EmbodiedCity/EmbodiedNav-Bench

EmbodiedNav-Bench是一个面向目标的具身导航基准，用于评估城市三维空域中的空间行动。该基准包含5,037个高质量的导航轨迹，每个轨迹都配有自然语言导航目标、初始无人机姿态、目标位置和真实三维轨迹。每个样本对应一个城市三维环境中的导航任务，包括自然语言目标描述和人工收集的真实轨迹。该数据集旨在评估城市空域场景中的具身导航、空间推理和多模态决策模型。

EmbodiedNav-Bench is a goal-oriented embodied navigation benchmark for evaluating spatial action in urban 3D airspace. The benchmark contains 5,037 high-quality navigation trajectories with natural-language navigation goals, initial drone poses, target positions, and ground-truth 3D trajectories. Each sample corresponds to one navigation task in an urban 3D environment, with a natural-language goal description and a human-collected ground-truth trajectory. The dataset is intended for evaluating embodied navigation, spatial reasoning, and multimodal decision-making models in urban airspace scenarios.