Cognitive probes injected into VLN-CE navigation episodes, regenerated with the
LASAR data-generation pipeline (arXiv:2605.16899).
10,819 trajectories · 61 Matterport3D scenes · 56,755 queries · 279 GB
Split
80/20 by episode, seed 42. The split is at trajectory level on purpose: the
~5 probes of one episode all target the same rooms and objects, so a
query-level split would leak test scenes into training.
