Datasets:

RichardC0216
/

CapNav

@@ -1,114 +0,0 @@
-# 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/Ruiqi-Chen-0216/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.