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dataset_info:
features:
- name: image
dtype: image
- name: preference_mask
dtype: image
- name: label_mask
dtype: image
- name: text
dtype: string
- name: traversable_labels
sequence:
dtype: string
- name: non_traversable_labels
sequence:
dtype: string
- name: resolution
dtype: string
- name: x_percent
dtype: float32
- name: y_percent
dtype: float32
- name: preference_subset
sequence:
dtype: string
configs:
- config_name: default
data_files:
- split: train
path: "train.parquet"
- split: validation
path: "valid.parquet"
---
# 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
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