in the early evening glow"} | [{"robot_id":"R01","yaw_deg":153,"height_m":1.2,"positions":[[0.0,2.1,1.2,-3.1],[0.2,2.1,1.2,-3.1],[0.4,2.1,1.2,-3.1],[0.6,2.1,1.2,-3.1],[0.8,2.1,1.2,-3.1],[1.0,2.1,1.2,-3.1],[1.2,2.1,1.2,-3.1],[1.4,2.1,1.2,-3.1],[1.6,2.1,1.2,-3.1],[1.8,2.1,1.2,-3.1],[2.0,2.1,1.2,-3.1],[2.2,2.1,1.2,-3.1],[2.4,2.1,1.2,-3.1],[2.6,2.1,1.2... | [{"robot_id":"R02","start_sample":61112,"end_sample":75717,"start_time_s":3.8195,"end_time_s":4.7323125,"text":"was slated for the"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R01: <|AUDIO|><|spatial|>
R02: <|AUDIO|><|spatial|>
Audio covers [0.000, 7.726) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source... |
000c8803c7dea9e011f0274e | d6191b31a47fbaed7861061a | KW_ASR | edge | hard_joint_a | hard | test_r124 | [
"R01"
] | [
"public/audio/test/d6191b31a47fbaed7861061a/R01_foa.wav"
] | [
"02fd0d8f42b4502c9c781d8c60232b329fc23e8d47a6bbff9ca6de2b73a59583"
] | 16,000 | 0.2 | 8.069813 | {"wake_phrase":"of"} | [{"robot_id":"R01","yaw_deg":-145,"height_m":1.3,"positions":[[0.0,1.5,1.3,-2.0],[0.2,1.5,1.3,-2.0],[0.4,1.5,1.3,-2.0],[0.6,1.5,1.3,-2.0],[0.8,1.5,1.3,-2.0],[1.0,1.5,1.3,-2.0],[1.2,1.4,1.3,-2.0],[1.4,1.3,1.3,-2.0],[1.6,1.2,1.3,-1.9],[1.8,1.1,1.3,-1.9],[2.0,1.0,1.3,-1.8],[2.2,0.9,1.3,-1.8],[2.4,0.7,1.3,-1.8],[2.6,0.6,1.... | [{"robot_id":"R02","start_sample":36232,"end_sample":47599,"start_time_s":2.2645,"end_time_s":2.9749375,"text":"of the prophet"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R01: <|AUDIO|><|spatial|>
Audio covers [0.000, 8.070) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source at that scene time; propa... |
000e0b3746070da0664add61 | 8dce3252fbe0f0615d360626 | KW_ASR | cloud | easy_robot | easy | test_r068 | [
"R01",
"R02"
] | [
"public/audio/test/8dce3252fbe0f0615d360626/R01_foa.wav",
"public/audio/test/8dce3252fbe0f0615d360626/R02_foa.wav"
] | [
"b6b05cb6987f970f526a0680441c3cdd4b70155121b0d28ed23ae79ae6522dba",
"898911b87c4d1107467c6ac7817782fe53e3840d2dfb8fd830a4c5fad384494f"
] | 16,000 | 0.2 | 8.134563 | {"wake_phrase":"privately"} | [{"robot_id":"R01","yaw_deg":98,"height_m":1.4,"positions":[[0.0,2.5,1.4,0.5],[0.2,2.5,1.4,0.5],[0.4,2.5,1.4,0.5],[0.6,2.5,1.4,0.5],[0.8,2.5,1.4,0.5],[1.0,2.5,1.4,0.5],[1.2,2.5,1.4,0.5],[1.4,2.5,1.4,0.5],[1.6,2.5,1.4,0.5],[1.8,2.5,1.4,0.5],[2.0,2.5,1.4,0.5],[2.2,2.5,1.4,0.5],[2.4,2.5,1.4,0.5],[2.6,2.5,1.4,0.5],[2.8,2.5... | [{"robot_id":"R02","start_sample":7831,"end_sample":21132,"start_time_s":0.4894375,"end_time_s":1.32075,"text":"privately that if"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R01: <|AUDIO|><|spatial|>
R02: <|AUDIO|><|spatial|>
Audio covers [0.000, 8.135) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source... |
000ff8f50ce77a2fab055125 | f343171efa0fd6e0cdbafc02 | DOA_TRAJECTORY | edge | hard_joint_a | hard | test_r003 | [
"R02"
] | [
"public/audio/test/f343171efa0fd6e0cdbafc02/R02_foa.wav"
] | [
"0e87e758e7cda57af6b8a64b054bbe17b8d6a3f1875e07ec23efc56fabda1933"
] | 16,000 | 0.2 | 8.460875 | {} | [{"robot_id":"R01","yaw_deg":116,"height_m":1.3,"positions":[[0.0,-0.6,1.3,-0.1],[0.2,-0.6,1.3,-0.1],[0.4,-0.6,1.3,-0.1],[0.6,-0.6,1.3,-0.0],[0.8,-0.5,1.3,-0.0],[1.0,-0.5,1.3,0.0],[1.2,-0.5,1.3,0.1],[1.4,-0.5,1.3,0.1],[1.6,-0.4,1.3,0.2],[1.8,-0.4,1.3,0.3],[2.0,-0.3,1.3,0.5],[2.2,-0.3,1.3,0.6],[2.4,-0.2,1.3,0.7],[2.6,-0... | [{"robot_id":"R02","start_sample":6041,"end_sample":22565,"start_time_s":0.3775625,"end_time_s":1.4103125,"text":"thoughts agitated me"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R02: <|AUDIO|><|spatial|>
Audio covers [0.000, 8.461) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source at that scene time; propa... |
001017121d608150315258ce | 44be4625e7dcafd34f762ef3 | DOA_TRAJECTORY | edge | easy_robot | easy | test_r006 | [
"R02"
] | [
"public/audio/test/44be4625e7dcafd34f762ef3/R02_foa.wav"
] | [
"c6c0942fe4254643200d04bb0592b887496de838f2c3326c21680c129ed7d501"
] | 16,000 | 0.2 | 7.540063 | {} | [{"robot_id":"R01","yaw_deg":42,"height_m":1.2,"positions":[[0.0,0.5,1.2,0.1],[0.2,0.5,1.2,0.1],[0.4,0.5,1.2,0.1],[0.6,0.5,1.2,0.1],[0.8,0.5,1.2,0.1],[1.0,0.5,1.2,0.1],[1.2,0.6,1.2,0.2],[1.4,0.6,1.2,0.2],[1.6,0.7,1.2,0.3],[1.8,0.8,1.2,0.3],[2.0,0.9,1.2,0.4],[2.2,1.0,1.2,0.5],[2.4,1.1,1.2,0.6],[2.6,1.2,1.2,0.7],[2.8,1.3... | [{"robot_id":"R02","start_sample":70388,"end_sample":84347,"start_time_s":4.39925,"end_time_s":5.2716875,"text":"can't lose"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R02: <|AUDIO|><|spatial|>
Audio covers [0.000, 7.540) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source at that scene time; propa... |
0010ca7339b390616ee637d4 | 8b34f721f7795b6526ac3444 | KW_ASR | cloud | hard_joint_a | hard | test_r075 | [
"R01",
"R02"
] | [
"public/audio/test/8b34f721f7795b6526ac3444/R01_foa.wav",
"public/audio/test/8b34f721f7795b6526ac3444/R02_foa.wav"
] | [
"8bcb5192c55cbe0b92c450f17eb266522340aa8cf0705a6224cec31ee40dbb9e",
"93efd3a6bd049d2e774b4f51c9a1d870455ed671e45aec198caac926f9b54cd6"
] | 16,000 | 0.2 | 8.329938 | {"wake_phrase":"she introduced me"} | [{"robot_id":"R01","yaw_deg":57,"height_m":1.2,"positions":[[0.0,1.8,1.2,1.0],[0.2,1.8,1.2,1.0],[0.4,1.8,1.2,1.0],[0.6,1.8,1.2,1.0],[0.8,1.8,1.2,1.0],[1.0,1.8,1.2,1.0],[1.2,1.8,1.2,1.1],[1.4,1.8,1.2,1.1],[1.6,1.8,1.2,1.2],[1.8,1.8,1.2,1.3],[2.0,1.8,1.2,1.4],[2.2,1.8,1.2,1.6],[2.4,1.8,1.2,1.7],[2.6,1.8,1.2,1.9],[2.8,1.9... | [{"robot_id":"R02","start_sample":67557,"end_sample":82461,"start_time_s":4.2223125,"end_time_s":5.1538125,"text":"then she replied"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R01: <|AUDIO|><|spatial|>
R02: <|AUDIO|><|spatial|>
Audio covers [0.000, 8.330) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source... |
0012c4e9ed13c74cffbfb2a2 | c9243c999f7fe5f4e28ec7c1 | RANGE_TRAJECTORY | edge | hard_joint_b | hard | test_r178 | [
"R02"
] | [
"public/audio/test/c9243c999f7fe5f4e28ec7c1/R02_foa.wav"
] | [
"9e9a17a199f0b4e1a394015f8075061a3b753eb056a085011b2d0be77fc8c736"
] | 16,000 | 0.2 | 7.8655 | {"selection_time_s":0.2,"cue_time_range_s":[0.2,0.4],"initial_sector_deg":[90,120]} | [{"robot_id":"R01","yaw_deg":138,"height_m":1.3,"positions":[[0.0,3.2,1.3,5.1],[0.2,3.2,1.3,5.1],[0.4,3.2,1.3,5.1],[0.6,3.2,1.3,5.1],[0.8,3.2,1.3,5.1],[1.0,3.3,1.3,5.1],[1.2,3.3,1.3,5.2],[1.4,3.4,1.3,5.2],[1.6,3.4,1.3,5.3],[1.8,3.5,1.3,5.4],[2.0,3.6,1.3,5.4],[2.2,3.7,1.3,5.5],[2.4,3.8,1.3,5.6],[2.6,4.0,1.3,5.7],[2.8,4.... | [{"robot_id":"R02","start_sample":24215,"end_sample":40215,"start_time_s":1.5134375,"end_time_s":2.5134375,"text":"eight"},{"robot_id":"R03","start_sample":42424,"end_sample":54030,"start_time_s":2.6515,"end_time_s":3.376875,"text":"one"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R02: <|AUDIO|><|spatial|>
Audio covers [0.000, 7.865) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source at that scene time; propa... |
00140dc85866679c8aff8b86 | 9db30f3846b1a10607c10517 | TEXT_TRAJECTORY | cloud | easy_robot | easy | test_r143 | [
"R01",
"R02"
] | [
"public/audio/test/9db30f3846b1a10607c10517/R01_foa.wav",
"public/audio/test/9db30f3846b1a10607c10517/R02_foa.wav"
] | [
"e46a3c0a2bf66348a92e416ba92230d29d274c68ece14454c7511151e1fff4a9",
"0e32617a7dcf7120324374431d884ccf451459f6c64da241b168211dc712dec5"
] | 16,000 | 0.2 | 8.14725 | {"transcript":"lived so long during the last few minutes that a golden wedding seemed within measurable"} | [{"robot_id":"R01","yaw_deg":131,"height_m":1.5,"positions":[[0.0,0.7,1.5,2.4],[0.2,0.7,1.5,2.4],[0.4,0.7,1.5,2.4],[0.6,0.7,1.5,2.4],[0.8,0.7,1.5,2.4],[1.0,0.7,1.5,2.4],[1.2,0.6,1.5,2.3],[1.4,0.6,1.5,2.3],[1.6,0.5,1.5,2.2],[1.8,0.4,1.5,2.1],[2.0,0.3,1.5,2.0],[2.2,0.2,1.5,2.0],[2.4,0.1,1.5,1.9],[2.6,-0.0,1.5,1.7],[2.8,-... | [{"robot_id":"R02","start_sample":39335,"end_sample":55335,"start_time_s":2.4584375,"end_time_s":3.4584375,"text":"tree"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R01: <|AUDIO|><|spatial|>
R02: <|AUDIO|><|spatial|>
Audio covers [0.000, 8.147) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source... |
001772bfc46952f259169bae | 1ac387fb3f03b013faba29e0 | TEXT_TRAJECTORY | cloud | easy_human | easy | test_r070 | [
"R01",
"R02"
] | [
"public/audio/test/1ac387fb3f03b013faba29e0/R01_foa.wav",
"public/audio/test/1ac387fb3f03b013faba29e0/R02_foa.wav"
] | [
"c46ca0778a0868f3759846f8b70431e748c477e318a185844778ed40481133db",
"681e9028b6475e046300e40330c090d5c33d0efaf8cbd515972a8ca1b8975d8e"
] | 16,000 | 0.2 | 8.104625 | {"transcript":"hast thou watched faithfully and well the whole day long said the king when the lad came into his presence in"} | [{"robot_id":"R01","yaw_deg":76,"height_m":1.4,"positions":[[0.0,4.6,1.4,-0.1],[0.2,4.6,1.4,-0.1],[0.4,4.6,1.4,-0.1],[0.6,4.6,1.4,-0.1],[0.8,4.6,1.4,-0.1],[1.0,4.6,1.4,-0.1],[1.2,4.6,1.4,-0.1],[1.4,4.6,1.4,-0.1],[1.6,4.6,1.4,-0.1],[1.8,4.6,1.4,-0.1],[2.0,4.6,1.4,-0.1],[2.2,4.6,1.4,-0.1],[2.4,4.6,1.4,-0.1],[2.6,4.6,1.4,... | [{"robot_id":"R02","start_sample":64524,"end_sample":77979,"start_time_s":4.03275,"end_time_s":4.8736875,"text":"into the library"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R01: <|AUDIO|><|spatial|>
R02: <|AUDIO|><|spatial|>
Audio covers [0.000, 8.105) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source... |
001af2f9064e6fda0ea5cd0e | 9f4b0bce67229a5dd9d0002c | KW_ASR | edge | easy_robot | easy | test_r088 | [
"R02"
] | [
"public/audio/test/9f4b0bce67229a5dd9d0002c/R02_foa.wav"
] | [
"4582c1a40dcf09a277811eab443e0b7e26ab8a51ba053f91a03eb9ce59e62945"
] | 16,000 | 0.2 | 7.981375 | {"wake_phrase":"sancho"} | [{"robot_id":"R01","yaw_deg":-52,"height_m":1.3,"positions":[[0.0,0.5,1.3,-1.9],[0.2,0.5,1.3,-1.9],[0.4,0.5,1.3,-1.9],[0.6,0.5,1.3,-1.9],[0.8,0.5,1.3,-1.9],[1.0,0.5,1.3,-1.9],[1.2,0.5,1.3,-1.9],[1.4,0.5,1.3,-1.9],[1.6,0.5,1.3,-1.9],[1.8,0.5,1.3,-1.9],[2.0,0.5,1.3,-1.9],[2.2,0.5,1.3,-1.9],[2.4,0.5,1.3,-1.9],[2.6,0.5,1.3... | [{"robot_id":"R02","start_sample":16883,"end_sample":28087,"start_time_s":1.0551875,"end_time_s":1.7554375,"text":"allowance in"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R02: <|AUDIO|><|spatial|>
Audio covers [0.000, 7.981) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source at that scene time; propa... |
001af7083fff4c989f0f61cb | 93523a7698b1348c263259ef | KW_ASR | edge | hard_joint_a | hard | test_r191 | [
"R02"
] | [
"public/audio/test/93523a7698b1348c263259ef/R02_foa.wav"
] | [
"8cd30df2913b3109dd69ce30f5d2baf3e1c9006e26499fb1ea853c8c16ab9fb2"
] | 16,000 | 0.2 | 8.242875 | {"wake_phrase":"butt"} | [{"robot_id":"R01","yaw_deg":-147,"height_m":1.3,"positions":[[0.0,-2.3,1.3,-4.5],[0.2,-2.3,1.3,-4.5],[0.4,-2.3,1.3,-4.5],[0.6,-2.3,1.3,-4.5],[0.8,-2.3,1.3,-4.5],[1.0,-2.2,1.3,-4.5],[1.2,-2.2,1.3,-4.4],[1.4,-2.1,1.3,-4.4],[1.6,-2.1,1.3,-4.3],[1.8,-2.0,1.3,-4.3],[2.0,-1.8,1.3,-4.2],[2.2,-1.7,1.3,-4.1],[2.4,-1.6,1.3,-4.0... | [{"robot_id":"R02","start_sample":7621,"end_sample":14845,"start_time_s":0.4763125,"end_time_s":0.9278125,"text":"a hail"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R02: <|AUDIO|><|spatial|>
Audio covers [0.000, 8.243) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source at that scene time; propa... |
001f948b4861b516c2865771 | 49239ab49efa1232c5313c72 | KW_ASR | edge | hard_joint_a | hard | test_r062 | [
"R02"
] | [
"public/audio/test/49239ab49efa1232c5313c72/R02_foa.wav"
] | [
"7bc9057647522c76e58c5a506f6a7611937d2bb6f5281096808c74c4c69405b9"
] | 16,000 | 0.2 | 7.612 | {"wake_phrase":"least had been"} | [{"robot_id":"R01","yaw_deg":166,"height_m":1.5,"positions":[[0.0,1.9,1.5,-1.8],[0.2,1.9,1.5,-1.8],[0.4,1.9,1.5,-1.8],[0.6,1.9,1.5,-1.8],[0.8,1.9,1.5,-1.8],[1.0,1.9,1.5,-1.9],[1.2,1.9,1.5,-1.9],[1.4,2.0,1.5,-2.0],[1.6,2.0,1.5,-2.1],[1.8,2.0,1.5,-2.2],[2.0,2.0,1.5,-2.3],[2.2,2.0,1.5,-2.5],[2.4,2.0,1.5,-2.6],[2.6,2.1,1.5... | [{"robot_id":"R02","start_sample":46343,"end_sample":55627,"start_time_s":2.8964375,"end_time_s":3.4766875,"text":"at it but"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R02: <|AUDIO|><|spatial|>
Audio covers [0.000, 7.612) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source at that scene time; propa... |
00204608ce2311b39dbb3b85 | 935cdff02e7d82ab5e1b0e32 | KW_ASR | cloud | easy_human | easy | test_r118 | [
"R01",
"R02"
] | [
"public/audio/test/935cdff02e7d82ab5e1b0e32/R01_foa.wav",
"public/audio/test/935cdff02e7d82ab5e1b0e32/R02_foa.wav"
] | [
"39e0c6d9d82df43566ce757e6d812c4ca4c4168129636c0542bce6a2d40db9ec",
"d210460de68081691583a61cc4ba1585168743a86db175e40cf634c1c30a99f3"
] | 16,000 | 0.2 | 8.207563 | {"wake_phrase":"he not seen"} | [{"robot_id":"R01","yaw_deg":-144,"height_m":1.5,"positions":[[0.0,1.2,1.5,-2.9],[0.2,1.2,1.5,-2.9],[0.4,1.2,1.5,-2.9],[0.6,1.2,1.5,-2.9],[0.8,1.2,1.5,-2.9],[1.0,1.2,1.5,-2.9],[1.2,1.2,1.5,-2.9],[1.4,1.2,1.5,-2.9],[1.6,1.2,1.5,-2.9],[1.8,1.2,1.5,-2.9],[2.0,1.2,1.5,-2.9],[2.2,1.2,1.5,-2.9],[2.4,1.2,1.5,-2.9],[2.6,1.2,1.... | [{"robot_id":"R02","start_sample":3472,"end_sample":14205,"start_time_s":0.217,"end_time_s":0.8878125,"text":"younger my"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R01: <|AUDIO|><|spatial|>
R02: <|AUDIO|><|spatial|>
Audio covers [0.000, 8.208) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source... |
00208b673f1e07279631fdd4 | edc5aad6acf21278f540cf20 | DOA_TRAJECTORY | edge | hard_joint_a | hard | test_r196 | [
"R02"
] | [
"public/audio/test/edc5aad6acf21278f540cf20/R02_foa.wav"
] | [
"a3ea4831216e04ce0e41d2acf8fb0f68098855dc20df6df8f28cf753b4dd2080"
] | 16,000 | 0.2 | 7.778125 | {} | [{"robot_id":"R01","yaw_deg":143,"height_m":1.2,"positions":[[0.0,-4.4,1.2,1.8],[0.2,-4.4,1.2,1.8],[0.4,-4.4,1.2,1.8],[0.6,-4.4,1.2,1.8],[0.8,-4.4,1.2,1.8],[1.0,-4.4,1.2,1.8],[1.2,-4.3,1.2,1.7],[1.4,-4.3,1.2,1.7],[1.6,-4.2,1.2,1.7],[1.8,-4.1,1.2,1.6],[2.0,-4.0,1.2,1.5],[2.2,-3.8,1.2,1.5],[2.4,-3.7,1.2,1.4],[2.6,-3.6,1.... | [{"robot_id":"R02","start_sample":49484,"end_sample":65812,"start_time_s":3.09275,"end_time_s":4.11325,"text":"express trains"},{"robot_id":"R03","start_sample":67564,"end_sample":82304,"start_time_s":4.22275,"end_time_s":5.144,"text":"in a month he rose"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R02: <|AUDIO|><|spatial|>
Audio covers [0.000, 7.778) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source at that scene time; propa... |
002094bfac6dace7305a54b4 | 0188b2e9971a20f39a331b2a | KW_ASR | edge | easy_human | easy | test_r178 | [
"R01"
] | [
"public/audio/test/0188b2e9971a20f39a331b2a/R01_foa.wav"
] | [
"dce295470b6253196bc58c35b0526974a1051044b6dfa04adc05020fb9c99279"
] | 16,000 | 0.2 | 8.989625 | {"wake_phrase":"four"} | [{"robot_id":"R01","yaw_deg":166,"height_m":1.3,"positions":[[0.0,-2.4,1.3,-7.6],[0.2,-2.4,1.3,-7.6],[0.4,-2.4,1.3,-7.6],[0.6,-2.4,1.3,-7.6],[0.8,-2.4,1.3,-7.6],[1.0,-2.4,1.3,-7.6],[1.2,-2.4,1.3,-7.6],[1.4,-2.4,1.3,-7.6],[1.6,-2.4,1.3,-7.6],[1.8,-2.4,1.3,-7.6],[2.0,-2.4,1.3,-7.6],[2.2,-2.4,1.3,-7.6],[2.4,-2.4,1.3,-7.6]... | [{"robot_id":"R02","start_sample":72160,"end_sample":88160,"start_time_s":4.51,"end_time_s":5.51,"text":"house"},{"robot_id":"R03","start_sample":41471,"end_sample":57471,"start_time_s":2.5919375,"end_time_s":3.5919375,"text":"four"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R01: <|AUDIO|><|spatial|>
Audio covers [0.000, 8.990) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source at that scene time; propa... |
0024d36ccb9782415c522351 | 474ea8231c440cc142680216 | KW_ASR | edge | hard_joint_b | hard | test_r184 | [
"R02"
] | [
"public/audio/test/474ea8231c440cc142680216/R02_foa.wav"
] | [
"4e31c1bd3cf25010b61285fd072e052c8f46b13053ec7349b2f96f16fce3ce0f"
] | 16,000 | 0.2 | 7.764313 | {"wake_phrase":"think he was"} | [{"robot_id":"R01","yaw_deg":-122,"height_m":1.5,"positions":[[0.0,-3.4,1.5,-2.0],[0.2,-3.4,1.5,-2.0],[0.4,-3.4,1.5,-2.0],[0.6,-3.4,1.5,-2.0],[0.8,-3.4,1.5,-2.0],[1.0,-3.4,1.5,-2.1],[1.2,-3.4,1.5,-2.1],[1.4,-3.4,1.5,-2.2],[1.6,-3.5,1.5,-2.3],[1.8,-3.5,1.5,-2.4],[2.0,-3.6,1.5,-2.5],[2.2,-3.6,1.5,-2.6],[2.4,-3.7,1.5,-2.8... | [{"robot_id":"R02","start_sample":44011,"end_sample":53168,"start_time_s":2.7506875,"end_time_s":3.323,"text":"want to see"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R02: <|AUDIO|><|spatial|>
Audio covers [0.000, 7.764) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source at that scene time; propa... |
0025c3a69b05824fc15b93a8 | 825051405b0fd093fe4a1e32 | KW_ASR | edge | easy_human | easy | test_r062 | [
"R02"
] | [
"public/audio/test/825051405b0fd093fe4a1e32/R02_foa.wav"
] | [
"5a527d3bea21a3c68d3fc1de434dce6c39c62e76bbff34219cb7a868e0563ab3"
] | 16,000 | 0.2 | 7.612 | {"wake_phrase":"see i"} | [{"robot_id":"R01","yaw_deg":166,"height_m":1.5,"positions":[[0.0,1.3,1.5,3.9],[0.2,1.3,1.5,3.9],[0.4,1.3,1.5,3.9],[0.6,1.3,1.5,3.9],[0.8,1.3,1.5,3.9],[1.0,1.3,1.5,3.9],[1.2,1.3,1.5,3.9],[1.4,1.3,1.5,3.9],[1.6,1.3,1.5,3.9],[1.8,1.3,1.5,3.9],[2.0,1.3,1.5,3.9],[2.2,1.3,1.5,3.9],[2.4,1.3,1.5,3.9],[2.6,1.3,1.5,3.9],[2.8,1.... | [{"robot_id":"R02","start_sample":46343,"end_sample":55627,"start_time_s":2.8964375,"end_time_s":3.4766875,"text":"at it but"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R02: <|AUDIO|><|spatial|>
Audio covers [0.000, 7.612) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source at that scene time; propa... |
0026266a8c60c95dcff6baea | a5ad3fa6d698e4e1b85805c0 | RANGE_TRAJECTORY | edge | easy_robot | easy | test_r085 | [
"R02"
] | [
"public/audio/test/a5ad3fa6d698e4e1b85805c0/R02_foa.wav"
] | [
"1644232605da1a11f220f40025ec248c55dc8d0a8ff74bec6ba3076fcf834546"
] | 16,000 | 0.2 | 9.32725 | {"selection_time_s":0.2,"cue_time_range_s":[0.2,0.4],"initial_sector_deg":[-60,-30]} | [{"robot_id":"R01","yaw_deg":-116,"height_m":1.4,"positions":[[0.0,1.8,1.4,2.7],[0.2,1.8,1.4,2.7],[0.4,1.8,1.4,2.7],[0.6,1.8,1.4,2.7],[0.8,1.8,1.4,2.7],[1.0,1.8,1.4,2.7],[1.2,1.8,1.4,2.7],[1.4,1.8,1.4,2.7],[1.6,1.8,1.4,2.7],[1.8,1.8,1.4,2.7],[2.0,1.8,1.4,2.7],[2.2,1.8,1.4,2.7],[2.4,1.8,1.4,2.7],[2.6,1.8,1.4,2.7],[2.8,1... | [{"robot_id":"R02","start_sample":38214,"end_sample":62910,"start_time_s":2.388375,"end_time_s":3.931875,"text":"friends and they ain't going"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R02: <|AUDIO|><|spatial|>
Audio covers [0.000, 9.327) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source at that scene time; propa... |
00269246ad19f4d10e29ade9 | 8c0e708199bec46c16520d59 | RANGE_TRAJECTORY | edge | hard_joint_b | hard | test_r103 | [
"R02"
] | [
"public/audio/test/8c0e708199bec46c16520d59/R02_foa.wav"
] | [
"778e92c6459166c0e8ab2eac0f0758c4908145a6087f129c0340b7dcd431db3e"
] | 16,000 | 0.2 | 7.808688 | {"selection_time_s":0.4,"cue_time_range_s":[0.4,0.6],"initial_sector_deg":[-150,-120]} | [{"robot_id":"R01","yaw_deg":-114,"height_m":1.3,"positions":[[0.0,3.7,1.3,-2.5],[0.2,3.7,1.3,-2.5],[0.4,3.7,1.3,-2.5],[0.6,3.7,1.3,-2.5],[0.8,3.7,1.3,-2.5],[1.0,3.7,1.3,-2.5],[1.2,3.7,1.3,-2.4],[1.4,3.7,1.3,-2.3],[1.6,3.7,1.3,-2.2],[1.8,3.6,1.3,-2.1],[2.0,3.6,1.3,-2.0],[2.2,3.6,1.3,-1.8],[2.4,3.6,1.3,-1.7],[2.6,3.6,1.... | [{"robot_id":"R02","start_sample":36420,"end_sample":52420,"start_time_s":2.27625,"end_time_s":3.27625,"text":"dog"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R02: <|AUDIO|><|spatial|>
Audio covers [0.000, 7.809) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source at that scene time; propa... |
002b578104690db8a8215ee7 | e58757c855d7e3fee7918a2d | RANGE_TRAJECTORY | edge | easy_robot | easy | test_r142 | [
"R02"
] | [
"public/audio/test/e58757c855d7e3fee7918a2d/R02_foa.wav"
] | [
"552b16e85b712fe2b1c7849bc0052a70cd06cf67457cee8cc5a242e9202ff17b"
] | 16,000 | 0.2 | 8.123688 | {"selection_time_s":0.4,"cue_time_range_s":[0.4,0.6],"initial_sector_deg":[-90,-60]} | [{"robot_id":"R01","yaw_deg":9,"height_m":1.5,"positions":[[0.0,0.3,1.5,0.5],[0.2,0.3,1.5,0.5],[0.4,0.3,1.5,0.5],[0.6,0.3,1.5,0.5],[0.8,0.3,1.5,0.5],[1.0,0.3,1.5,0.5],[1.2,0.3,1.5,0.4],[1.4,0.2,1.5,0.4],[1.6,0.2,1.5,0.3],[1.8,0.1,1.5,0.2],[2.0,0.0,1.5,0.1],[2.2,-0.1,1.5,-0.0],[2.4,-0.2,1.5,-0.1],[2.6,-0.3,1.5,-0.3],[2.... | [{"robot_id":"R02","start_sample":4470,"end_sample":22690,"start_time_s":0.279375,"end_time_s":1.418125,"text":"modes of management"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R02: <|AUDIO|><|spatial|>
Audio covers [0.000, 8.124) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source at that scene time; propa... |
002b67a37e58207414a7eb51 | 29a55f76b2f23d56a1cd904d | RANGE_TRAJECTORY | edge | easy_robot | easy | test_r130 | [
"R01"
] | [
"public/audio/test/29a55f76b2f23d56a1cd904d/R01_foa.wav"
] | [
"5f4da42b94b6da47d4eed77428824ef77df55dfd260a66b0b1f2bde62bf234ca"
] | 16,000 | 0.2 | 8.14125 | {"selection_time_s":0.4,"cue_time_range_s":[0.4,0.6],"initial_sector_deg":[0,30]} | [{"robot_id":"R01","yaw_deg":168,"height_m":1.4,"positions":[[0.0,0.2,1.4,-2.0],[0.2,0.2,1.4,-2.0],[0.4,0.2,1.4,-2.0],[0.6,0.2,1.4,-2.0],[0.8,0.2,1.4,-2.0],[1.0,0.1,1.4,-2.0],[1.2,0.1,1.4,-1.9],[1.4,0.1,1.4,-1.9],[1.6,0.0,1.4,-1.8],[1.8,-0.0,1.4,-1.7],[2.0,-0.1,1.4,-1.6],[2.2,-0.1,1.4,-1.5],[2.4,-0.2,1.4,-1.4],[2.6,-0.... | [{"robot_id":"R02","start_sample":24725,"end_sample":34039,"start_time_s":1.5453125,"end_time_s":2.1274375,"text":"on the desk"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R01: <|AUDIO|><|spatial|>
Audio covers [0.000, 8.141) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source at that scene time; propa... |
002bbf62cbe6b3216f5c9fd1 | 83b4b4eee1c60f14a96d2d3b | KW_ASR | edge | easy_human | easy | test_r170 | [
"R03"
] | [
"public/audio/test/83b4b4eee1c60f14a96d2d3b/R03_foa.wav"
] | [
"02d93b1a649c4dfa41545080c964f404a4b0e5313982e1aa1227f939049f60aa"
] | 16,000 | 0.2 | 8.94775 | {"wake_phrase":"relate to few"} | [{"robot_id":"R01","yaw_deg":52,"height_m":1.2,"positions":[[0.0,0.7,1.2,6.4],[0.2,0.7,1.2,6.4],[0.4,0.7,1.2,6.4],[0.6,0.7,1.2,6.4],[0.8,0.7,1.2,6.4],[1.0,0.7,1.2,6.4],[1.2,0.7,1.2,6.4],[1.4,0.7,1.2,6.4],[1.6,0.7,1.2,6.4],[1.8,0.7,1.2,6.4],[2.0,0.7,1.2,6.4],[2.2,0.7,1.2,6.4],[2.4,0.7,1.2,6.4],[2.6,0.7,1.2,6.4],[2.8,0.7... | [{"robot_id":"R02","start_sample":32340,"end_sample":43711,"start_time_s":2.02125,"end_time_s":2.7319375,"text":"can't help it"},{"robot_id":"R03","start_sample":46460,"end_sample":56243,"start_time_s":2.90375,"end_time_s":3.5151875,"text":"and searched for"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R03: <|AUDIO|><|spatial|>
Audio covers [0.000, 8.948) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source at that scene time; propa... |
002c90c91e62157e5d763921 | 773d9b4152d41d3fd8b5a8b4 | TEXT_TRAJECTORY | cloud | easy_human | easy | test_r141 | [
"R01",
"R02"
] | [
"public/audio/test/773d9b4152d41d3fd8b5a8b4/R01_foa.wav",
"public/audio/test/773d9b4152d41d3fd8b5a8b4/R02_foa.wav"
] | [
"80033b87997c66eba2aa6ff7bd4b49ea849ced72df31c79d762b9d2779dcc8fb",
"c6e602caaa95e8466b0a82e8c255fdd9737d0e5145dd4c3609f56e3f4d78a44a"
] | 16,000 | 0.2 | 7.5365 | {"transcript":"out hurriedly as though to assure herself that the drawing room was not being"} | [{"robot_id":"R01","yaw_deg":-21,"height_m":1.3,"positions":[[0.0,1.6,1.3,-2.0],[0.2,1.6,1.3,-2.0],[0.4,1.6,1.3,-2.0],[0.6,1.6,1.3,-2.0],[0.8,1.6,1.3,-2.0],[1.0,1.6,1.3,-2.0],[1.2,1.6,1.3,-2.0],[1.4,1.6,1.3,-2.0],[1.6,1.6,1.3,-2.0],[1.8,1.6,1.3,-2.0],[2.0,1.6,1.3,-2.0],[2.2,1.6,1.3,-2.0],[2.4,1.6,1.3,-2.0],[2.6,1.6,1.3... | [{"robot_id":"R02","start_sample":45130,"end_sample":61130,"start_time_s":2.820625,"end_time_s":3.820625,"text":"dog"}] | You are given FOA recordings of the same dynamic multi-speaker scene.
R01: <|AUDIO|><|spatial|>
R02: <|AUDIO|><|spatial|>
Audio covers [0.000, 7.537) seconds on one synchronized scene clock.
Use scene times 0.0, 0.2, 0.4, ... strictly before the end of the supplied recording.
Spatial labels refer to the physical source... |
End of preview. Expand in Data Studio
DiSH-Bench dynamic v1
2,000 physical dynamic scenes, 4,532 original four-channel FOA recordings and 48,396 test questions. Easy/Hard each contain 1,000 scenes. The 500 matched groups each contain easy_human, easy_robot, hard_joint_a and hard_joint_b; room, initial positions, speech crops, utterance timing and playback roles are shared within a group. All source/receiver RIR knots and spatial task outputs use the same 0.2-second scene clock.
This is a separate dynamic release from DiSH-Bench-static-v2. There are no binaural previews in this dataset. Audio is 16 kHz FLOAT WAV, ACN/SN3D [W,Y,Z,X]; preserve all four channels for testing.
| Setting | Task | Questions | Output |
|---|---|---|---|
| Edge | DOA trajectory | 4,532 | Stable human tracks; absolute azimuth/elevation and activity |
| Edge | Distance trajectory | 10,676 | Initially selected human's distance and activity |
| Edge | KW-ASR | 19,740 | Unique matching human's entire utterance, including the specified prefix |
| Cloud | Transcript to trajectory | 4,724 | Given text's speaker trajectory in world XYZ and activity |
| Cloud | KW-ASR | 8,724 | Same phrase, human target and transcript as corresponding Edge questions |
Edge views and Cloud views use exactly the same accepted FOA files and hashes for each receiver. public/test/pairs.jsonl records the task/target correspondence; motion_groups.jsonl records the four motion branches. Cloud observes all scene robots. Source and robot motion are horizontal, with fixed height/yaw; moving entities travel more than 2 m, with continuous minimum-jerk trajectories and peak speed at most 0.8 m/s. Easy moves one human or robot; Hard moves all humans and robots. Clip durations retain the selected static parent durations (7.50–9.37 s), across 143 frozen rooms.
All human targets use continuous real LibriSpeech crops with internal quiet gaps at most 0.35 s. No internal splicing, loops or time stretching. Robot playback is interference; original R01-silent and R02/R03-playback roles are retained, with ideal own-only playback removal. Wake phrases are the first 1–3 words of an utterance, unique among humans. No-match and robot-only negative queries require the actual empty string. Silent intervals are excluded from spatial position error, with false activity reported separately.
Contents and information boundaries
public/audio/test/: all 4,532 original FOA WAVs.public/assets/rooms/: frozen meshes, materials, semantics and layout.public/test/: scenes, recordings, views, exact per-question inputs and prompts, paired task/target IDs and byte-offset index.model_index.parquet: viewer-friendly public input index, one row per question; query and robot metadata use JSON strings. Audio paths are repository-relative. No human ground-truth trajectory, target identity or answer is in this index.private/test/gold.jsonlandprivate/test/scenes.jsonl: evaluation answers and creator metadata. The name private denotes an information boundary, not Hub access control. Do not expose these to a tested model.private/recipes.jsonl, original sources, RIR quality records and reproduction code: creator inputs/provenance, outside blind model inputs.reports/acceptance.json,dataset.lock.json,manifest.jsonl: full acceptance and per-file checksums.reproduction_inputs.zip: accepted speech crops/alignment, original sources, room assets, code and environment needed to replay generation; no static dataset or alignment model is needed.
model_index.parquet is the only automatic dataset-viewer configuration. Use the FOA loader below for inference; automatic mono audio decoding is not the evaluation interface.
Download, infer and score
from huggingface_hub import snapshot_download
root = snapshot_download(
"Heiheihaha17/DiSH-Bench-dynamic-v1", repo_type="dataset",
allow_patterns=["public/**", "config.json", "summary.json", "README.md", "USAGE.zh.md"],
)
Use the frozen dynamic code (release commit 3a9cd8f). See 完整中文使用与复现说明.
git clone --branch codex/dynamic-test-2k https://github.com/Wenanzhi/DisRobot-bench.git
cd DisRobot-bench
git checkout 3a9cd8f
python -m pip install -r dynamic_dataset/requirements-eval.txt
python -m dynamic_dataset.run --root /absolute/downloaded_root \
--adapter your_adapter:predict --output predictions.jsonl
# Download private/test/gold.jsonl only into the evaluator's installation.
python -m dynamic_dataset.score --root /absolute/evaluator_root \
--predictions predictions.jsonl --output scores --strict
Every question uses an independent model context; Cloud transcript queries must not be reused to answer sibling KW-ASR questions. loader.load exposes only that question's allowed fields. The scorer reports frame-pooled mean/variance/RMSE and coverage, clip-level identity matching, missing-response denominators, positive KW corpus WER, negative-empty accuracy, motion/room/difficulty strata and paired Edge/Cloud KW gains. There is no cross-task total score. Group statistics by motion group/room and original recording/speaker because sources and rooms are reused and different word crops can overlap.
Acceptance and reconstruction
All 2,000 scenes and 48,396 prompts/answers passed full acceptance, including 1,875,610 actual native RIR quality records, geometry/continuity, waveform hashes and paired audio bindings. All 35 protocol/renderer/scoring/recovery tests passed. The formal scorer's full oracle run had zero missing predictions; it checks evaluator consistency, not model performance. No model baseline or full human-listening audit is claimed.
Unzip reproduction_inputs.zip, read code/dynamic_dataset/README.zh.md, and use the pinned native environment to initialize, shard-render, export and audit. Rendering needs CPU resources and per-worker temporary storage; inference/scoring do not need the acoustic engine or HRTF. Native Monte Carlo ray tracing is not promised to reproduce RIR/WAV bytes exactly across machines; published recordings are verified against their exact SHA256 values. The simulation uses quasi-static two-time RIR interpolation rather than exact Doppler.
Speech retains LibriSpeech/CC BY 4.0 attribution. Native Habitat/RLR dependency terms and retained project rights are documented in the code's licenses/NOTICE.md and generation/native/UPSTREAM.md. This test-only release contains no new real multi-point recording, environment-event task, clock drift, synchronization error or packet loss.
- Downloads last month
- 205