--- configs: - config_name: 64x64_samples data_files: - path: 64x64_samples/train/* split: train - path: 64x64_samples/calibration/* split: calibration - path: 64x64_samples/validation/* split: validation - path: 64x64_samples/test/* split: test - config_name: 64x64 data_files: - path: 64x64/train/* split: train - path: 64x64/calibration/* split: calibration - path: 64x64/validation/* split: validation - path: 64x64/test/* split: test - config_name: 128x128_samples data_files: - path: 128x128_samples/train/* split: train - path: 128x128_samples/calibration/* split: calibration - path: 128x128_samples/validation/* split: validation - path: 128x128_samples/test/* split: test - config_name: 128x128 data_files: - path: 128x128/train/* split: train - path: 128x128/calibration/* split: calibration - path: 128x128/validation/* split: validation - path: 128x128/test/* split: test - config_name: 256x256_samples data_files: - path: 256x256_samples/train/* split: train - path: 256x256_samples/calibration/* split: calibration - path: 256x256_samples/validation/* split: validation - path: 256x256_samples/test/* split: test - config_name: 256x256 data_files: - path: 256x256/train/* split: train - path: 256x256/calibration/* split: calibration - path: 256x256/validation/* split: validation - path: 256x256/test/* split: test - config_name: 512x512_samples data_files: - path: 512x512_samples/train/* split: train - path: 512x512_samples/calibration/* split: calibration - path: 512x512_samples/validation/* split: validation - path: 512x512_samples/test/* split: test - config_name: 512x512 data_files: - path: 512x512/train/* split: train - path: 512x512/calibration/* split: calibration - path: 512x512/validation/* split: validation - path: 512x512/test/* split: test - config_name: 1024x1024_samples data_files: - path: 1024x1024_samples/train/* split: train - path: 1024x1024_samples/calibration/* split: calibration - path: 1024x1024_samples/validation/* split: validation - path: 1024x1024_samples/test/* split: test default: true - config_name: 1024x1024 data_files: - path: 1024x1024/train/* split: train - path: 1024x1024/calibration/* split: calibration - path: 1024x1024/validation/* split: validation - path: 1024x1024/test/* split: test - config_name: 2048x2048_samples data_files: - path: 2048x2048_samples/train/* split: train - path: 2048x2048_samples/calibration/* split: calibration - path: 2048x2048_samples/validation/* split: validation - path: 2048x2048_samples/test/* split: test - config_name: 2048x2048 data_files: - path: 2048x2048/train/* split: train - path: 2048x2048/calibration/* split: calibration - path: 2048x2048/validation/* split: validation - path: 2048x2048/test/* split: test - config_name: 4096x4096_samples data_files: - path: 4096x4096_samples/train/* split: train - path: 4096x4096_samples/calibration/* split: calibration - path: 4096x4096_samples/validation/* split: validation - path: 4096x4096_samples/test/* split: test - config_name: 4096x4096 data_files: - path: 4096x4096/train/* split: train - path: 4096x4096/calibration/* split: calibration - path: 4096x4096/validation/* split: validation - path: 4096x4096/test/* split: test dataset_info: - config_name: 64x64_samples features: - dtype: string name: id - dtype: binary name: tensor - dtype: image name: image_astar_elevation - list: list: int32 name: path_astar_elevation_free - list: list: int32 name: path_astar_elevation_obstacles - dtype: image name: image_astar_energy - list: list: int32 name: path_astar_energy_free - list: list: int32 name: path_astar_energy_obstacles - dtype: image name: image_astar_slope - list: list: int32 name: path_astar_slope_free - list: list: int32 name: path_astar_slope_obstacles - name: metadata struct: - dtype: int32 name: index - dtype: int32 name: resolution - dtype: string name: split - name: calibration struct: - dtype: float32 name: min - dtype: float32 name: max - name: tile struct: - name: source struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name - name: stats struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: used - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: overlapping - name: crop struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - dtype: float32 name: target_elevation - name: center struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: top_left struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: bottom_right struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: markers struct: - name: start_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: end_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: obstacles struct: - dtype: bool name: enabled - dtype: float32 name: ratio_max - dtype: float32 name: ratio_target - dtype: float32 name: ratio_actual - dtype: float32 name: size_min_ratio - dtype: float32 name: size_max_ratio - dtype: float32 name: penalty - name: provenance struct: - dtype: int64 name: generation_seed - dtype: int64 name: sample_seed - name: solvers struct: - name: astar_elevation struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_energy struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_slope struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: paths struct: - name: astar_elevation struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_energy struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_slope struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: timing struct: - dtype: float32 name: tile_loading_seconds - dtype: float32 name: marker_search_seconds - dtype: float32 name: obstacle_generation_seconds - dtype: float32 name: tensor_save_seconds - dtype: float32 name: metadata_write_seconds - dtype: float32 name: image_conversion_seconds - dtype: float32 name: image_write_seconds - dtype: timestamp[us] name: timestamp - config_name: 64x64 features: - dtype: string name: id - dtype: binary name: tensor - list: list: int32 name: path_astar_elevation_free - list: list: int32 name: path_astar_elevation_obstacles - list: list: int32 name: path_astar_energy_free - list: list: int32 name: path_astar_energy_obstacles - list: list: int32 name: path_astar_slope_free - list: list: int32 name: path_astar_slope_obstacles - name: metadata struct: - dtype: int32 name: index - dtype: int32 name: resolution - dtype: string name: split - name: calibration struct: - dtype: float32 name: min - dtype: float32 name: max - name: tile struct: - name: source struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name - name: stats struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: used - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: overlapping - name: crop struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - dtype: float32 name: target_elevation - name: center struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: top_left struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: bottom_right struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: markers struct: - name: start_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: end_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: obstacles struct: - dtype: bool name: enabled - dtype: float32 name: ratio_max - dtype: float32 name: ratio_target - dtype: float32 name: ratio_actual - dtype: float32 name: size_min_ratio - dtype: float32 name: size_max_ratio - dtype: float32 name: penalty - name: provenance struct: - dtype: int64 name: generation_seed - dtype: int64 name: sample_seed - name: solvers struct: - name: astar_elevation struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_energy struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_slope struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: paths struct: - name: astar_elevation struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_energy struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_slope struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: timing struct: - dtype: float32 name: tile_loading_seconds - dtype: float32 name: marker_search_seconds - dtype: float32 name: obstacle_generation_seconds - dtype: float32 name: tensor_save_seconds - dtype: float32 name: metadata_write_seconds - dtype: float32 name: image_conversion_seconds - dtype: float32 name: image_write_seconds - dtype: timestamp[us] name: timestamp - config_name: 128x128_samples features: - dtype: string name: id - dtype: binary name: tensor - dtype: image name: image_astar_elevation - list: list: int32 name: path_astar_elevation_free - list: list: int32 name: path_astar_elevation_obstacles - dtype: image name: image_astar_energy - list: list: int32 name: path_astar_energy_free - list: list: int32 name: path_astar_energy_obstacles - dtype: image name: image_astar_slope - list: list: int32 name: path_astar_slope_free - list: list: int32 name: path_astar_slope_obstacles - name: metadata struct: - dtype: int32 name: index - dtype: int32 name: resolution - dtype: string name: split - name: calibration struct: - dtype: float32 name: min - dtype: float32 name: max - name: tile struct: - name: source struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name - name: stats struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: used - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: overlapping - name: crop struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - dtype: float32 name: target_elevation - name: center struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: top_left struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: bottom_right struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: markers struct: - name: start_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: end_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: obstacles struct: - dtype: bool name: enabled - dtype: float32 name: ratio_max - dtype: float32 name: ratio_target - dtype: float32 name: ratio_actual - dtype: float32 name: size_min_ratio - dtype: float32 name: size_max_ratio - dtype: float32 name: penalty - name: provenance struct: - dtype: int64 name: generation_seed - dtype: int64 name: sample_seed - name: solvers struct: - name: astar_elevation struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_energy struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_slope struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: paths struct: - name: astar_elevation struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_energy struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_slope struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: timing struct: - dtype: float32 name: tile_loading_seconds - dtype: float32 name: marker_search_seconds - dtype: float32 name: obstacle_generation_seconds - dtype: float32 name: tensor_save_seconds - dtype: float32 name: metadata_write_seconds - dtype: float32 name: image_conversion_seconds - dtype: float32 name: image_write_seconds - dtype: timestamp[us] name: timestamp - config_name: 128x128 features: - dtype: string name: id - dtype: binary name: tensor - list: list: int32 name: path_astar_elevation_free - list: list: int32 name: path_astar_elevation_obstacles - list: list: int32 name: path_astar_energy_free - list: list: int32 name: path_astar_energy_obstacles - list: list: int32 name: path_astar_slope_free - list: list: int32 name: path_astar_slope_obstacles - name: metadata struct: - dtype: int32 name: index - dtype: int32 name: resolution - dtype: string name: split - name: calibration struct: - dtype: float32 name: min - dtype: float32 name: max - name: tile struct: - name: source struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name - name: stats struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: used - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: overlapping - name: crop struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - dtype: float32 name: target_elevation - name: center struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: top_left struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: bottom_right struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: markers struct: - name: start_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: end_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: obstacles struct: - dtype: bool name: enabled - dtype: float32 name: ratio_max - dtype: float32 name: ratio_target - dtype: float32 name: ratio_actual - dtype: float32 name: size_min_ratio - dtype: float32 name: size_max_ratio - dtype: float32 name: penalty - name: provenance struct: - dtype: int64 name: generation_seed - dtype: int64 name: sample_seed - name: solvers struct: - name: astar_elevation struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_energy struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_slope struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: paths struct: - name: astar_elevation struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_energy struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_slope struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: timing struct: - dtype: float32 name: tile_loading_seconds - dtype: float32 name: marker_search_seconds - dtype: float32 name: obstacle_generation_seconds - dtype: float32 name: tensor_save_seconds - dtype: float32 name: metadata_write_seconds - dtype: float32 name: image_conversion_seconds - dtype: float32 name: image_write_seconds - dtype: timestamp[us] name: timestamp - config_name: 256x256_samples features: - dtype: string name: id - dtype: binary name: tensor - dtype: image name: image_astar_elevation - list: list: int32 name: path_astar_elevation_free - list: list: int32 name: path_astar_elevation_obstacles - dtype: image name: image_astar_energy - list: list: int32 name: path_astar_energy_free - list: list: int32 name: path_astar_energy_obstacles - dtype: image name: image_astar_slope - list: list: int32 name: path_astar_slope_free - list: list: int32 name: path_astar_slope_obstacles - name: metadata struct: - dtype: int32 name: index - dtype: int32 name: resolution - dtype: string name: split - name: calibration struct: - dtype: float32 name: min - dtype: float32 name: max - name: tile struct: - name: source struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name - name: stats struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: used - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: overlapping - name: crop struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - dtype: float32 name: target_elevation - name: center struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: top_left struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: bottom_right struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: markers struct: - name: start_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: end_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: obstacles struct: - dtype: bool name: enabled - dtype: float32 name: ratio_max - dtype: float32 name: ratio_target - dtype: float32 name: ratio_actual - dtype: float32 name: size_min_ratio - dtype: float32 name: size_max_ratio - dtype: float32 name: penalty - name: provenance struct: - dtype: int64 name: generation_seed - dtype: int64 name: sample_seed - name: solvers struct: - name: astar_elevation struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_energy struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_slope struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: paths struct: - name: astar_elevation struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_energy struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_slope struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: timing struct: - dtype: float32 name: tile_loading_seconds - dtype: float32 name: marker_search_seconds - dtype: float32 name: obstacle_generation_seconds - dtype: float32 name: tensor_save_seconds - dtype: float32 name: metadata_write_seconds - dtype: float32 name: image_conversion_seconds - dtype: float32 name: image_write_seconds - dtype: timestamp[us] name: timestamp - config_name: 256x256 features: - dtype: string name: id - dtype: binary name: tensor - list: list: int32 name: path_astar_elevation_free - list: list: int32 name: path_astar_elevation_obstacles - list: list: int32 name: path_astar_energy_free - list: list: int32 name: path_astar_energy_obstacles - list: list: int32 name: path_astar_slope_free - list: list: int32 name: path_astar_slope_obstacles - name: metadata struct: - dtype: int32 name: index - dtype: int32 name: resolution - dtype: string name: split - name: calibration struct: - dtype: float32 name: min - dtype: float32 name: max - name: tile struct: - name: source struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name - name: stats struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: used - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: overlapping - name: crop struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - dtype: float32 name: target_elevation - name: center struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: top_left struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: bottom_right struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: markers struct: - name: start_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: end_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: obstacles struct: - dtype: bool name: enabled - dtype: float32 name: ratio_max - dtype: float32 name: ratio_target - dtype: float32 name: ratio_actual - dtype: float32 name: size_min_ratio - dtype: float32 name: size_max_ratio - dtype: float32 name: penalty - name: provenance struct: - dtype: int64 name: generation_seed - dtype: int64 name: sample_seed - name: solvers struct: - name: astar_elevation struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_energy struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_slope struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: paths struct: - name: astar_elevation struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_energy struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_slope struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: timing struct: - dtype: float32 name: tile_loading_seconds - dtype: float32 name: marker_search_seconds - dtype: float32 name: obstacle_generation_seconds - dtype: float32 name: tensor_save_seconds - dtype: float32 name: metadata_write_seconds - dtype: float32 name: image_conversion_seconds - dtype: float32 name: image_write_seconds - dtype: timestamp[us] name: timestamp - config_name: 512x512_samples features: - dtype: string name: id - dtype: binary name: tensor - dtype: image name: image_astar_elevation - list: list: int32 name: path_astar_elevation_free - list: list: int32 name: path_astar_elevation_obstacles - dtype: image name: image_astar_energy - list: list: int32 name: path_astar_energy_free - list: list: int32 name: path_astar_energy_obstacles - dtype: image name: image_astar_slope - list: list: int32 name: path_astar_slope_free - list: list: int32 name: path_astar_slope_obstacles - name: metadata struct: - dtype: int32 name: index - dtype: int32 name: resolution - dtype: string name: split - name: calibration struct: - dtype: float32 name: min - dtype: float32 name: max - name: tile struct: - name: source struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name - name: stats struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: used - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: overlapping - name: crop struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - dtype: float32 name: target_elevation - name: center struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: top_left struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: bottom_right struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: markers struct: - name: start_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: end_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: obstacles struct: - dtype: bool name: enabled - dtype: float32 name: ratio_max - dtype: float32 name: ratio_target - dtype: float32 name: ratio_actual - dtype: float32 name: size_min_ratio - dtype: float32 name: size_max_ratio - dtype: float32 name: penalty - name: provenance struct: - dtype: int64 name: generation_seed - dtype: int64 name: sample_seed - name: solvers struct: - name: astar_elevation struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_energy struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_slope struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: paths struct: - name: astar_elevation struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_energy struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_slope struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: timing struct: - dtype: float32 name: tile_loading_seconds - dtype: float32 name: marker_search_seconds - dtype: float32 name: obstacle_generation_seconds - dtype: float32 name: tensor_save_seconds - dtype: float32 name: metadata_write_seconds - dtype: float32 name: image_conversion_seconds - dtype: float32 name: image_write_seconds - dtype: timestamp[us] name: timestamp - config_name: 512x512 features: - dtype: string name: id - dtype: binary name: tensor - list: list: int32 name: path_astar_elevation_free - list: list: int32 name: path_astar_elevation_obstacles - list: list: int32 name: path_astar_energy_free - list: list: int32 name: path_astar_energy_obstacles - list: list: int32 name: path_astar_slope_free - list: list: int32 name: path_astar_slope_obstacles - name: metadata struct: - dtype: int32 name: index - dtype: int32 name: resolution - dtype: string name: split - name: calibration struct: - dtype: float32 name: min - dtype: float32 name: max - name: tile struct: - name: source struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name - name: stats struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: used - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: overlapping - name: crop struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - dtype: float32 name: target_elevation - name: center struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: top_left struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: bottom_right struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: markers struct: - name: start_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: end_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: obstacles struct: - dtype: bool name: enabled - dtype: float32 name: ratio_max - dtype: float32 name: ratio_target - dtype: float32 name: ratio_actual - dtype: float32 name: size_min_ratio - dtype: float32 name: size_max_ratio - dtype: float32 name: penalty - name: provenance struct: - dtype: int64 name: generation_seed - dtype: int64 name: sample_seed - name: solvers struct: - name: astar_elevation struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_energy struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_slope struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: paths struct: - name: astar_elevation struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_energy struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_slope struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: timing struct: - dtype: float32 name: tile_loading_seconds - dtype: float32 name: marker_search_seconds - dtype: float32 name: obstacle_generation_seconds - dtype: float32 name: tensor_save_seconds - dtype: float32 name: metadata_write_seconds - dtype: float32 name: image_conversion_seconds - dtype: float32 name: image_write_seconds - dtype: timestamp[us] name: timestamp - config_name: 1024x1024_samples features: - dtype: string name: id - dtype: binary name: tensor - dtype: image name: image_astar_elevation - list: list: int32 name: path_astar_elevation_free - list: list: int32 name: path_astar_elevation_obstacles - dtype: image name: image_astar_energy - list: list: int32 name: path_astar_energy_free - list: list: int32 name: path_astar_energy_obstacles - dtype: image name: image_astar_slope - list: list: int32 name: path_astar_slope_free - list: list: int32 name: path_astar_slope_obstacles - name: metadata struct: - dtype: int32 name: index - dtype: int32 name: resolution - dtype: string name: split - name: calibration struct: - dtype: float32 name: min - dtype: float32 name: max - name: tile struct: - name: source struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name - name: stats struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: used - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: overlapping - name: crop struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - dtype: float32 name: target_elevation - name: center struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: top_left struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: bottom_right struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: markers struct: - name: start_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: end_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: obstacles struct: - dtype: bool name: enabled - dtype: float32 name: ratio_max - dtype: float32 name: ratio_target - dtype: float32 name: ratio_actual - dtype: float32 name: size_min_ratio - dtype: float32 name: size_max_ratio - dtype: float32 name: penalty - name: provenance struct: - dtype: int64 name: generation_seed - dtype: int64 name: sample_seed - name: solvers struct: - name: astar_elevation struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_energy struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_slope struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: paths struct: - name: astar_elevation struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_energy struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_slope struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: timing struct: - dtype: float32 name: tile_loading_seconds - dtype: float32 name: marker_search_seconds - dtype: float32 name: obstacle_generation_seconds - dtype: float32 name: tensor_save_seconds - dtype: float32 name: metadata_write_seconds - dtype: float32 name: image_conversion_seconds - dtype: float32 name: image_write_seconds - dtype: timestamp[us] name: timestamp - config_name: 1024x1024 features: - dtype: string name: id - dtype: binary name: tensor - list: list: int32 name: path_astar_elevation_free - list: list: int32 name: path_astar_elevation_obstacles - list: list: int32 name: path_astar_energy_free - list: list: int32 name: path_astar_energy_obstacles - list: list: int32 name: path_astar_slope_free - list: list: int32 name: path_astar_slope_obstacles - name: metadata struct: - dtype: int32 name: index - dtype: int32 name: resolution - dtype: string name: split - name: calibration struct: - dtype: float32 name: min - dtype: float32 name: max - name: tile struct: - name: source struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name - name: stats struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: used - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: overlapping - name: crop struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - dtype: float32 name: target_elevation - name: center struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: top_left struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: bottom_right struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: markers struct: - name: start_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: end_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: obstacles struct: - dtype: bool name: enabled - dtype: float32 name: ratio_max - dtype: float32 name: ratio_target - dtype: float32 name: ratio_actual - dtype: float32 name: size_min_ratio - dtype: float32 name: size_max_ratio - dtype: float32 name: penalty - name: provenance struct: - dtype: int64 name: generation_seed - dtype: int64 name: sample_seed - name: solvers struct: - name: astar_elevation struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_energy struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_slope struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: paths struct: - name: astar_elevation struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_energy struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_slope struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: timing struct: - dtype: float32 name: tile_loading_seconds - dtype: float32 name: marker_search_seconds - dtype: float32 name: obstacle_generation_seconds - dtype: float32 name: tensor_save_seconds - dtype: float32 name: metadata_write_seconds - dtype: float32 name: image_conversion_seconds - dtype: float32 name: image_write_seconds - dtype: timestamp[us] name: timestamp - config_name: 2048x2048_samples features: - dtype: string name: id - dtype: binary name: tensor - dtype: image name: image_astar_elevation - list: list: int32 name: path_astar_elevation_free - list: list: int32 name: path_astar_elevation_obstacles - dtype: image name: image_astar_energy - list: list: int32 name: path_astar_energy_free - list: list: int32 name: path_astar_energy_obstacles - dtype: image name: image_astar_slope - list: list: int32 name: path_astar_slope_free - list: list: int32 name: path_astar_slope_obstacles - name: metadata struct: - dtype: int32 name: index - dtype: int32 name: resolution - dtype: string name: split - name: calibration struct: - dtype: float32 name: min - dtype: float32 name: max - name: tile struct: - name: source struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name - name: stats struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: used - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: overlapping - name: crop struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - dtype: float32 name: target_elevation - name: center struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: top_left struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: bottom_right struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: markers struct: - name: start_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: end_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: obstacles struct: - dtype: bool name: enabled - dtype: float32 name: ratio_max - dtype: float32 name: ratio_target - dtype: float32 name: ratio_actual - dtype: float32 name: size_min_ratio - dtype: float32 name: size_max_ratio - dtype: float32 name: penalty - name: provenance struct: - dtype: int64 name: generation_seed - dtype: int64 name: sample_seed - name: solvers struct: - name: astar_elevation struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_energy struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_slope struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: paths struct: - name: astar_elevation struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_energy struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_slope struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: timing struct: - dtype: float32 name: tile_loading_seconds - dtype: float32 name: marker_search_seconds - dtype: float32 name: obstacle_generation_seconds - dtype: float32 name: tensor_save_seconds - dtype: float32 name: metadata_write_seconds - dtype: float32 name: image_conversion_seconds - dtype: float32 name: image_write_seconds - dtype: timestamp[us] name: timestamp - config_name: 2048x2048 features: - dtype: string name: id - dtype: binary name: tensor - list: list: int32 name: path_astar_elevation_free - list: list: int32 name: path_astar_elevation_obstacles - list: list: int32 name: path_astar_energy_free - list: list: int32 name: path_astar_energy_obstacles - list: list: int32 name: path_astar_slope_free - list: list: int32 name: path_astar_slope_obstacles - name: metadata struct: - dtype: int32 name: index - dtype: int32 name: resolution - dtype: string name: split - name: calibration struct: - dtype: float32 name: min - dtype: float32 name: max - name: tile struct: - name: source struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name - name: stats struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: used - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: overlapping - name: crop struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - dtype: float32 name: target_elevation - name: center struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: top_left struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: bottom_right struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: markers struct: - name: start_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: end_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: obstacles struct: - dtype: bool name: enabled - dtype: float32 name: ratio_max - dtype: float32 name: ratio_target - dtype: float32 name: ratio_actual - dtype: float32 name: size_min_ratio - dtype: float32 name: size_max_ratio - dtype: float32 name: penalty - name: provenance struct: - dtype: int64 name: generation_seed - dtype: int64 name: sample_seed - name: solvers struct: - name: astar_elevation struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_energy struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_slope struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: paths struct: - name: astar_elevation struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_energy struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_slope struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: timing struct: - dtype: float32 name: tile_loading_seconds - dtype: float32 name: marker_search_seconds - dtype: float32 name: obstacle_generation_seconds - dtype: float32 name: tensor_save_seconds - dtype: float32 name: metadata_write_seconds - dtype: float32 name: image_conversion_seconds - dtype: float32 name: image_write_seconds - dtype: timestamp[us] name: timestamp - config_name: 4096x4096_samples features: - dtype: string name: id - dtype: binary name: tensor - dtype: image name: image_astar_elevation - list: list: int32 name: path_astar_elevation_free - list: list: int32 name: path_astar_elevation_obstacles - dtype: image name: image_astar_energy - list: list: int32 name: path_astar_energy_free - list: list: int32 name: path_astar_energy_obstacles - dtype: image name: image_astar_slope - list: list: int32 name: path_astar_slope_free - list: list: int32 name: path_astar_slope_obstacles - name: metadata struct: - dtype: int32 name: index - dtype: int32 name: resolution - dtype: string name: split - name: calibration struct: - dtype: float32 name: min - dtype: float32 name: max - name: tile struct: - name: source struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name - name: stats struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: used - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: overlapping - name: crop struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - dtype: float32 name: target_elevation - name: center struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: top_left struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: bottom_right struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: markers struct: - name: start_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: end_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: obstacles struct: - dtype: bool name: enabled - dtype: float32 name: ratio_max - dtype: float32 name: ratio_target - dtype: float32 name: ratio_actual - dtype: float32 name: size_min_ratio - dtype: float32 name: size_max_ratio - dtype: float32 name: penalty - name: provenance struct: - dtype: int64 name: generation_seed - dtype: int64 name: sample_seed - name: solvers struct: - name: astar_elevation struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_energy struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_slope struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: paths struct: - name: astar_elevation struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_energy struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_slope struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: timing struct: - dtype: float32 name: tile_loading_seconds - dtype: float32 name: marker_search_seconds - dtype: float32 name: obstacle_generation_seconds - dtype: float32 name: tensor_save_seconds - dtype: float32 name: metadata_write_seconds - dtype: float32 name: image_conversion_seconds - dtype: float32 name: image_write_seconds - dtype: timestamp[us] name: timestamp - config_name: 4096x4096 features: - dtype: string name: id - dtype: binary name: tensor - list: list: int32 name: path_astar_elevation_free - list: list: int32 name: path_astar_elevation_obstacles - list: list: int32 name: path_astar_energy_free - list: list: int32 name: path_astar_energy_obstacles - list: list: int32 name: path_astar_slope_free - list: list: int32 name: path_astar_slope_obstacles - name: metadata struct: - dtype: int32 name: index - dtype: int32 name: resolution - dtype: string name: split - name: calibration struct: - dtype: float32 name: min - dtype: float32 name: max - name: tile struct: - name: source struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name - name: stats struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: used - list: struct: - dtype: int32 name: lat - dtype: int32 name: lon - dtype: string name: name name: overlapping - name: crop struct: - dtype: float32 name: min_elevation - dtype: float32 name: max_elevation - dtype: float32 name: target_elevation - name: center struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: top_left struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: bottom_right struct: - dtype: float32 name: lat - dtype: float32 name: lon - name: markers struct: - name: start_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: end_point struct: - dtype: int32 name: i - dtype: int32 name: j - dtype: float32 name: elevation - name: obstacles struct: - dtype: bool name: enabled - dtype: float32 name: ratio_max - dtype: float32 name: ratio_target - dtype: float32 name: ratio_actual - dtype: float32 name: size_min_ratio - dtype: float32 name: size_max_ratio - dtype: float32 name: penalty - name: provenance struct: - dtype: int64 name: generation_seed - dtype: int64 name: sample_seed - name: solvers struct: - name: astar_elevation struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_energy struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: astar_slope struct: - dtype: string name: backend - dtype: string name: name - dtype: string name: diagonal_movement - dtype: float32 name: weight - dtype: string name: heuristic - dtype: string name: cost_model - dtype: string name: solver - dtype: int32 name: max_marker_retries - name: paths struct: - name: astar_elevation struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_energy struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: astar_slope struct: - name: free struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - name: obstacles struct: - dtype: int32 name: length - dtype: bool name: crosses_obstacles - dtype: int32 name: considered_area - dtype: float32 name: cost - dtype: float32 name: cost_diff_percent - name: timing struct: - dtype: float32 name: path_free_seconds - dtype: float32 name: path_obstacles_seconds - dtype: float32 name: cost_compute_seconds - dtype: float32 name: total_seconds - name: timing struct: - dtype: float32 name: tile_loading_seconds - dtype: float32 name: marker_search_seconds - dtype: float32 name: obstacle_generation_seconds - dtype: float32 name: tensor_save_seconds - dtype: float32 name: metadata_write_seconds - dtype: float32 name: image_conversion_seconds - dtype: float32 name: image_write_seconds - dtype: timestamp[us] name: timestamp language: - en license: - other pretty_name: PASSAGE size_categories: - 1M

PASSAGE โ€” Path Solving Dataset & Generator

๐ŸŒ PASSAGE โ€” Real-Terrain Benchmark & Generator

Trustworthiness-oriented real-terrain benchmark and generation pipeline for pathfinding and surrogate modeling.

CI Docs Python Dataset Terms HuggingFace Dataset Ruff uv Pre-commit

๐Ÿ“– Documentation โ€ข ๐Ÿค— Dataset โ€ข ๐Ÿ’ป GitHub โ€ข ๐Ÿ“ Cite

--- ## Table of Contents - [Table of Contents](#table-of-contents) - [Get started](#get-started) - [Documentation](#documentation) - [๐Ÿš Why PASSAGE?](#-why-passage) - [โœจ Highlights](#-highlights) - [๐Ÿ—บ๏ธ Visual Summary](#๏ธ-visual-summary) - [๐Ÿš€ Quick Start](#-quick-start) - [๐Ÿ” Pipeline Overview](#-pipeline-overview) - [๐Ÿงญ Reproducibility](#-reproducibility) - [๐Ÿ“ฆ Loading the Dataset](#-loading-the-dataset) - [โš™๏ธ Configuration](#๏ธ-configuration) - [๐Ÿ““ Notebooks](#-notebooks) - [๐Ÿ”ฌ Research Applications](#-research-applications) - [๐Ÿ“ Output Structure](#-output-structure) - [๐Ÿงช Development \& Testing](#-development--testing) - [๐Ÿ“ Citation](#-citation) - [Contributing](#contributing) - [Security](#security) - [๐Ÿ’ฌ Support](#-support) - [๐Ÿ‘ค Maintainers](#-maintainers) - [๐Ÿ™ Acknowledgments](#-acknowledgments) - [๐Ÿงพ Disclosures](#-disclosures) - [License](#license) --- ## Get started PASSAGE is an open-source pathfinding dataset and generation toolkit built on real-world elevation data to benchmark and improve terrain-aware routing algorithms. - **Project goals**: provide reproducible, multi-resolution benchmarks for pathfinding research, ML surrogates, and safety-critical AI evaluation. - **Sponsoring SIG**: Anonymous Group open-source and critical AI research contributors. - **Community contact**: use [GitHub Issues](https://github.com/anonymous-org/passage/issues), [GitHub Discussions](https://github.com/anonymous-org/passage/discussions), or email `oss@anonymous.invalid`. For installation and first run commands, see [๐Ÿš€ Quick Start](#-quick-start). ## Documentation Documentation is available at [anonymous-org.github.io/passage](https://anonymous-org.github.io/passage/). The documentation site is published with GitHub Pages and includes user guides, API references, and architecture notes. Please also set the repository **About** metadata: - **Description**: short project purpose statement for PASSAGE. - **Website**: `https://anonymous-org.github.io/passage/`. --- ## ๐Ÿš Why PASSAGE? > *Every year, Helicopter Emergency Medical Services (HEMS) crews across Europe perform over 300,000 rescue missions โ€” racing against time through mountain passes, across valleys, and over ridgelines to reach patients in cardiac arrest or severe trauma. For every minute of delay, survival rates drop by 7โ€“10%. The path the helicopter takes matters โ€” yet pathfinding algorithms are still benchmarked on flat synthetic grids.* **PASSAGE** was created to change that. Built from **real-world satellite elevation data** (JAXA ALOS AW3D30 at 30 m/pixel), it provides the research community with large-scale, multi-resolution pathfinding benchmarks that capture the true complexity of terrain navigation. We open-source this toolkit to make terrain-routing methods easier to compare, reproduce, and audit under a shared benchmark surface. --- ## โœจ Highlights
๐ŸŒ
Multi-Resolution
64ร—64 โ†’ 4096ร—4096 px		 ๐Ÿ”๏ธ
Real Elevation
JAXA ALOS AW3D30 DSM		 ๐Ÿ”ท
Rich Obstacles
Superellipse shapes		 โšก
3 A* Cost Variants
elevation, slope_uphill, energy
๐Ÿงฎ
Grid A* Oracle
Exact labels + timings		 ๐Ÿค—
HuggingFace-Ready
Parquet + one-command upload		 ๐Ÿ”
Fully Resumable
No wasted compute		 โœ…
Tested & CI/CD
80%+ coverage, pre-commit
4.4 M
Default Samples		 7
Resolution Levels		 3
A* Configurations		 1
Solver Backend		 30 m/px
Spatial Resolution
--- ## ๐Ÿ—บ๏ธ Visual Summary

Representative PASSAGE sample

Normalized elevation with start/end markers, procedural superellipse obstacles, and two computed paths (free terrain vs. obstacle-aware).

--- ## ๐Ÿš€ Quick Start > **CPU-only by default.** No GPU is required to download, generate, or evaluate > the dataset, and `uv sync` does **not** install any proprietary NVIDIA CUDA > runtime libraries. The optional `passage-eval[torch]` extra is wired to the > CPU-only PyTorch index โ€” see [๐Ÿงพ Disclosures](#-disclosures) for the GPU > install path. ```bash # Install uv (if needed) curl -LsSf https://astral.sh/uv/install.sh | sh # Clone & install git clone https://github.com/anonymous-org/passage.git cd passage && uv sync # One-command local rebuild (download -> calibrate -> generate -> export -> manifest) make rebuild RESOLUTION=256 # Or run each stage manually passage download # 1๏ธโƒฃ Fetch JAXA elevation tiles passage calibrate # 2๏ธโƒฃ Compute global elevation stats passage generate --resolution 256 # 3๏ธโƒฃ Generate pathfinding samples passage export --no-upload # 4๏ธโƒฃ Package as Parquet shards make manifest # 5๏ธโƒฃ Write outputs/export/manifest.sha256 # Point generate/export at a specific calibration file when needed passage generate --calibration-filepath /path/to/calibrate.json --resolution 256 passage export --calibration-filepath /path/to/calibrate.json --no-upload ```
๐Ÿ’ก Alternative: install with pip ```bash python -m venv .venv && source .venv/bin/activate pip install -e ".[dev]" ```
--- ## ๐Ÿ” Pipeline Overview
1. Download
JAXA DSM tiles		 โ†’ 2. Calibrate
min / max elevation		 โ†’ 3. Generate
samples + paths		 โ†’ 4. Export
Parquet + HF Hub
| Step | Command | What it does | |:----:|---------|--------------| | 1 | `passage download` | Download JAXA ALOS AW3D30 5ยฐร—5ยฐ tile archives with resume | | 2 | `passage calibrate` | Scan tiles for global min/max elevation | | 3 | `passage generate` | Create multi-resolution samples with paths, obstacles, tensors | | 4 | `passage export` | Write Parquet shards, execute notebooks, push to HF Hub | > ๐Ÿ“– **Full walkthrough:** see the [User Guide](https://anonymous-org.github.io/passage/guide/) or the local [USAGE.md](USAGE.md) reference. --- ## ๐Ÿงญ Reproducibility - `splits.seed` controls deterministic split assignment. - `generation.seed` controls deterministic per-sample tile selection, crop placement, marker placement, and obstacle synthesis. - Each sample metadata file records `provenance.generation_seed` and `provenance.sample_seed`. - Runtime timestamps remain informational metadata and are not part of the deterministic sampling contract. - `make manifest` writes `outputs/export/manifest.sha256` so a released export tree can be checked for completeness. Repository-root release metadata is tracked in [`CITATION.cff`](CITATION.cff), [`DATASHEET.md`](DATASHEET.md), [`CHANGELOG.md`](CHANGELOG.md), and [`croissant.json`](croissant.json). --- ## ๐Ÿ“ฆ Loading the Dataset ```python from datasets import load_dataset from passage.utils import decode_tensor_blob # Load a specific resolution from Hugging Face ds = load_dataset("Anonym-2045/passage", name="256x256") sample = ds["train"][0] # Decode the compressed tensor โ†’ (256, 256, 3) numpy array tensor = decode_tensor_blob(sample["tensor"], (256, 256, 3)) elevation = tensor[:, :, 0] # Normalized [0, 1] markers = tensor[:, :, 1] # -1 background, 0 start, 1 goal obstacles = tensor[:, :, 2] # Binary mask (0/1) # Access solver paths path_cols = [k for k in sample if k.startswith("path_")] print("Solver paths:", path_cols) ``` --- ## โš™๏ธ Configuration Core settings live in [`config/config.yaml`](config/config.yaml): ```yaml resolutions: [64, 128, 256, 512, 1024, 2048, 4096] num_samples: 64: 1000000 128: 1000000 256: 1000000 512: 1000000 1024: 250000 2048: 100000 4096: 50000 splits: ratios: {train: 0.90, calibration: 0.02, validation: 0.04, test: 0.04} seed: 42 generation: seed: 42 preview_images: enabled: true resolutions: [64, 128, 256, 512, 1024, 2048, 4096] num_samples_per_split: 64 obstacles: enabled: true ratio_max: 0.30 shape: n: { distribution: log_uniform, min: 1.0, max: 80.0 } solvers: - name: astar_elevation backend: grid solver: astar cost_model: elevation weight: 5878.0 ``` CLI options override config values. See the [Configuration Reference](https://anonymous-org.github.io/passage/guide/configuration/) in the documentation.
๐Ÿ” Hugging Face credentials ```bash # .env HF_USER_NAME=your-hf-username HF_REPO_NAME=passage-dataset # .env.secret (never commit!) HF_TOKEN=hf_XXXXXXXXXXXXXXXXXXXXXXXX ```
--- ## ๐Ÿ““ Notebooks | Notebook | Description | |----------|-------------| | [`demo.ipynb`](notebooks/demo.ipynb) | Quick-start: load, decode, and visualize a sample | | [`costmodel.ipynb`](notebooks/costmodel.ipynb) | Compare the configured terrain-cost variants on the same terrain | | [`obstacles.ipynb`](notebooks/obstacles.ipynb) | Explore superellipse obstacle generation | | [`solve.ipynb`](notebooks/solve.ipynb) | Solver timing and quality comparison | | `_dataset.ipynb` | Template โ€” auto-executed per resolution during export | --- ## ๐Ÿ”ฌ Research Applications | Domain | Use Case | |--------|----------| | **Classical AI** | A\*, Dijkstra benchmarking across cost models | | **Reinforcement Learning** | Grid-based terrain navigation agents | | **Graph Neural Networks** | Learned heuristics on elevation graphs | | **Surrogate Models** | Fast path prediction from 4.4M+ multi-resolution terrain-routing examples | | **Computer Vision** | Path segmentation from elevation images | | **Certified ML** | ARP 6983 / ED-324 โ€” bounded ODD, deterministic data | --- ## ๐Ÿ“ Output Structure ``` outputs/ โ”œโ”€โ”€ download/ # Tile archives + download.csv + extracted GeoTIFFs โ”œโ”€โ”€ calibrate/ # calibrate.json + elevation maps โ”œโ”€โ”€ dataset/ # Per-resolution samples โ”‚ โ””โ”€โ”€ 256/ โ”‚ โ””โ”€โ”€ train/ โ”‚ โ”œโ”€โ”€ tensors/N045/E010/0000000000.npy.zst โ”‚ โ”œโ”€โ”€ metadata/N045/E010/0000000000.yaml โ”‚ โ”œโ”€โ”€ images/astar_energy/N045/E010/0000000000.png โ”‚ โ””โ”€โ”€ paths/astar_energy/free/N045/E010/0000000000.csv โ””โ”€โ”€ export/ # Hugging Face-ready parquet shards + release checksums โ”œโ”€โ”€ 256x256/train/data-00000.parquet โ”œโ”€โ”€ 256x256_samples/train/data-00000.parquet โ”œโ”€โ”€ README.md โ””โ”€โ”€ manifest.sha256 ``` --- ## ๐Ÿงช Development & Testing ```bash # Install dev dependencies uv sync --group dev # Run tests (80%+ coverage required) uv run pytest --cov # Lint & format uv run ruff check src/ tests/ uv run ruff format src/ tests/ # Pre-commit hooks uv run pre-commit install uv run pre-commit run --all-files ``` --- ## ๐Ÿ“ Citation Citation metadata is available in [`CITATION.cff`](CITATION.cff). If you prefer BibTeX, use: ```bibtex @inproceedings{anonymous2026passage, title = {{PASSAGE}: A Real-Terrain Multi-Resolution Benchmark for Trustworthy Constrained Path Planning}, author = {Anonymous, Author and Anonymous, Author and Anonymous, Author}, booktitle = {Advances in Neural Information Processing Systems (NeurIPS), Datasets and Benchmarks Track}, year = {2026}, url = {https://github.com/anonymous-org/passage} } ``` --- ## Contributing If you are interested in contributing to PASSAGE, start by reading the [Contributing guide](/CONTRIBUTING.md). Contributions are welcome; the guide covers development setup, coding standards, pull requests, and issue reporting. In brief: ```bash # Fork & clone, then: uv sync --group dev uv run pre-commit install git checkout -b feature/your-feature-name # ... make changes ... uv run pytest --cov uv run ruff check src/ tests/ ``` --- ## ๐Ÿ’ฌ Support Need help? Here's where to go: | Channel | Link | |---------|------| | **Documentation** | [anonymous-org.github.io/passage](https://anonymous-org.github.io/passage/) | | **Bug Reports** | [GitHub Issues](https://github.com/anonymous-org/passage/issues) | | **Discussions & Q&A** | [GitHub Discussions](https://github.com/anonymous-org/passage/discussions) | | **Email** | anonymous@anonymous.invalid | Before opening an issue, please search existing issues and discussions to avoid duplicates. --- ## ๐Ÿ‘ค Maintainers | Name | Affiliation | Contact | |------|------------|--------| | **Anonymous Author** | [Anonymous Group](https://www.anonymous-org.com/) | [anonymous@anonymous.invalid](mailto:anonymous@anonymous.invalid) | | **Anonymous Author** | [Anonymous Group](https://www.anonymous-org.com/) | [anonymous@anonymous.invalid](mailto:anonymous@anonymous.invalid) | --- ## ๐Ÿ™ Acknowledgments - **[JAXA](https://www.eorc.jaxa.jp/ALOS/en/dataset/aw3d30/aw3d30_e.htm)** for the ALOS AW3D30 Digital Surface Model - **[Hugging Face](https://huggingface.co/)** for the Datasets library and Hub infrastructure - **[Anonymous Group](https://www.anonymous-org.com/)** for supporting open-source research in safety-critical AI --- ## ๐Ÿงพ Disclosures ### AI-assistance disclosure Portions of this repository's source code, documentation, and notebooks were drafted with the assistance of an AI assistant (Anthropic Claude). All AI-generated material was reviewed, edited, and validated by the human authors listed in [`CITATION.cff`](CITATION.cff), who take full responsibility for the released content. No AI-system co-authorship is asserted. ### Third-party Python dependencies Python packages declared in `pyproject.toml` and resolved in `uv.lock` are released by their respective upstreams under their own licenses, which may differ from the MIT license that covers PASSAGE's own source code. Users are responsible for reviewing and complying with each upstream's terms โ€” in particular, GPU acceleration via the optional `passage-eval[torch]` extra relies on PyTorch and, when used with CUDA wheels, on NVIDIA CUDA runtime libraries (e.g. `nvidia-cublas`, `nvidia-cuda-runtime`, `nvidia-cudnn`) distributed under the proprietary [NVIDIA Software License Agreement](https://www.nvidia.com/en-us/agreements/enterprise-software/nvidia-software-license-agreement/), **not** under MIT. PASSAGE itself does not redistribute these libraries. ### Optional GPU / CUDA support PASSAGE runs end-to-end on CPU โ€” no GPU is required to download, generate, or evaluate the dataset. The `uv.lock` shipped with this repository resolves PyTorch from the official CPU-only index (`https://download.pytorch.org/whl/cpu`) and contains **no** `nvidia-*` / `cuda-*` packages. To enable GPU acceleration (only required by the optional surrogate-baseline tooling under `passage-eval[torch]`), install the CUDA build of PyTorch from the appropriate NVIDIA index after `uv sync`, for example: ```bash uv sync --extra eval # installs CPU PyTorch via the eval extra uv pip install --reinstall \ --index-url https://download.pytorch.org/whl/cu128 \ torch # opt in to the CUDA build ``` By doing so you accept the NVIDIA license terms cited above for the CUDA runtime libraries pulled in transitively. --- ## Security Security reporting and handling procedures are documented in [SECURITY.md](SECURITY.md). If you discover a vulnerability, please use private reporting channels described in that file. --- ## License PASSAGE ships **two distinct licensing surfaces** and you should recognise which one applies to what you are doing: | Surface | License | What it covers | | --- | --- | --- | | Generator and evaluator code | [MIT License](LICENSE) | every Python file in this repository โ€” the dataset generator (`passage`), the evaluation contract (`passage-eval`), and the documentation source. | | Generated elevation data | [JAXA AW3D30 terms of use](https://www.eorc.jaxa.jp/ALOS/en/dataset/aw3d30/aw3d30_e.htm) | every elevation tile that PASSAGE ingests, every sample whose elevation channel is derived from those tiles, and any model whose training data carries that channel. The full text mirrored at release time is in [`DATASET_LICENSE.md`](DATASET_LICENSE.md). | > [!WARNING] > **Respect JAXA's licensing terms.** PASSAGE is built on the > [JAXA ALOS World 3D 30 m DSM (AW3D30)](https://www.eorc.jaxa.jp/ALOS/en/dataset/aw3d30/aw3d30_e.htm). > Any user of PASSAGE โ€” or of any artefact derived from it โ€” **must > respect the JAXA terms of use**: > > 1. **Cite the JAXA AW3D30 source** in publications using PASSAGE > (recommended: Takaku *et al.*, *"Updates of 'AW3D30' ALOS Global > DSM with Other Open Access Datasets,"* ISPRS Archives, 2020). > 2. **Reproduce the AW3D30 attribution** in any redistribution of > the elevation channel or of any artefact directly derived from > it. > 3. **Read and abide by the JAXA terms-of-use page** linked above > for the authoritative wording. > > We sincerely thank JAXA for openly sharing AW3D30 with the research > community. ---

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