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README.md

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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

train.parquet

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+size 147748097

valid.parquet

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+version https://git-lfs.github.com/spec/v1
+oid sha256:ac983f263af52d02dd458d9d61a37ae8a2ab0f45655e9c6464e80199f32f5562
+size 16387861