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dbd29ce 10e97f6 dbd29ce | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 | # Ground Truth Annotations
This directory contains the **full ground-truth annotations** used to construct the
binary navigability labels (`answer`) in the main CapNav benchmark.
While the primary benchmark file
`capnav_v0_with_answer.parquet`
provides **binary (True/False) navigability answers** for each
(question, scene, agent) triple, the files in this directory expose the
**underlying structural and traversability annotations** from which those
binary labels are derived.
These annotations offer **richer, fine-grained information** about scene
structure, feasible routes, and failure cases, and are intended for
researchers who wish to inspect, verify, or extend the benchmark.
---
## Directory Structure
```
ground_truth/
├── graphs/
│ └── <scene_id>-graph.json
├── traverse/
│ └── <scene_id>-traverse.json
└── README.md
```
### `graphs/`
This folder contains **scene-level spatial graph annotations** for each 3D environment.
Each file corresponds to a single scene and encodes:
- A graph representation of the indoor environment
- Nodes representing semantically meaningful locations or regions
- Edges representing potential transitions between nodes
- Human-annotated connectivity reflecting the true physical layout of the scene
These graphs serve as the **structural backbone** for all navigability and
traversability reasoning in CapNav.
---
### `traverse/`
This folder contains **route-level traversability annotations** built on top of the scene graphs.
For each scene, the traverse annotations specify:
- Whether a route between two nodes is traversable for a given agent
- Agent-specific constraints (e.g., body size, ability to climb stairs)
- Valid and invalid edges along candidate paths
- Detailed reasons explaining *why* traversal is not possible when a route fails
These files provide **richer supervision** than the binary labels alone,
including intermediate decisions and failure rationales.
---
## Relationship to the Main Benchmark
The main benchmark file:
```
capnav_v0_with_answer.parquet
```
contains a simplified representation of the ground truth:
- Each row corresponds to a `(question, scene, agent)` triple
- The `answer` column stores a **binary navigability label**
- This binary label is **derived from the graph and traverse annotations**
in this directory
In other words:
> **The binary answers in the benchmark are a distilled view of the more
> comprehensive ground-truth annotations provided here.**
Researchers interested only in benchmarking model accuracy can rely on
the parquet file directly, while those seeking deeper insight into
navigation feasibility, path validity, or agent-specific constraints
should consult the annotations in `ground_truth/`.
---
## Annotation Process
All graph and traversability annotations in this directory are:
- **Manually constructed** based on the true geometry and semantics of each scene
- Verified to reflect realistic physical constraints and navigational affordances
- Used as the authoritative source of ground truth in CapNav
Details of the annotation pipeline, including tooling, validation logic,
and quality control procedures, are documented in the CapNav repository:
```
https://github.com/makeabilitylab/CapNav
```
Please refer specifically to the **annotation code and documentation**
in the repository for implementation details.
---
## Intended Use
This directory is provided to support:
- Transparency and reproducibility of the benchmark
- Analysis of failure cases beyond binary correctness
- Future extensions of CapNav (e.g., multi-step supervision, path prediction)
- Research on agent-specific navigation constraints and embodied reasoning
For most benchmarking use cases, users only need the main parquet file.
The contents of `ground_truth/` are optional but recommended for advanced analysis.
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