Initial reviewer sample: 50 waypoints from hssd-102343992 (~500MB) + dataset card

README.md

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+---
+license: cc-by-nc-4.0
+tags:
+- robotics
+- drone-navigation
+- vision-language-navigation
+- open-vocabulary-detection
+- embodied-ai
+- habitat-sim
+- benchmark
+- preview-sample
+task_categories:
+- object-detection
+- depth-estimation
+- robotics
+size_categories:
+- n<1K
+pretty_name: "Yonder (NeurIPS reviewer sample)"
+language:
+- en
+---
+
+# Yonder Sample — NeurIPS 2026 Reviewer Preview
+
+This is a **~500 MB sample** of the [Yonder](https://huggingface.co/datasets/astralhf/yonder)
+drone navigation dataset, intended for fast inspection by NeurIPS reviewers and others
+who want to verify the data format and content before downloading the full 3.8 TB release.
+
+## What's included
+
+- **One HSSD scene:** `hssd-102343992`
+- **50 consecutive waypoint NPZs** (`wp0000` through `wp0049`)
+- **All 12 yaw orientations** per waypoint
+- **All sensor modalities** present in the full dataset:
+  stereo RGB (left/right), forward depth, landing-camera, up-IR, down-IR,
+  360° LiDAR, position, orientation, IMU
+- ~50 × 10 MB ≈ **500 MB** total
+
+## What's NOT in this sample
+
+- **Semantic segmentation** — this particular scene does not have semantic annotations.
+  The full dataset includes semantics for 92 of 251 scenes; download the main repo and
+  filter by `manifest.json` `has_semantics: true` to obtain a semantics-bearing sample.
+- **Multiple scenes** — by design. This sample is a single-scene slice. The full
+  release spans 251 scenes (167 HSSD + 84 ReplicaCAD).
+
+## Quick start
+
+```python
+from huggingface_hub import snapshot_download
+import numpy as np
+
+local = snapshot_download(repo_id="astralhf/yonder-sample", repo_type="dataset")
+
+# Inspect the first waypoint
+data = np.load(f"{local}/hssd-102343992_wp0000.npz")
+print(sorted(data.keys())[:10])
+# ['down_ir', 'lidar360', 'orientation', 'position', 'up_ir',
+#  'yaw000_forward_depth', 'yaw000_landing_cam', 'yaw000_left_rgb',
+#  'yaw000_right_rgb', 'yaw001_forward_depth']
+
+# Shapes
+print("left_rgb yaw000:", data["yaw000_left_rgb"].shape, data["yaw000_left_rgb"].dtype)
+# left_rgb yaw000: (480, 640, 3) uint8
+print("forward_depth yaw000:", data["yaw000_forward_depth"].shape, data["yaw000_forward_depth"].dtype)
+# forward_depth yaw000: (480, 640) float16
+print("lidar360:", data["lidar360"].shape, data["lidar360"].dtype)
+# lidar360: (1024, 16) float32
+print("position:", data["position"])
+# position: (3,) float32 — Habitat-Sim world frame
+```
+
+## Visualizing a frame
+
+```python
+import numpy as np
+import matplotlib.pyplot as plt
+
+data = np.load("hssd-102343992_wp0000.npz")
+fig, axes = plt.subplots(1, 3, figsize=(15, 5))
+axes[0].imshow(data["yaw000_left_rgb"]);   axes[0].set_title("Left RGB")
+axes[1].imshow(data["yaw000_right_rgb"]);  axes[1].set_title("Right RGB")
+axes[2].imshow(data["yaw000_forward_depth"], cmap="plasma")
+axes[2].set_title("Forward depth (m)")
+for a in axes: a.axis("off")
+plt.tight_layout(); plt.savefig("yonder_sample.png", dpi=150)
+```
+
+## Going to the full dataset
+
+```python
+# Single scene from the full repo (~25 GB)
+snapshot_download(
+    repo_id="astralhf/yonder",
+    repo_type="dataset",
+    allow_patterns="indoor/drone-data/augmented/hssd-102343992/*.npz",
+)
+
+# Just the manifests (a few MB) to plan a custom download
+snapshot_download(
+    repo_id="astralhf/yonder",
+    repo_type="dataset",
+    allow_patterns="indoor/drone-data/augmented/*/manifest.json",
+)
+```
+
+## License
+
+CC-BY-NC-4.0 (inheriting HSSD's NonCommercial restriction). See the
+[main dataset card](https://huggingface.co/datasets/astralhf/yonder) for full
+licensing and Responsible AI considerations.
+
+## Citation
+
+```bibtex
+@inproceedings{anonymous2026yonder,
+  title  = {Yonder: A 6.1M-Frame Drone Navigation Dataset and the Cross-Simulator Generalization Gap},
+  author = {Anonymous Author(s)},
+  booktitle = {NeurIPS Datasets and Benchmarks Track},
+  year   = {2026},
+  note   = {Anonymized for double-blind review.}
+}
+```

hssd-102343992_wp0000.npz

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+version https://git-lfs.github.com/spec/v1
+oid sha256:80c2db58196c8d0e6de031a662b1876bfb60956b8f120db020f27d97ac54a5c8
+size 11849675