Update README.md

README.md

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----
-license: apache-2.0
----
+---
+license: apache-2.0
+task_categories:
+  - image-segmentation
+  - object-detection
+  - robotics
+language:
+  - en
+tags:
+  - robotics
+  - navigation
+  - frontiers
+  - autonomous-systems
+  - field-robotics
+  - vision-foundation-models
+  - outdoor-navigation
+  - traversability
+  - exploration
+pretty_name: WildOS Frontiers Dataset
+size_categories:
+  - n<1K
+configs:
+  - config_name: default
+    data_files:
+      - split: train
+        path: "**"
+---
+
+# WildOS Frontiers Dataset
+
+<div align="center">
+  <img src="https://leggedrobotics.github.io/wildos/static/images/Teaser-V.svg" alt="WildOS Teaser" width="800"/>
+</div>
+
+## Dataset Description
+
+This dataset provides **visual frontier annotations** for outdoor long-range navigation, created for [WildOS: Open-Vocabulary Object Search in the Wild](https://leggedrobotics.github.io/wildos/). The annotations are built on top of images from the [GrandTour Dataset](https://huggingface.co/datasets/leggedrobotics/grand_tour_dataset).
+
+**Visual Frontiers** denote regions in the image that correspond to candidate locations for further exploration — such as the end of a trail, an opening
+between trees, or a road turning at a curve. This dataset enables training of models to predict visual frontiers from RGB images, extending navigation reasoning beyond the geometric depth horizon.
+
+## Dataset Structure
+
+```
+wildos/
+├── annotations/           # Frontier annotations (362 JSON files)
+│   └── annotation_00000.json ... annotation_00389.json
+├── RGB_frames/            # Raw RGB frames (390 images + metadata)
+│   ├── metadata.json      # Maps to original GrandTour images
+│   └── rgb_00000.png ... rgb_00389.png
+├── RGB_rectified/         # Rectified RGB images (390 images)
+│   └── rect_00000.png ... rect_00389.png
+└── SAM_boundaries/        # SAM-2 boundary masks (390 images)
+    └── bound_00000.png ... bound_00389.png
+```
+
+### File Descriptions
+
+| Folder | Description | Count |
+|--------|-------------|-------|
+| `annotations/` | JSON files containing frontier bounding box annotations | 362 |
+| `RGB_frames/` | Original RGB frames from GrandTour dataset | 390 + 1 metadata |
+| `RGB_rectified/` | Rectified (undistorted) RGB images | 390 |
+| `SAM_boundaries/` | Binary masks from SAM-2 boundary detection | 390 |
+
+> **Note:** Some images do not have corresponding annotations (362 out of 390 images are annotated). Images without annotations were excluded during quality control.
+
+## Annotation Format
+
+Each annotation file contains a list of frontier detections with the following structure:
+
+```json
+[
+  {
+    "label": "frontier",
+    "start": [1326.0, 618.0],
+    "end": [1352.0, 636.0]
+  }
+]
+```
+
+| Field | Description |
+|-------|-------------|
+| `label` | Frontier type (`"frontier"` or `"image_boundary_frontier"`) |
+| `start` | Top-left corner `[x, y]` of the bounding box |
+| `end` | Bottom-right corner `[x, y]` of the bounding box |
+
+## Usage
+
+### Loading the Dataset
+
+```python
+from datasets import load_dataset
+
+# Load the full dataset
+dataset = load_dataset("leggedrobotics/wildos")
+
+# Access specific splits
+print(dataset)
+```
+
+### Loading Individual Files
+
+```python
+import json
+from PIL import Image
+
+# Load an annotation
+with open("wildos/annotations/annotation_00000.json", "r") as f:
+    annotations = json.load(f)
+
+# Load corresponding image
+image = Image.open("wildos/RGB_rectified/rect_00000.png")
+
+print(f"Image size: {image.size}")
+print(f"Number of frontiers: {len(annotations)}")
+```
+
+### Visualizing Annotations
+
+We provide a visualization script to overlay frontier annotations on images:
+
+```python
+import os
+import json
+import cv2
+import numpy as np
+
+def visualize_frontiers(image_path, annotation_path, output_path=None):
+    """Draw frontier annotations on an image."""
+    # Load image
+    img = cv2.imread(image_path)
+    
+    # Load annotations
+    with open(annotation_path, "r") as f:
+        annotations = json.load(f)
+    
+    # Draw each frontier
+    for ann in annotations:
+        x1, y1 = int(ann["start"][0]), int(ann["start"][1])
+        x2, y2 = int(ann["end"][0]), int(ann["end"][1])
+        color = (0, 0, 255)  # Red in BGR
+        
+        # Draw semi-transparent rectangle
+        overlay = img.copy()
+        cv2.rectangle(overlay, (x1, y1), (x2, y2), color, -1)
+        cv2.addWeighted(overlay, 0.35, img, 0.65, 0, img)
+        cv2.rectangle(img, (x1, y1), (x2, y2), color, 2)
+    
+    if output_path:
+        cv2.imwrite(output_path, img)
+    
+    return img
+
+# Example usage
+visualize_frontiers(
+    "wildos/RGB_rectified/rect_00000.png",
+    "wildos/annotations/annotation_00000.json",
+    "output_visualization.png"
+)
+```
+
+### Metadata Mapping
+
+The `metadata.json` file in `RGB_frames/` maps each image to its source in the GrandTour dataset:
+
+```python
+import json
+
+with open("wildos/RGB_frames/metadata.json", "r") as f:
+    metadata = json.load(f)
+
+# Find original GrandTour image for a specific frame
+original_path = metadata["rgb_00000.png"]
+print(f"Original GrandTour path: {original_path}")
+```
+
+## Dataset Statistics
+
+- **Total Images**: 390
+- **Total Annotations**: 362 JSON files
+- **Frontier Types**: `frontier`, `image_boundary_frontier`
+- **Image Format**: PNG
+- **Source Dataset**: [GrandTour Dataset](https://huggingface.co/datasets/leggedrobotics/grand_tour_dataset)
+
+## Related Resources
+
+- **Project Page**: [WildOS: Open-Vocabulary Object Search in the Wild](https://leggedrobotics.github.io/wildos/)
+- **Source Dataset**: [GrandTour Dataset](https://huggingface.co/datasets/leggedrobotics/grand_tour_dataset)
+
+## Citation
+
+If you use this dataset in your research, please cite:
+
+```bibtex
+@misc{shah2026wildosopenvocabularyobjectsearch,
+        title={WildOS: Open-Vocabulary Object Search in the Wild}, 
+        author={Hardik Shah and Erica Tevere and Deegan Atha and Marcel Kaufmann and Shehryar Khattak and Manthan Patel and Marco Hutter and Jonas Frey and Patrick Spieler},
+        year={2026},
+        eprint={2602.19308},
+        archivePrefix={arXiv},
+        primaryClass={cs.RO},
+        url={https://arxiv.org/abs/2602.19308}, 
+}
+```
+
+## License
+
+This dataset is released under the [Apache 2.0 License](https://www.apache.org/licenses/LICENSE-2.0).