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Datasets:
thalesgroup
/
passage

Tasks:
Image Segmentation
Other
Modalities:
Image
Text
Formats:
parquet
Languages:
English
Size:
1M - 10M
Tags:
elevation
pathfinding
dsm
alos
passage
terrain
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
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1
passage / README.md
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---
configs:
- config_name: 64x64_samples
 data_files:
 - path: 64x64_samples/train/*
 split: train
 - path: 64x64_samples/calibration/*
 split: calibration
 - path: 64x64_samples/validation/*
 split: validation
 - path: 64x64_samples/test/*
 split: test
- config_name: 64x64
 data_files:
 - path: 64x64/train/*
 split: train
 - path: 64x64/calibration/*
 split: calibration
 - path: 64x64/validation/*
 split: validation
 - path: 64x64/test/*
 split: test
- config_name: 128x128_samples
 data_files:
 - path: 128x128_samples/train/*
 split: train
 - path: 128x128_samples/calibration/*
 split: calibration
 - path: 128x128_samples/validation/*
 split: validation
 - path: 128x128_samples/test/*
 split: test
- config_name: 128x128
 data_files:
 - path: 128x128/train/*
 split: train
 - path: 128x128/calibration/*
 split: calibration
 - path: 128x128/validation/*
 split: validation
 - path: 128x128/test/*
 split: test
- config_name: 256x256_samples
 data_files:
 - path: 256x256_samples/train/*
 split: train
 - path: 256x256_samples/calibration/*
 split: calibration
 - path: 256x256_samples/validation/*
 split: validation
 - path: 256x256_samples/test/*
 split: test
- config_name: 256x256
 data_files:
 - path: 256x256/train/*
 split: train
 - path: 256x256/calibration/*
 split: calibration
 - path: 256x256/validation/*
 split: validation
 - path: 256x256/test/*
 split: test
- config_name: 512x512_samples
 data_files:
 - path: 512x512_samples/train/*
 split: train
 - path: 512x512_samples/calibration/*
 split: calibration
 - path: 512x512_samples/validation/*
 split: validation
 - path: 512x512_samples/test/*
 split: test
- config_name: 512x512
 data_files:
 - path: 512x512/train/*
 split: train
 - path: 512x512/calibration/*
 split: calibration
 - path: 512x512/validation/*
 split: validation
 - path: 512x512/test/*
 split: test
- config_name: 1024x1024_samples
 data_files:
 - path: 1024x1024_samples/train/*
 split: train
 - path: 1024x1024_samples/calibration/*
 split: calibration
 - path: 1024x1024_samples/validation/*
 split: validation
 - path: 1024x1024_samples/test/*
 split: test
 default: true
- config_name: 1024x1024
 data_files:
 - path: 1024x1024/train/*
 split: train
 - path: 1024x1024/calibration/*
 split: calibration
 - path: 1024x1024/validation/*
 split: validation
 - path: 1024x1024/test/*
 split: test
- config_name: 2048x2048_samples
 data_files:
 - path: 2048x2048_samples/train/*
 split: train
 - path: 2048x2048_samples/calibration/*
 split: calibration
 - path: 2048x2048_samples/validation/*
 split: validation
 - path: 2048x2048_samples/test/*
 split: test
- config_name: 2048x2048
 data_files:
 - path: 2048x2048/train/*
 split: train
 - path: 2048x2048/calibration/*
 split: calibration
 - path: 2048x2048/validation/*
 split: validation
 - path: 2048x2048/test/*
 split: test
- config_name: 4096x4096_samples
 data_files:
 - path: 4096x4096_samples/train/*
 split: train
 - path: 4096x4096_samples/calibration/*
 split: calibration
 - path: 4096x4096_samples/validation/*
 split: validation
 - path: 4096x4096_samples/test/*
 split: test
- config_name: 4096x4096
 data_files:
 - path: 4096x4096/train/*
 split: train
 - path: 4096x4096/calibration/*
 split: calibration
 - path: 4096x4096/validation/*
 split: validation
 - path: 4096x4096/test/*
 split: test
dataset_info:
- config_name: 64x64_samples
 features:
 - dtype: string
 name: id
 - dtype: binary
 name: tensor
 - dtype: image
 name: image_astar_elevation
 - list:
 list: int32
 name: path_astar_elevation_free
 - list:
 list: int32
 name: path_astar_elevation_obstacles
 - dtype: image
 name: image_astar_energy
 - list:
 list: int32
 name: path_astar_energy_free
 - list:
 list: int32
 name: path_astar_energy_obstacles
 - dtype: image
 name: image_astar_slope
 - list:
 list: int32
 name: path_astar_slope_free
 - list:
 list: int32
 name: path_astar_slope_obstacles
 - name: metadata
 struct:
 - dtype: int32
 name: index
 - dtype: int32
 name: resolution
 - dtype: string
 name: split
 - name: calibration
 struct:
 - dtype: float32
 name: min
 - dtype: float32
 name: max
 - name: tile
 struct:
 - name: source
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 - name: stats
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: used
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: overlapping
 - name: crop
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - dtype: float32
 name: target_elevation
 - name: center
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: top_left
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: bottom_right
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: markers
 struct:
 - name: start_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: end_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: obstacles
 struct:
 - dtype: bool
 name: enabled
 - dtype: float32
 name: ratio_max
 - dtype: float32
 name: ratio_target
 - dtype: float32
 name: ratio_actual
 - dtype: float32
 name: size_min_ratio
 - dtype: float32
 name: size_max_ratio
 - dtype: float32
 name: penalty
 - name: provenance
 struct:
 - dtype: int64
 name: generation_seed
 - dtype: int64
 name: sample_seed
 - name: solvers
 struct:
 - name: astar_elevation
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_energy
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_slope
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: paths
 struct:
 - name: astar_elevation
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_energy
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_slope
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: timing
 struct:
 - dtype: float32
 name: tile_loading_seconds
 - dtype: float32
 name: marker_search_seconds
 - dtype: float32
 name: obstacle_generation_seconds
 - dtype: float32
 name: tensor_save_seconds
 - dtype: float32
 name: metadata_write_seconds
 - dtype: float32
 name: image_conversion_seconds
 - dtype: float32
 name: image_write_seconds
 - dtype: timestamp[us]
 name: timestamp
- config_name: 64x64
 features:
 - dtype: string
 name: id
 - dtype: binary
 name: tensor
 - list:
 list: int32
 name: path_astar_elevation_free
 - list:
 list: int32
 name: path_astar_elevation_obstacles
 - list:
 list: int32
 name: path_astar_energy_free
 - list:
 list: int32
 name: path_astar_energy_obstacles
 - list:
 list: int32
 name: path_astar_slope_free
 - list:
 list: int32
 name: path_astar_slope_obstacles
 - name: metadata
 struct:
 - dtype: int32
 name: index
 - dtype: int32
 name: resolution
 - dtype: string
 name: split
 - name: calibration
 struct:
 - dtype: float32
 name: min
 - dtype: float32
 name: max
 - name: tile
 struct:
 - name: source
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 - name: stats
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: used
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: overlapping
 - name: crop
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - dtype: float32
 name: target_elevation
 - name: center
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: top_left
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: bottom_right
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: markers
 struct:
 - name: start_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: end_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: obstacles
 struct:
 - dtype: bool
 name: enabled
 - dtype: float32
 name: ratio_max
 - dtype: float32
 name: ratio_target
 - dtype: float32
 name: ratio_actual
 - dtype: float32
 name: size_min_ratio
 - dtype: float32
 name: size_max_ratio
 - dtype: float32
 name: penalty
 - name: provenance
 struct:
 - dtype: int64
 name: generation_seed
 - dtype: int64
 name: sample_seed
 - name: solvers
 struct:
 - name: astar_elevation
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_energy
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_slope
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: paths
 struct:
 - name: astar_elevation
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_energy
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_slope
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: timing
 struct:
 - dtype: float32
 name: tile_loading_seconds
 - dtype: float32
 name: marker_search_seconds
 - dtype: float32
 name: obstacle_generation_seconds
 - dtype: float32
 name: tensor_save_seconds
 - dtype: float32
 name: metadata_write_seconds
 - dtype: float32
 name: image_conversion_seconds
 - dtype: float32
 name: image_write_seconds
 - dtype: timestamp[us]
 name: timestamp
- config_name: 128x128_samples
 features:
 - dtype: string
 name: id
 - dtype: binary
 name: tensor
 - dtype: image
 name: image_astar_elevation
 - list:
 list: int32
 name: path_astar_elevation_free
 - list:
 list: int32
 name: path_astar_elevation_obstacles
 - dtype: image
 name: image_astar_energy
 - list:
 list: int32
 name: path_astar_energy_free
 - list:
 list: int32
 name: path_astar_energy_obstacles
 - dtype: image
 name: image_astar_slope
 - list:
 list: int32
 name: path_astar_slope_free
 - list:
 list: int32
 name: path_astar_slope_obstacles
 - name: metadata
 struct:
 - dtype: int32
 name: index
 - dtype: int32
 name: resolution
 - dtype: string
 name: split
 - name: calibration
 struct:
 - dtype: float32
 name: min
 - dtype: float32
 name: max
 - name: tile
 struct:
 - name: source
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 - name: stats
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: used
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: overlapping
 - name: crop
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - dtype: float32
 name: target_elevation
 - name: center
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: top_left
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: bottom_right
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: markers
 struct:
 - name: start_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: end_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: obstacles
 struct:
 - dtype: bool
 name: enabled
 - dtype: float32
 name: ratio_max
 - dtype: float32
 name: ratio_target
 - dtype: float32
 name: ratio_actual
 - dtype: float32
 name: size_min_ratio
 - dtype: float32
 name: size_max_ratio
 - dtype: float32
 name: penalty
 - name: provenance
 struct:
 - dtype: int64
 name: generation_seed
 - dtype: int64
 name: sample_seed
 - name: solvers
 struct:
 - name: astar_elevation
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_energy
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_slope
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: paths
 struct:
 - name: astar_elevation
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_energy
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_slope
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: timing
 struct:
 - dtype: float32
 name: tile_loading_seconds
 - dtype: float32
 name: marker_search_seconds
 - dtype: float32
 name: obstacle_generation_seconds
 - dtype: float32
 name: tensor_save_seconds
 - dtype: float32
 name: metadata_write_seconds
 - dtype: float32
 name: image_conversion_seconds
 - dtype: float32
 name: image_write_seconds
 - dtype: timestamp[us]
 name: timestamp
- config_name: 128x128
 features:
 - dtype: string
 name: id
 - dtype: binary
 name: tensor
 - list:
 list: int32
 name: path_astar_elevation_free
 - list:
 list: int32
 name: path_astar_elevation_obstacles
 - list:
 list: int32
 name: path_astar_energy_free
 - list:
 list: int32
 name: path_astar_energy_obstacles
 - list:
 list: int32
 name: path_astar_slope_free
 - list:
 list: int32
 name: path_astar_slope_obstacles
 - name: metadata
 struct:
 - dtype: int32
 name: index
 - dtype: int32
 name: resolution
 - dtype: string
 name: split
 - name: calibration
 struct:
 - dtype: float32
 name: min
 - dtype: float32
 name: max
 - name: tile
 struct:
 - name: source
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 - name: stats
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: used
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: overlapping
 - name: crop
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - dtype: float32
 name: target_elevation
 - name: center
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: top_left
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: bottom_right
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: markers
 struct:
 - name: start_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: end_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: obstacles
 struct:
 - dtype: bool
 name: enabled
 - dtype: float32
 name: ratio_max
 - dtype: float32
 name: ratio_target
 - dtype: float32
 name: ratio_actual
 - dtype: float32
 name: size_min_ratio
 - dtype: float32
 name: size_max_ratio
 - dtype: float32
 name: penalty
 - name: provenance
 struct:
 - dtype: int64
 name: generation_seed
 - dtype: int64
 name: sample_seed
 - name: solvers
 struct:
 - name: astar_elevation
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_energy
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_slope
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: paths
 struct:
 - name: astar_elevation
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_energy
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_slope
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: timing
 struct:
 - dtype: float32
 name: tile_loading_seconds
 - dtype: float32
 name: marker_search_seconds
 - dtype: float32
 name: obstacle_generation_seconds
 - dtype: float32
 name: tensor_save_seconds
 - dtype: float32
 name: metadata_write_seconds
 - dtype: float32
 name: image_conversion_seconds
 - dtype: float32
 name: image_write_seconds
 - dtype: timestamp[us]
 name: timestamp
- config_name: 256x256_samples
 features:
 - dtype: string
 name: id
 - dtype: binary
 name: tensor
 - dtype: image
 name: image_astar_elevation
 - list:
 list: int32
 name: path_astar_elevation_free
 - list:
 list: int32
 name: path_astar_elevation_obstacles
 - dtype: image
 name: image_astar_energy
 - list:
 list: int32
 name: path_astar_energy_free
 - list:
 list: int32
 name: path_astar_energy_obstacles
 - dtype: image
 name: image_astar_slope
 - list:
 list: int32
 name: path_astar_slope_free
 - list:
 list: int32
 name: path_astar_slope_obstacles
 - name: metadata
 struct:
 - dtype: int32
 name: index
 - dtype: int32
 name: resolution
 - dtype: string
 name: split
 - name: calibration
 struct:
 - dtype: float32
 name: min
 - dtype: float32
 name: max
 - name: tile
 struct:
 - name: source
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 - name: stats
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: used
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: overlapping
 - name: crop
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - dtype: float32
 name: target_elevation
 - name: center
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: top_left
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: bottom_right
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: markers
 struct:
 - name: start_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: end_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: obstacles
 struct:
 - dtype: bool
 name: enabled
 - dtype: float32
 name: ratio_max
 - dtype: float32
 name: ratio_target
 - dtype: float32
 name: ratio_actual
 - dtype: float32
 name: size_min_ratio
 - dtype: float32
 name: size_max_ratio
 - dtype: float32
 name: penalty
 - name: provenance
 struct:
 - dtype: int64
 name: generation_seed
 - dtype: int64
 name: sample_seed
 - name: solvers
 struct:
 - name: astar_elevation
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_energy
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_slope
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: paths
 struct:
 - name: astar_elevation
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_energy
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_slope
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: timing
 struct:
 - dtype: float32
 name: tile_loading_seconds
 - dtype: float32
 name: marker_search_seconds
 - dtype: float32
 name: obstacle_generation_seconds
 - dtype: float32
 name: tensor_save_seconds
 - dtype: float32
 name: metadata_write_seconds
 - dtype: float32
 name: image_conversion_seconds
 - dtype: float32
 name: image_write_seconds
 - dtype: timestamp[us]
 name: timestamp
- config_name: 256x256
 features:
 - dtype: string
 name: id
 - dtype: binary
 name: tensor
 - list:
 list: int32
 name: path_astar_elevation_free
 - list:
 list: int32
 name: path_astar_elevation_obstacles
 - list:
 list: int32
 name: path_astar_energy_free
 - list:
 list: int32
 name: path_astar_energy_obstacles
 - list:
 list: int32
 name: path_astar_slope_free
 - list:
 list: int32
 name: path_astar_slope_obstacles
 - name: metadata
 struct:
 - dtype: int32
 name: index
 - dtype: int32
 name: resolution
 - dtype: string
 name: split
 - name: calibration
 struct:
 - dtype: float32
 name: min
 - dtype: float32
 name: max
 - name: tile
 struct:
 - name: source
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 - name: stats
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: used
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: overlapping
 - name: crop
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - dtype: float32
 name: target_elevation
 - name: center
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: top_left
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: bottom_right
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: markers
 struct:
 - name: start_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: end_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: obstacles
 struct:
 - dtype: bool
 name: enabled
 - dtype: float32
 name: ratio_max
 - dtype: float32
 name: ratio_target
 - dtype: float32
 name: ratio_actual
 - dtype: float32
 name: size_min_ratio
 - dtype: float32
 name: size_max_ratio
 - dtype: float32
 name: penalty
 - name: provenance
 struct:
 - dtype: int64
 name: generation_seed
 - dtype: int64
 name: sample_seed
 - name: solvers
 struct:
 - name: astar_elevation
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_energy
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_slope
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: paths
 struct:
 - name: astar_elevation
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_energy
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_slope
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: timing
 struct:
 - dtype: float32
 name: tile_loading_seconds
 - dtype: float32
 name: marker_search_seconds
 - dtype: float32
 name: obstacle_generation_seconds
 - dtype: float32
 name: tensor_save_seconds
 - dtype: float32
 name: metadata_write_seconds
 - dtype: float32
 name: image_conversion_seconds
 - dtype: float32
 name: image_write_seconds
 - dtype: timestamp[us]
 name: timestamp
- config_name: 512x512_samples
 features:
 - dtype: string
 name: id
 - dtype: binary
 name: tensor
 - dtype: image
 name: image_astar_elevation
 - list:
 list: int32
 name: path_astar_elevation_free
 - list:
 list: int32
 name: path_astar_elevation_obstacles
 - dtype: image
 name: image_astar_energy
 - list:
 list: int32
 name: path_astar_energy_free
 - list:
 list: int32
 name: path_astar_energy_obstacles
 - dtype: image
 name: image_astar_slope
 - list:
 list: int32
 name: path_astar_slope_free
 - list:
 list: int32
 name: path_astar_slope_obstacles
 - name: metadata
 struct:
 - dtype: int32
 name: index
 - dtype: int32
 name: resolution
 - dtype: string
 name: split
 - name: calibration
 struct:
 - dtype: float32
 name: min
 - dtype: float32
 name: max
 - name: tile
 struct:
 - name: source
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 - name: stats
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: used
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: overlapping
 - name: crop
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - dtype: float32
 name: target_elevation
 - name: center
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: top_left
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: bottom_right
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: markers
 struct:
 - name: start_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: end_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: obstacles
 struct:
 - dtype: bool
 name: enabled
 - dtype: float32
 name: ratio_max
 - dtype: float32
 name: ratio_target
 - dtype: float32
 name: ratio_actual
 - dtype: float32
 name: size_min_ratio
 - dtype: float32
 name: size_max_ratio
 - dtype: float32
 name: penalty
 - name: provenance
 struct:
 - dtype: int64
 name: generation_seed
 - dtype: int64
 name: sample_seed
 - name: solvers
 struct:
 - name: astar_elevation
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_energy
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_slope
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: paths
 struct:
 - name: astar_elevation
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_energy
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_slope
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: timing
 struct:
 - dtype: float32
 name: tile_loading_seconds
 - dtype: float32
 name: marker_search_seconds
 - dtype: float32
 name: obstacle_generation_seconds
 - dtype: float32
 name: tensor_save_seconds
 - dtype: float32
 name: metadata_write_seconds
 - dtype: float32
 name: image_conversion_seconds
 - dtype: float32
 name: image_write_seconds
 - dtype: timestamp[us]
 name: timestamp
- config_name: 512x512
 features:
 - dtype: string
 name: id
 - dtype: binary
 name: tensor
 - list:
 list: int32
 name: path_astar_elevation_free
 - list:
 list: int32
 name: path_astar_elevation_obstacles
 - list:
 list: int32
 name: path_astar_energy_free
 - list:
 list: int32
 name: path_astar_energy_obstacles
 - list:
 list: int32
 name: path_astar_slope_free
 - list:
 list: int32
 name: path_astar_slope_obstacles
 - name: metadata
 struct:
 - dtype: int32
 name: index
 - dtype: int32
 name: resolution
 - dtype: string
 name: split
 - name: calibration
 struct:
 - dtype: float32
 name: min
 - dtype: float32
 name: max
 - name: tile
 struct:
 - name: source
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 - name: stats
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: used
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: overlapping
 - name: crop
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - dtype: float32
 name: target_elevation
 - name: center
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: top_left
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: bottom_right
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: markers
 struct:
 - name: start_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: end_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: obstacles
 struct:
 - dtype: bool
 name: enabled
 - dtype: float32
 name: ratio_max
 - dtype: float32
 name: ratio_target
 - dtype: float32
 name: ratio_actual
 - dtype: float32
 name: size_min_ratio
 - dtype: float32
 name: size_max_ratio
 - dtype: float32
 name: penalty
 - name: provenance
 struct:
 - dtype: int64
 name: generation_seed
 - dtype: int64
 name: sample_seed
 - name: solvers
 struct:
 - name: astar_elevation
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_energy
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_slope
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: paths
 struct:
 - name: astar_elevation
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_energy
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_slope
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: timing
 struct:
 - dtype: float32
 name: tile_loading_seconds
 - dtype: float32
 name: marker_search_seconds
 - dtype: float32
 name: obstacle_generation_seconds
 - dtype: float32
 name: tensor_save_seconds
 - dtype: float32
 name: metadata_write_seconds
 - dtype: float32
 name: image_conversion_seconds
 - dtype: float32
 name: image_write_seconds
 - dtype: timestamp[us]
 name: timestamp
- config_name: 1024x1024_samples
 features:
 - dtype: string
 name: id
 - dtype: binary
 name: tensor
 - dtype: image
 name: image_astar_elevation
 - list:
 list: int32
 name: path_astar_elevation_free
 - list:
 list: int32
 name: path_astar_elevation_obstacles
 - dtype: image
 name: image_astar_energy
 - list:
 list: int32
 name: path_astar_energy_free
 - list:
 list: int32
 name: path_astar_energy_obstacles
 - dtype: image
 name: image_astar_slope
 - list:
 list: int32
 name: path_astar_slope_free
 - list:
 list: int32
 name: path_astar_slope_obstacles
 - name: metadata
 struct:
 - dtype: int32
 name: index
 - dtype: int32
 name: resolution
 - dtype: string
 name: split
 - name: calibration
 struct:
 - dtype: float32
 name: min
 - dtype: float32
 name: max
 - name: tile
 struct:
 - name: source
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 - name: stats
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: used
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: overlapping
 - name: crop
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - dtype: float32
 name: target_elevation
 - name: center
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: top_left
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: bottom_right
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: markers
 struct:
 - name: start_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: end_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: obstacles
 struct:
 - dtype: bool
 name: enabled
 - dtype: float32
 name: ratio_max
 - dtype: float32
 name: ratio_target
 - dtype: float32
 name: ratio_actual
 - dtype: float32
 name: size_min_ratio
 - dtype: float32
 name: size_max_ratio
 - dtype: float32
 name: penalty
 - name: provenance
 struct:
 - dtype: int64
 name: generation_seed
 - dtype: int64
 name: sample_seed
 - name: solvers
 struct:
 - name: astar_elevation
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_energy
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_slope
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: paths
 struct:
 - name: astar_elevation
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_energy
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_slope
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: timing
 struct:
 - dtype: float32
 name: tile_loading_seconds
 - dtype: float32
 name: marker_search_seconds
 - dtype: float32
 name: obstacle_generation_seconds
 - dtype: float32
 name: tensor_save_seconds
 - dtype: float32
 name: metadata_write_seconds
 - dtype: float32
 name: image_conversion_seconds
 - dtype: float32
 name: image_write_seconds
 - dtype: timestamp[us]
 name: timestamp
- config_name: 1024x1024
 features:
 - dtype: string
 name: id
 - dtype: binary
 name: tensor
 - list:
 list: int32
 name: path_astar_elevation_free
 - list:
 list: int32
 name: path_astar_elevation_obstacles
 - list:
 list: int32
 name: path_astar_energy_free
 - list:
 list: int32
 name: path_astar_energy_obstacles
 - list:
 list: int32
 name: path_astar_slope_free
 - list:
 list: int32
 name: path_astar_slope_obstacles
 - name: metadata
 struct:
 - dtype: int32
 name: index
 - dtype: int32
 name: resolution
 - dtype: string
 name: split
 - name: calibration
 struct:
 - dtype: float32
 name: min
 - dtype: float32
 name: max
 - name: tile
 struct:
 - name: source
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 - name: stats
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: used
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: overlapping
 - name: crop
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - dtype: float32
 name: target_elevation
 - name: center
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: top_left
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: bottom_right
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: markers
 struct:
 - name: start_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: end_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: obstacles
 struct:
 - dtype: bool
 name: enabled
 - dtype: float32
 name: ratio_max
 - dtype: float32
 name: ratio_target
 - dtype: float32
 name: ratio_actual
 - dtype: float32
 name: size_min_ratio
 - dtype: float32
 name: size_max_ratio
 - dtype: float32
 name: penalty
 - name: provenance
 struct:
 - dtype: int64
 name: generation_seed
 - dtype: int64
 name: sample_seed
 - name: solvers
 struct:
 - name: astar_elevation
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_energy
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_slope
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: paths
 struct:
 - name: astar_elevation
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_energy
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_slope
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: timing
 struct:
 - dtype: float32
 name: tile_loading_seconds
 - dtype: float32
 name: marker_search_seconds
 - dtype: float32
 name: obstacle_generation_seconds
 - dtype: float32
 name: tensor_save_seconds
 - dtype: float32
 name: metadata_write_seconds
 - dtype: float32
 name: image_conversion_seconds
 - dtype: float32
 name: image_write_seconds
 - dtype: timestamp[us]
 name: timestamp
- config_name: 2048x2048_samples
 features:
 - dtype: string
 name: id
 - dtype: binary
 name: tensor
 - dtype: image
 name: image_astar_elevation
 - list:
 list: int32
 name: path_astar_elevation_free
 - list:
 list: int32
 name: path_astar_elevation_obstacles
 - dtype: image
 name: image_astar_energy
 - list:
 list: int32
 name: path_astar_energy_free
 - list:
 list: int32
 name: path_astar_energy_obstacles
 - dtype: image
 name: image_astar_slope
 - list:
 list: int32
 name: path_astar_slope_free
 - list:
 list: int32
 name: path_astar_slope_obstacles
 - name: metadata
 struct:
 - dtype: int32
 name: index
 - dtype: int32
 name: resolution
 - dtype: string
 name: split
 - name: calibration
 struct:
 - dtype: float32
 name: min
 - dtype: float32
 name: max
 - name: tile
 struct:
 - name: source
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 - name: stats
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: used
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: overlapping
 - name: crop
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - dtype: float32
 name: target_elevation
 - name: center
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: top_left
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: bottom_right
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: markers
 struct:
 - name: start_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: end_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: obstacles
 struct:
 - dtype: bool
 name: enabled
 - dtype: float32
 name: ratio_max
 - dtype: float32
 name: ratio_target
 - dtype: float32
 name: ratio_actual
 - dtype: float32
 name: size_min_ratio
 - dtype: float32
 name: size_max_ratio
 - dtype: float32
 name: penalty
 - name: provenance
 struct:
 - dtype: int64
 name: generation_seed
 - dtype: int64
 name: sample_seed
 - name: solvers
 struct:
 - name: astar_elevation
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_energy
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_slope
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: paths
 struct:
 - name: astar_elevation
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_energy
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_slope
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: timing
 struct:
 - dtype: float32
 name: tile_loading_seconds
 - dtype: float32
 name: marker_search_seconds
 - dtype: float32
 name: obstacle_generation_seconds
 - dtype: float32
 name: tensor_save_seconds
 - dtype: float32
 name: metadata_write_seconds
 - dtype: float32
 name: image_conversion_seconds
 - dtype: float32
 name: image_write_seconds
 - dtype: timestamp[us]
 name: timestamp
- config_name: 2048x2048
 features:
 - dtype: string
 name: id
 - dtype: binary
 name: tensor
 - list:
 list: int32
 name: path_astar_elevation_free
 - list:
 list: int32
 name: path_astar_elevation_obstacles
 - list:
 list: int32
 name: path_astar_energy_free
 - list:
 list: int32
 name: path_astar_energy_obstacles
 - list:
 list: int32
 name: path_astar_slope_free
 - list:
 list: int32
 name: path_astar_slope_obstacles
 - name: metadata
 struct:
 - dtype: int32
 name: index
 - dtype: int32
 name: resolution
 - dtype: string
 name: split
 - name: calibration
 struct:
 - dtype: float32
 name: min
 - dtype: float32
 name: max
 - name: tile
 struct:
 - name: source
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 - name: stats
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: used
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: overlapping
 - name: crop
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - dtype: float32
 name: target_elevation
 - name: center
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: top_left
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: bottom_right
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: markers
 struct:
 - name: start_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: end_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: obstacles
 struct:
 - dtype: bool
 name: enabled
 - dtype: float32
 name: ratio_max
 - dtype: float32
 name: ratio_target
 - dtype: float32
 name: ratio_actual
 - dtype: float32
 name: size_min_ratio
 - dtype: float32
 name: size_max_ratio
 - dtype: float32
 name: penalty
 - name: provenance
 struct:
 - dtype: int64
 name: generation_seed
 - dtype: int64
 name: sample_seed
 - name: solvers
 struct:
 - name: astar_elevation
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_energy
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_slope
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: paths
 struct:
 - name: astar_elevation
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_energy
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_slope
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: timing
 struct:
 - dtype: float32
 name: tile_loading_seconds
 - dtype: float32
 name: marker_search_seconds
 - dtype: float32
 name: obstacle_generation_seconds
 - dtype: float32
 name: tensor_save_seconds
 - dtype: float32
 name: metadata_write_seconds
 - dtype: float32
 name: image_conversion_seconds
 - dtype: float32
 name: image_write_seconds
 - dtype: timestamp[us]
 name: timestamp
- config_name: 4096x4096_samples
 features:
 - dtype: string
 name: id
 - dtype: binary
 name: tensor
 - dtype: image
 name: image_astar_elevation
 - list:
 list: int32
 name: path_astar_elevation_free
 - list:
 list: int32
 name: path_astar_elevation_obstacles
 - dtype: image
 name: image_astar_energy
 - list:
 list: int32
 name: path_astar_energy_free
 - list:
 list: int32
 name: path_astar_energy_obstacles
 - dtype: image
 name: image_astar_slope
 - list:
 list: int32
 name: path_astar_slope_free
 - list:
 list: int32
 name: path_astar_slope_obstacles
 - name: metadata
 struct:
 - dtype: int32
 name: index
 - dtype: int32
 name: resolution
 - dtype: string
 name: split
 - name: calibration
 struct:
 - dtype: float32
 name: min
 - dtype: float32
 name: max
 - name: tile
 struct:
 - name: source
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 - name: stats
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: used
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: overlapping
 - name: crop
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - dtype: float32
 name: target_elevation
 - name: center
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: top_left
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: bottom_right
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: markers
 struct:
 - name: start_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: end_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: obstacles
 struct:
 - dtype: bool
 name: enabled
 - dtype: float32
 name: ratio_max
 - dtype: float32
 name: ratio_target
 - dtype: float32
 name: ratio_actual
 - dtype: float32
 name: size_min_ratio
 - dtype: float32
 name: size_max_ratio
 - dtype: float32
 name: penalty
 - name: provenance
 struct:
 - dtype: int64
 name: generation_seed
 - dtype: int64
 name: sample_seed
 - name: solvers
 struct:
 - name: astar_elevation
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_energy
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_slope
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: paths
 struct:
 - name: astar_elevation
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_energy
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_slope
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: timing
 struct:
 - dtype: float32
 name: tile_loading_seconds
 - dtype: float32
 name: marker_search_seconds
 - dtype: float32
 name: obstacle_generation_seconds
 - dtype: float32
 name: tensor_save_seconds
 - dtype: float32
 name: metadata_write_seconds
 - dtype: float32
 name: image_conversion_seconds
 - dtype: float32
 name: image_write_seconds
 - dtype: timestamp[us]
 name: timestamp
- config_name: 4096x4096
 features:
 - dtype: string
 name: id
 - dtype: binary
 name: tensor
 - list:
 list: int32
 name: path_astar_elevation_free
 - list:
 list: int32
 name: path_astar_elevation_obstacles
 - list:
 list: int32
 name: path_astar_energy_free
 - list:
 list: int32
 name: path_astar_energy_obstacles
 - list:
 list: int32
 name: path_astar_slope_free
 - list:
 list: int32
 name: path_astar_slope_obstacles
 - name: metadata
 struct:
 - dtype: int32
 name: index
 - dtype: int32
 name: resolution
 - dtype: string
 name: split
 - name: calibration
 struct:
 - dtype: float32
 name: min
 - dtype: float32
 name: max
 - name: tile
 struct:
 - name: source
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 - name: stats
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: used
 - list:
 struct:
 - dtype: int32
 name: lat
 - dtype: int32
 name: lon
 - dtype: string
 name: name
 name: overlapping
 - name: crop
 struct:
 - dtype: float32
 name: min_elevation
 - dtype: float32
 name: max_elevation
 - dtype: float32
 name: target_elevation
 - name: center
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: top_left
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: bottom_right
 struct:
 - dtype: float32
 name: lat
 - dtype: float32
 name: lon
 - name: markers
 struct:
 - name: start_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: end_point
 struct:
 - dtype: int32
 name: i
 - dtype: int32
 name: j
 - dtype: float32
 name: elevation
 - name: obstacles
 struct:
 - dtype: bool
 name: enabled
 - dtype: float32
 name: ratio_max
 - dtype: float32
 name: ratio_target
 - dtype: float32
 name: ratio_actual
 - dtype: float32
 name: size_min_ratio
 - dtype: float32
 name: size_max_ratio
 - dtype: float32
 name: penalty
 - name: provenance
 struct:
 - dtype: int64
 name: generation_seed
 - dtype: int64
 name: sample_seed
 - name: solvers
 struct:
 - name: astar_elevation
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_energy
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: astar_slope
 struct:
 - dtype: string
 name: backend
 - dtype: string
 name: name
 - dtype: string
 name: diagonal_movement
 - dtype: float32
 name: weight
 - dtype: string
 name: heuristic
 - dtype: string
 name: cost_model
 - dtype: string
 name: solver
 - dtype: int32
 name: max_marker_retries
 - name: paths
 struct:
 - name: astar_elevation
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_energy
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: astar_slope
 struct:
 - name: free
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - name: obstacles
 struct:
 - dtype: int32
 name: length
 - dtype: bool
 name: crosses_obstacles
 - dtype: int32
 name: considered_area
 - dtype: float32
 name: cost
 - dtype: float32
 name: cost_diff_percent
 - name: timing
 struct:
 - dtype: float32
 name: path_free_seconds
 - dtype: float32
 name: path_obstacles_seconds
 - dtype: float32
 name: cost_compute_seconds
 - dtype: float32
 name: total_seconds
 - name: timing
 struct:
 - dtype: float32
 name: tile_loading_seconds
 - dtype: float32
 name: marker_search_seconds
 - dtype: float32
 name: obstacle_generation_seconds
 - dtype: float32
 name: tensor_save_seconds
 - dtype: float32
 name: metadata_write_seconds
 - dtype: float32
 name: image_conversion_seconds
 - dtype: float32
 name: image_write_seconds
 - dtype: timestamp[us]
 name: timestamp
language:
- en
license:
- other
pretty_name: PASSAGE
size_categories:
- 1M<n<10M
tags:
- elevation
- pathfinding
- dsm
- alos
- passage
- terrain
- obstacles
- A*
task_categories:
- image-segmentation
- other
---
<!-- PASSAGE Hugging Face Dataset Card -->
<p align="center">
 <img src="assets/banner.png" alt="PASSAGE — Path Solving Dataset & Generator" width="100%"/>
</p>
<h1 align="center">🌍 PASSAGE — Real-Terrain Benchmark & Generator</h1>
<p align="center">
 <strong>Trustworthiness-oriented real-terrain benchmark and generation pipeline for pathfinding and surrogate modeling.</strong>
</p>
<!-- Badges -->
<p align="center">
 <a href="https://www.python.org/"><img src="https://img.shields.io/badge/python-≥3.11-3776AB?logo=python&logoColor=white" alt="Python"></a>
 <a href="DATASET_LICENSE.md"><img src="https://img.shields.io/badge/dataset%20terms-AW3D30%20%2B%20MIT%20code-orange?logo=opensourceinitiative&logoColor=white" alt="Dataset Terms"></a>
 <a href="https://huggingface.co/datasets/thalesgroup/passage"><img src="https://img.shields.io/badge/%F0%9F%A4%97-Dataset-yellow" alt="HuggingFace Dataset"></a>
 <a href="https://docs.astral.sh/ruff/"><img src="https://img.shields.io/badge/code%20style-ruff-000000?logo=ruff&logoColor=white" alt="Ruff"></a>
 <a href="https://docs.astral.sh/uv/"><img src="https://img.shields.io/badge/package-uv-DE5FE9?logo=uv&logoColor=white" alt="uv"></a>
</p>
<p align="center">
 <a href="https://huggingface.co/datasets/thalesgroup/passage">🤗 Dataset</a> •
 <a href="croissant.json">🧾 Croissant</a> •
 <a href="DATASHEET.md">📋 Datasheet</a> •
 <a href="#-citation">📝 Citation</a>
</p>
---
## 🚁 Why PASSAGE?
> *Every year, Helicopter Emergency Medical Services (HEMS) crews across Europe perform over 300,000 rescue missions — racing against time through mountain passes, across valleys, and over ridgelines to reach patients in cardiac arrest or severe trauma. For every minute of delay, survival rates drop by 7–10 %. The path the helicopter takes matters — yet pathfinding algorithms are still benchmarked on flat synthetic grids.*
**PASSAGE** was created to change that. Built from **real-world satellite elevation data** (JAXA ALOS AW3D30 at 30 m/pixel), it provides the research community with large-scale, multi-resolution pathfinding benchmarks that capture the true complexity of terrain navigation.
We open-source this toolkit to make terrain-routing methods easier to compare, reproduce, and audit under a shared benchmark surface.
---
## ✨ Highlights
<table>
<tr>
 <td align="center" width="25%">🌐<br><strong>Multi-Resolution</strong><br><small>64×64 → 4096×4096 px</small></td>
 <td align="center" width="25%">🏔️<br><strong>Real Elevation</strong><br><small>JAXA ALOS AW3D30 DSM</small></td>
 <td align="center" width="25%">🔷<br><strong>Rich Obstacles</strong><br><small>Superellipse shapes</small></td>
 <td align="center" width="25%">⚡<br><strong>3 A* Cost Variants</strong><br><small>Elevation, energy, slope-uphill</small></td>
</tr>
<tr>
 <td align="center">🧮<br><strong>Grid A* Oracle</strong><br><small>Exact labels + timings</small></td>
 <td align="center">🤗<br><strong>HuggingFace-Ready</strong><br><small>Parquet + one-command upload</small></td>
 <td align="center">🔁<br><strong>Fully Resumable</strong><br><small>No wasted compute</small></td>
 <td align="center">🛡️<br><strong>Certification-Aware</strong><br><small>ARP 6983 / ED-324</small></td>
</tr>
</table>
<table>
<tr>
 <td align="center"><strong>4.4 M</strong><br><small>Default Samples</small></td>
 <td align="center"><strong>7</strong><br><small>Resolution Levels</small></td>
 <td align="center"><strong>3</strong><br><small>A* Configurations</small></td>
 <td align="center"><strong>1</strong><br><small>Solver Backend</small></td>
 <td align="center"><strong>30 m/px</strong><br><small>Spatial Resolution</small></td>
</tr>
</table>
---
## 🗺️ Data Overview
### Representative Sample
<p align="center">
 <img src="assets/sample.png" alt="Representative PASSAGE sample" width="720"/>
</p>
<p align="center"><em>Normalized elevation with start/end markers, procedural superellipse obstacles, and two computed paths (free terrain vs. obstacle-aware).</em></p>
### Dataset World Coverage
The dataset leverages the worldwide elevation data publicly provided by JAXA. Each cell below represents a 5×5 grid of 1°×1° tiles (3600×3600 pixels at 30 m resolution). Black cells indicate regions with no available tile — these are treated as flat tiles at sea level during dataset generation.
<p align="center">
 <img src="assets/download.png" alt="Download Coverage Map" width="720"/>
</p>
### Maximum Elevation Map
<p align="center">
 <img src="calibration/max_elevation_map.png" alt="Maximum Elevation Map" width="720"/>
</p>
This visualization shows the **normalized maximum elevation** within each downloaded tile. Brighter regions indicate tiles containing higher terrain (mountain peaks, elevated plateaus); darker regions correspond to low-lying areas (coastal zones, river basins).
> **📈 Elevation Range**
>
> According to the calibration across all tiles:
>
> - Global minimum elevation: **−430.0 m**
> - Global maximum elevation: **8 767.0 m**
>
> Detailed statistics are available in [calibrate.json](calibration/calibrate.json).
### Peak-to-Peak Elevation Map
<p align="center">
 <img src="calibration/ptp_elevation_map.png" alt="Peak-to-Peak Elevation Map" width="720"/>
</p>
The **peak-to-peak (PTP) elevation map** displays the elevation range (max − min) within each tile. High PTP values (bright regions) indicate significant topographic variation — suitable for challenging pathfinding scenarios. Low PTP values suggest relatively flat terrain.
### Hold-Out Region
To assess generalization of trained models, a region containing **South America** is held out. This region was chosen because it concentrates a wide range of elevations representative of all other places in the world map.
<p align="center">
 <img src="assets/hold_out_mask.png" alt="Hold-Out Mask" width="720"/>
</p>
---
## 🚀 Quick Start
### Loading the Dataset
```python
from datasets import load_dataset
from passage.utils import decode_tensor_blob
# Load a specific resolution from Hugging Face
ds = load_dataset("thalesgroup/passage", name="256x256")
sample = ds["train"][0]
# Decode the compressed tensor → (256, 256, 3) numpy array
tensor = decode_tensor_blob(sample["tensor"], (256, 256, 3))
elevation = tensor[:, :, 0] # Normalized [0, 1]
markers = tensor[:, :, 1] # -1 background, 0 start, 1 goal
obstacles = tensor[:, :, 2] # Binary mask (0/1)
# Access solver paths
path_cols = [k for k in sample if k.startswith("path_")]
print("Solver paths:", path_cols)
```
### Manual Tensor Decompression
```python
import numpy as np
import zstandard as zstd
resolution = sample["metadata"]["resolution"]
# Decompress the tensor
d = zstd.ZstdDecompressor()
b = d.decompress(sample["tensor"])
tensor = np.frombuffer(b, dtype=np.float32).reshape((resolution, resolution, 3))
# Unravel channels
elevation = tensor[:, :, 0]
markers = tensor[:, :, 1]
obstacles = tensor[:, :, 2]
# Denormalize elevation to meters
global_min = sample["metadata"]["calibration"]["min"]
global_max = sample["metadata"]["calibration"]["max"]
elevation_m = (elevation * (global_max - global_min)) + global_min
```
See [`notebooks/demo.ipynb`](notebooks/demo.ipynb) for a complete loading & visualization example.
---
## 📦 Dataset Structure
Each sample consists of:
| Field | Type | Description |
|-------|------|-------------|
| `tensor` | `bytes` | zstd-compressed `(H, W, 3)` float32 tensor payload |
| `path_<solver>_free` | `list[[i, j], ...]` | Path without obstacles for each configured solver |
| `path_<solver>_obstacles` | `list[[i, j], ...]` | Path with obstacles for each configured solver |
| `image_<solver>` | `image` | Optional per-solver visualization image (sample configs only) |
| `metadata` | `dict` | Sample metadata (coordinates, elevations, stats) |
### Tensor Channels
1. **Channel 0 (Elevation)**: Normalized elevation in $[0, 1]$
2. **Channel 1 (Markers)**: $-1$ everywhere, $0$ at start, $1$ at goal
3. **Channel 2 (Obstacles)**: Binary mask ($0$ = free, $1$ = obstacle)
> **Note**: Tensors are stored as compressed `.npy.zst` blobs.
---
## 🔁 Pipeline Overview
<table>
<tr>
 <td align="center"><strong>1. Download</strong><br><small>JAXA DSM tiles</small></td>
 <td align="center"><strong>→</strong></td>
 <td align="center"><strong>2. Calibrate</strong><br><small>min / max elevation</small></td>
 <td align="center"><strong>→</strong></td>
 <td align="center"><strong>3. Generate</strong><br><small>samples + paths</small></td>
 <td align="center"><strong>→</strong></td>
 <td align="center"><strong>4. Export</strong><br><small>Parquet + HF Hub</small></td>
</tr>
</table>
| Step | Command | What it does |
|:----:|---------|--------------|
| 1 | `passage download` | Download JAXA ALOS AW3D30 5°×5° tile archives with resume |
| 2 | `passage calibrate` | Scan tiles for global min/max elevation |
| 3 | `passage generate` | Create multi-resolution samples with paths, obstacles, tensors |
| 4 | `passage export` | Write Parquet shards, execute notebooks, push to HF Hub |
> 📖 **Full walkthrough:** see [`notebooks/demo.ipynb`](notebooks/demo.ipynb), [`DATASHEET.md`](DATASHEET.md), and [`croissant.json`](croissant.json).
---
## 📓 Notebooks
| Notebook | Description |
|----------|-------------|
| [`demo.ipynb`](notebooks/demo.ipynb) | Quick-start: load, decode, and visualize a sample |
| [`costmodel.ipynb`](notebooks/costmodel.ipynb) | Compare the configured terrain-cost variants on the same terrain |
| [`obstacles.ipynb`](notebooks/obstacles.ipynb) | Explore superellipse obstacle generation |
| [`solve.ipynb`](notebooks/solve.ipynb) | Solver timing and quality comparison |
| [`astar_inference_timing.ipynb`](notebooks/astar_inference_timing.ipynb) | A\* inference time vs. resolution profiling |
| `_dataset.ipynb` | Template — auto-executed per resolution during export |
Per-resolution analysis notebooks are included with each configuration:
- **64×64**: In-depth analysis [notebook](64x64/dataset.ipynb)
- **128×128**: In-depth analysis [notebook](128x128/dataset.ipynb)
- **256×256**: In-depth analysis [notebook](256x256/dataset.ipynb)
- **512×512**: In-depth analysis [notebook](512x512/dataset.ipynb)
- **1024×1024**: In-depth analysis [notebook](1024x1024/dataset.ipynb)
- **2048×2048**: In-depth analysis [notebook](2048x2048/dataset.ipynb)
- **4096×4096**: In-depth analysis [notebook](4096x4096/dataset.ipynb)
---
## 🎯 Sampling Procedure
Each sample is generated through a carefully designed stochastic process ensuring diversity across elevations, geographic locations, and terrain types.
### Step 1 — Target Elevation Sampling
A target elevation $e_{\text{target}}$ is sampled uniformly from the global calibrated range:
$$e_{\text{target}} \sim \mathcal{U}(e_{\min}, e_{\max})$$
where $e_{\min}$ and $e_{\max}$ are computed during calibration across all available tiles.
### Step 2 — Tile Selection
From the set of tiles $\mathcal{T}$ containing the target elevation, a tile $T$ is selected uniformly at random:
$$T \sim \mathcal{U}\left(\{t \in \mathcal{T} : e_{\min}^{(t)} \leq e_{\text{target}} \leq e_{\max}^{(t)}\}\right)$$
### Step 3 — Pixel Localization
Within the selected tile, the pixel $(i^*, j^*)$ closest to $e_{\text{target}}$ is identified:
$$(i^*, j^*) = \arg\min_{(i,j)} \left| \text{elevation}(i,j) - e_{\text{target}} \right|$$
### Step 4 — Crop Extraction
A crop of size $R \times R$ (where $R$ is the resolution) is randomly positioned such that the target pixel $(i^*, j^*)$ lies within the crop. The crop position $(y_1, x_1)$ is sampled as:
$$y_1 \sim \mathcal{U}\left[\max(0, i^* - R + 1), \min(H - R, i^*)\right]$$
$$x_1 \sim \mathcal{U}\left[\max(0, j^* - R + 1), \min(W - R, j^*)\right]$$
### Step 5 — Marker Placement
Two markers define the pathfinding problem:
- **Marker 1** (start): The target pixel $(i^*, j^*)$ within crop coordinates
- **Marker 2** (goal): A uniformly sampled discrete pixel from the $R^2-1$ remaining cells:
$$\text{Marker}_2 \sim \mathcal{U}_{\text{discrete}}\left(\{(i,j) \in [0,R)^2 : (i,j) \neq \text{Marker}_1\}\right)$$
### Step 6 — Elevation Normalization
The elevation crop is normalized to $[0, 1]$ using global calibration statistics:
$$\hat{e}(i,j) = \frac{e(i,j) - e_{\min}}{e_{\max} - e_{\min}}$$
---
## 🧩 Obstacle Generation
Obstacles are procedurally generated using **superellipse** shapes (Lamé curves), allowing a rich variety of geometries — from circular to rectangular and everything in between.
### Superellipse Equation
A superellipse centered at $(c_x, c_y)$ with semi-axes $a$, $b$ and exponent $n$ is defined by:
$$\left(\frac{|x - c_x|}{a}\right)^n + \left(\frac{|y - c_y|}{b}\right)^n \leq 1$$
The exponent $n$ controls the shape:
- $n = 2$: Standard ellipse (circle when $a = b$)
- $n < 2$: Diamond/star shapes ($n = 1$ gives a rhombus)
- $n > 2$: Rounded rectangles (approaches a rectangle as $n \to \infty$)
### Obstacle Parameters
| Parameter | Distribution | Description |
|-----------|-------------|-------------|
| **Position** $(c_x, c_y)$ | $\mathcal{U}([0, W) \times [0, H))$ | Center coordinates |
| **Size** $(w, h)$ | $\mathcal{U}([s_{\min} \cdot R, s_{\max} \cdot R])$ | Width and height based on size ratios |
| **Exponent** $n$ | Configurable (default: log-uniform) | Shape parameter |
| **Angle** $\theta$ | $\mathcal{U}([0, 2\pi))$ | Rotation angle |
where $s_{\min}$ and $s_{\max}$ are configurable size ratios relative to resolution $R$.
### Target Coverage
A target obstacle ratio $r_{\text{target}}$ is sampled uniformly:
$$r_{\text{target}} \sim \mathcal{U}(0, r_{\max})$$
Obstacles are iteratively added until coverage approaches $r_{\text{target}}$, while ensuring no obstacle overlaps with the start or goal markers.
---
## ⚖️ Exported Path Cost Models
The current paper benchmark exports three grid-backend A* configurations. Each edge weight uses physical step distance $d$ (30 m cardinal, $30\sqrt{2}$ diagonal), weight $\alpha$, and elevation values from the current crop:
- **elevation**
$$w = d \cdot \left(1 + \alpha \cdot \bar{e}_{\text{dst}}\right), \quad \bar{e}_{\text{dst}} = \frac{e_{\text{dst}} - e_{\min}}{e_{\max} - e_{\min}}$$
- **slope_uphill**
$$w = d \cdot \left(1 + \alpha \cdot \frac{\max(0, e_{\text{dst}} - e_{\text{src}})}{e_{\max} - e_{\min}}\right)$$
- **energy**
$$w = d + \alpha \cdot \max(0, e_{\text{dst}} - e_{\text{src}})$$
These equations match the runtime implementation used by the grid-backend A* exporter.
---
## 🔬 Research Applications
| Domain | Use Case | Relevant Features |
|--------|----------|-------------------|
| **Classical AI** | A\* benchmarking | Multi-resolution labels, timings, terrain-cost variants |
| **Reinforcement Learning** | Terrain navigation agents | Grid observations, reward shaping with configured cost models |
| **Graph Neural Networks** | Learned heuristics | Graph structure from elevation grids, path labels |
| **Surrogate Models** | Fast approximation of optimal paths | Input/output pairs at scale (4.4 M+ samples) |
| **Computer Vision** | Path prediction from elevation images | Tensor format, multi-channel images |
| **Certified ML** | ARP 6983 / ED-324 compliance | Bounded ODD, deterministic generation, traceability |
---
## 📝 Citation
Use the metadata in [`CITATION.cff`](CITATION.cff). Anonymous submission mirrors intentionally omit author-identifying citation fields until de-anonymisation.
---
## 📄 License
PASSAGE ships **two distinct licensing surfaces**:
| Surface | License | What it covers |
| --- | --- | --- |
| Generator and evaluator code | [MIT License](LICENSE) | every Python file in the upstream repository — the dataset generator (`passage`) and the evaluation contract (`passage-eval`). |
| Exported elevation data | [JAXA AW3D30 terms of use](https://www.eorc.jaxa.jp/ALOS/en/dataset/aw3d30/aw3d30_e.htm) | every elevation tile, every sample whose elevation channel is derived from those tiles, and any model whose training data carries that channel. The full text mirrored at release time is in [`DATASET_LICENSE.md`](DATASET_LICENSE.md). |
> ⚠️ **Respect JAXA's licensing terms.** PASSAGE is built on the
> [JAXA ALOS World 3D 30 m DSM (AW3D30)](https://www.eorc.jaxa.jp/ALOS/en/dataset/aw3d30/aw3d30_e.htm).
> Any user of this dataset — or of any artefact derived from it
> (a trained model, a generated planning result, a downstream
> benchmark) — **must respect the JAXA terms of use**:
>
> 1. **Cite the JAXA AW3D30 source** in publications using PASSAGE
> (recommended: Takaku *et al.*, *"Updates of 'AW3D30' ALOS Global
> DSM with Other Open Access Datasets,"* ISPRS Archives, 2020).
> 2. **Reproduce the AW3D30 attribution** in any redistribution of
> the elevation channel or of any artefact directly derived from
> it.
> 3. **Read and abide by the JAXA terms-of-use page** linked above
> for the authoritative wording.
>
> We sincerely thank JAXA for openly sharing AW3D30 with the research
> community.