Add dataset card

README.md

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+---
+pretty_name: "SanD-Planner — dataset_avoid (obstacle-avoidance subset)"
+tags:
+- robotics
+- navigation
+- trajectory-prediction
+- depth
+- diffusion-policy
+---
+
+# SanD-Planner training data — `dataset_avoid`
+
+The **`dataset_avoid`** subset (obstacle-avoidance runs) used to train the
+[**SanD-Planner**](https://github.com/WangJinCheng1998/sandplanner) local trajectory
+planner.
+
+- Collected in a **custom Gazebo simulation environment** (self-built).
+- This is **one subset of a larger training set** — only part of the full dataset is released here.
+
+## Contents
+
+A single archive `dataset_avoid.zip` (~14 GB) that extracts to:
+
+```
+dataset_avoid/
+└── run_XXXX/                # 152 runs, variable length
+    ├── traj_xyz.npy         # (T, 3) trajectory positions (x, y, z), metres
+    ├── traj_yaw.npy         # (T,)   heading (yaw)
+    ├── traj_pitch.npy       # (T,)   pitch
+    └── depth/
+        └── depth_NNNN.png   # per-frame depth images (uint16, mm)
+```
+
+## Usage
+
+```bash
+hf download WJCUCL/sandplanner-dataset-avoid dataset_avoid.zip --repo-type dataset --local-dir .
+unzip dataset_avoid.zip -d dataset/        # -> dataset/dataset_avoid/run_XXXX/
+DATASET_ROOT=dataset bash run_train.sh     # run inside the SanD-Planner repo
+```
+
+See the [SanD-Planner repository](https://github.com/WangJinCheng1998/sandplanner) for
+the training and inference code.
+
+## Citation
+
+```bibtex
+@article{wang2026sand,
+  title   = {SanD-Planner: Sample-Efficient Diffusion Planner in B-Spline Space for Robust Local Navigation},
+  author  = {Wang, Jincheng and Bao, Lingfan and Yang, Tong and Plasencia, Diego Martinez and Jiao, Jianhao and Kanoulas, Dimitrios},
+  journal = {arXiv preprint arXiv:2602.00923},
+  year    = {2026}
+}
+```