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Datasets:
dgorbatov
/
ycor_trails

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image
image
preference_mask
image
label_mask
image
text
string
traversable_labels
list
non_traversable_labels
list
resolution
string
x_percent
float32
y_percent
float32
preference_subset
list
Navigate to <point x="49.4" y="37.9">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
49.414063
37.867645
null
Navigate to <point x="58.4" y="51.5">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
58.398438
51.470589
null
Navigate to <point x="47.0" y="35.3">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
46.972656
35.294117
null
Navigate to <point x="48.1" y="43.9">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
48.144531
43.933823
null
Navigate to <point x="26.5" y="24.8">goal</point>
[ "rough trail", "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
26.464844
24.816177
null
Navigate to <point x="50.1" y="49.6">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
50.097656
49.632355
null
Navigate to <point x="42.2" y="46.0">goal</point>
[ "rough trail", "smooth trail" ]
[ "background", "high vegetation" ]
{"height": 544, "width": 1024}
42.1875
45.955883
null
Navigate to <point x="39.6" y="49.8">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
39.550781
49.816177
null
Navigate to <point x="56.1" y="40.4">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
56.054688
40.441177
null
Navigate to <point x="49.0" y="39.0">goal</point>
[ "rough trail", "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
49.023438
38.970589
null
Navigate to <point x="46.7" y="36.9">goal</point>
[ "smooth trail" ]
[ "traversable grass", "background", "high vegetation" ]
{"height": 544, "width": 1024}
46.679688
36.948528
null
Navigate to <point x="54.9" y="51.1">goal</point>
[ "rough trail", "smooth trail" ]
[ "high vegetation", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
54.882813
51.10294
null
Navigate to <point x="45.0" y="55.5">goal</point>
[ "rough trail" ]
[ "high vegetation", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
45.019531
55.514706
null
Navigate to <point x="52.8" y="36.4">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
52.832031
36.39706
null
Navigate to <point x="49.2" y="38.6">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
49.21875
38.60294
null
Navigate to <point x="51.7" y="48.3">goal</point>
[ "rough trail", "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
51.660156
48.345589
null
Navigate to <point x="52.6" y="39.3">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
52.636719
39.338234
null
Navigate to <point x="56.6" y="27.6">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
56.640625
27.57353
null
Navigate to <point x="51.7" y="40.8">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
51.660156
40.808823
null
Navigate to <point x="23.1" y="34.9">goal</point>
[ "rough trail", "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "obstacle" ]
{"height": 544, "width": 1024}
23.144531
34.926472
null
Navigate to <point x="41.8" y="44.1">goal</point>
[ "smooth trail" ]
[ "traversable grass", "background", "high vegetation" ]
{"height": 544, "width": 1024}
41.796875
44.117645
null
Navigate to <point x="48.9" y="34.2">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
48.925781
34.191177
null
Navigate to <point x="48.8" y="41.2">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
48.828125
41.176472
null
Navigate to <point x="48.6" y="51.8">goal</point>
[ "smooth trail" ]
[ "high vegetation", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
48.632813
51.838234
null
Navigate to <point x="62.1" y="52.4">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
62.109375
52.389706
null
Navigate to <point x="35.4" y="44.1">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
35.449219
44.117645
null
Navigate to <point x="9.0" y="14.3">goal</point>
[ "rough trail", "smooth trail" ]
[ "high vegetation", "background", "sky", "obstacle" ]
{"height": 544, "width": 1024}
8.984375
14.338235
null
Navigate to <point x="50.1" y="37.9">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
50.097656
37.867645
null
Navigate to <point x="59.3" y="42.1">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
59.277344
42.095589
null
Navigate to <point x="54.6" y="35.3">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
54.589844
35.294117
null
Navigate to <point x="53.2" y="43.6">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
53.222656
43.566177
null
Navigate to <point x="47.5" y="31.1">goal</point>
[ "rough trail", "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "obstacle", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
47.460938
31.066177
null
Navigate to <point x="53.9" y="33.3">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
53.90625
33.27206
null
Navigate to <point x="55.1" y="58.1">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
55.078125
58.088234
null
Navigate to <point x="46.7" y="48.5">goal</point>
[ "rough trail" ]
[ "high vegetation", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
46.679688
48.529411
null
Navigate to <point x="83.3" y="39.0">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "obstacle" ]
{"height": 544, "width": 1024}
83.300781
38.970589
null
Navigate to <point x="48.1" y="37.1">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "obstacle", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
48.144531
37.132355
null
Navigate to <point x="38.3" y="37.3">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "obstacle" ]
{"height": 544, "width": 1024}
38.28125
37.316177
null
Navigate to <point x="37.3" y="42.8">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "obstacle" ]
{"height": 544, "width": 1024}
37.304688
42.830883
null
Navigate to <point x="87.9" y="43.2">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
87.890625
43.198528
null
Navigate to <point x="49.4" y="35.8">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
49.414063
35.845589
null
Navigate to <point x="48.2" y="34.0">goal</point>
[ "rough trail" ]
[ "traversable grass", "background", "high vegetation" ]
{"height": 544, "width": 1024}
48.242188
34.007355
null
Navigate to <point x="39.6" y="47.1">goal</point>
[ "rough trail" ]
[ "high vegetation", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
39.648438
47.058823
null
Navigate to <point x="49.2" y="60.8">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
49.21875
60.845589
null
Navigate to <point x="2.1" y="1.5">goal</point>
[ "rough trail", "smooth trail" ]
[ "high vegetation", "puddle", "background", "sky" ]
{"height": 544, "width": 1024}
2.050781
1.470588
null
Navigate to <point x="62.0" y="57.9">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
62.011719
57.904411
null
Navigate to <point x="58.1" y="53.9">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
58.105469
53.860294
null
Navigate to <point x="60.9" y="41.0">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
60.9375
40.992645
null
Navigate to <point x="49.2" y="46.1">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
49.21875
46.139706
null
Navigate to <point x="95.7" y="21.5">goal</point>
[ "rough trail" ]
[ "background", "high vegetation", "sky" ]
{"height": 544, "width": 1024}
95.703125
21.507353
null
Navigate to <point x="51.9" y="64.3">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "obstacle", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
51.855469
64.338234
null
Navigate to <point x="58.4" y="59.4">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
58.398438
59.375
null
Navigate to <point x="58.0" y="49.3">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
58.007813
49.264706
null
Navigate to <point x="74.1" y="48.5">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
74.121094
48.529411
null
Navigate to <point x="44.3" y="37.3">goal</point>
[ "smooth trail" ]
[ "background", "high vegetation", "sky" ]
{"height": 544, "width": 1024}
44.335938
37.316177
null
Navigate to <point x="75.9" y="48.5">goal</point>
[ "rough trail", "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
75.878906
48.529411
null
Navigate to <point x="62.5" y="26.8">goal</point>
[ "rough trail", "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
62.5
26.838236
null
Navigate to <point x="57.5" y="47.6">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
57.519531
47.610294
null
Navigate to <point x="50.6" y="37.3">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
50.585938
37.316177
null
Navigate to <point x="52.3" y="46.3">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
52.34375
46.323528
null
Navigate to <point x="50.7" y="23.0">goal</point>
[ "rough trail" ]
[ "background", "high vegetation" ]
{"height": 544, "width": 1024}
50.683594
22.977942
null
Navigate to <point x="46.6" y="59.6">goal</point>
[ "smooth trail" ]
[ "high vegetation", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
46.582031
59.558823
null
Navigate to <point x="49.9" y="57.5">goal</point>
[ "smooth trail" ]
[ "high vegetation", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
49.902344
57.536766
null
Navigate to <point x="22.3" y="34.6">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
22.265625
34.558823
null
Navigate to <point x="44.1" y="47.6">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
44.140625
47.610294
null
Navigate to <point x="46.9" y="58.3">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
46.875
58.27206
null
Navigate to <point x="51.1" y="33.1">goal</point>
[ "rough trail", "smooth trail" ]
[ "high vegetation", "background", "sky" ]
{"height": 544, "width": 1024}
51.074219
33.088234
null
Navigate to <point x="53.0" y="35.5">goal</point>
[ "rough trail", "smooth trail" ]
[ "high vegetation", "background", "obstacle", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
53.027344
35.47794
null
Navigate to <point x="59.7" y="40.6">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "obstacle", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
59.667969
40.625
null
Navigate to <point x="39.4" y="61.2">goal</point>
[ "rough trail" ]
[ "high vegetation", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
39.355469
61.213234
null
Navigate to <point x="29.4" y="61.0">goal</point>
[ "smooth trail" ]
[ "background", "high vegetation", "sky" ]
{"height": 544, "width": 1024}
29.394531
61.029411
null
Navigate to <point x="49.3" y="50.7">goal</point>
[ "smooth trail" ]
[ "high vegetation", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
49.316406
50.735294
null
Navigate to <point x="9.2" y="30.3">goal</point>
[ "rough trail" ]
[ "background", "high vegetation", "sky" ]
{"height": 544, "width": 1024}
9.179688
30.330883
null
Navigate to <point x="52.7" y="49.1">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
52.734375
49.080883
null
Navigate to <point x="54.5" y="50.4">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
54.492188
50.367645
null
Navigate to <point x="8.1" y="6.4">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
8.105469
6.433824
null
Navigate to <point x="42.5" y="56.1">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
42.480469
56.066177
null
Navigate to <point x="46.2" y="46.3">goal</point>
[ "rough trail" ]
[ "high vegetation", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
46.191406
46.323528
null
Navigate to <point x="39.7" y="40.3">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
39.746094
40.257355
null
Navigate to <point x="36.2" y="39.7">goal</point>
[ "smooth trail" ]
[ "traversable grass", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
36.230469
39.705883
null
Navigate to <point x="61.5" y="45.2">goal</point>
[ "rough trail", "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
61.523438
45.220589
null
Navigate to <point x="47.6" y="56.2">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
47.558594
56.25
null
Navigate to <point x="43.0" y="36.0">goal</point>
[ "smooth trail" ]
[ "background", "high vegetation", "sky" ]
{"height": 544, "width": 1024}
42.96875
36.029411
null
Navigate to <point x="55.2" y="47.4">goal</point>
[ "rough trail" ]
[ "high vegetation", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
55.175781
47.426472
null
Navigate to <point x="89.3" y="30.7">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
89.257813
30.69853
null
Navigate to <point x="98.0" y="34.2">goal</point>
[ "smooth trail" ]
[ "high vegetation", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
98.046875
34.191177
null
Navigate to <point x="49.9" y="40.6">goal</point>
[ "rough trail" ]
[ "traversable grass", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
49.902344
40.625
null
Navigate to <point x="46.8" y="41.5">goal</point>
[ "rough trail" ]
[ "high vegetation", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
46.777344
41.544117
null
Navigate to <point x="32.6" y="47.8">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
32.617188
47.794117
null
Navigate to <point x="49.5" y="41.7">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
49.511719
41.72794
null
Navigate to <point x="49.7" y="36.0">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
49.707031
36.029411
null
Navigate to <point x="49.4" y="45.2">goal</point>
[ "smooth trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
49.414063
45.220589
null
Navigate to <point x="48.0" y="50.4">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
48.046875
50.367645
null
Navigate to <point x="48.8" y="41.9">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
48.828125
41.911766
null
Navigate to <point x="52.6" y="43.9">goal</point>
[ "rough trail", "smooth trail" ]
[ "high vegetation", "background", "sky", "obstacle" ]
{"height": 544, "width": 1024}
52.636719
43.933823
null
Navigate to <point x="51.1" y="54.0">goal</point>
[ "smooth trail" ]
[ "high vegetation", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
51.074219
54.044117
null
Navigate to <point x="4.7" y="2.4">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
4.6875
2.389706
null
Navigate to <point x="71.7" y="47.2">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
71.679688
47.242645
null
Navigate to <point x="45.7" y="31.4">goal</point>
[ "smooth trail" ]
[ "high vegetation", "background", "sky", "non traversable low vegetation" ]
{"height": 544, "width": 1024}
45.703125
31.433823
null
Navigate to <point x="60.4" y="26.1">goal</point>
[ "rough trail" ]
[ "high vegetation", "traversable grass", "background", "sky" ]
{"height": 544, "width": 1024}
60.449219
26.102942
null
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Yamaha Navigation Preference Dataset

This dataset contains images for robot navigation with preference masks. The dataset consists of RGB images paired with semantic segmentation labels and preference masks that highlight preferred navigation areas based on different terrain types.

Dataset Structure

Each record contains:

  • image: RGB image from a robot's camera view
  • preference_mask: A binary mask indicating preferred navigation areas
  • label_mask: Semantic segmentation labels for the scene
  • text: Natural language instruction describing navigation goals and preferences
  • traversable_labels: List of terrain types that are traversable
  • non_traversable_labels: List of terrain types that should be avoided
  • resolution: Resolution of the image
  • x_percent: Percentage of the image width
  • y_percent: Percentage of the image height
Downloads last month
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Size of downloaded dataset files:
156 MB
Size of the auto-converted Parquet files:
156 MB
Number of rows:
1,044