Egocentric navigation data collected with a chest-mounted sensor rig (the
"Smartbelt") walking through indoor and campus environments. Each episode pairs
a continuous 6-DoF trajectory with synchronized panoramic and camera imagery,
plus DINOv3 features precomputed over the camera stream.
This is the exact data used to train the diffusion trajectory model in
EgoNav: Learning Humanoid Navigation from Human Data
(project page, IEEE RA-L 2026).
Contents… See the full description on the dataset page: https://huggingface.co/datasets/ASKKER/egonav.
