README.md

metadata

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