--- 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

PASSAGE โ€” Path Solving Dataset & Generator

๐ŸŒ PASSAGE โ€” Real-Terrain Benchmark & Generator

Trustworthiness-oriented real-terrain benchmark and generation pipeline for pathfinding and surrogate modeling.

Python Dataset Terms HuggingFace Dataset Ruff uv

๐Ÿค— Dataset โ€ข ๐Ÿงพ Croissant โ€ข ๐Ÿ“‹ Datasheet โ€ข ๐Ÿ“ Citation

--- ## ๐Ÿš Why PASSAGE? > *Every year, Helicopter Emergency Medical Services (HEMS) crews across Europe perform over 300,000 rescue missions โ€” 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 7โ€“10 %. The path the helicopter takes matters โ€” 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. --- ## โœจ Highlights
๐ŸŒ
Multi-Resolution
64ร—64 โ†’ 4096ร—4096 px		 ๐Ÿ”๏ธ
Real Elevation
JAXA ALOS AW3D30 DSM		 ๐Ÿ”ท
Rich Obstacles
Superellipse shapes		 โšก
3 A* Cost Variants
Elevation, energy, slope-uphill
๐Ÿงฎ
Grid A* Oracle
Exact labels + timings		 ๐Ÿค—
HuggingFace-Ready
Parquet + one-command upload		 ๐Ÿ”
Fully Resumable
No wasted compute		 ๐Ÿ›ก๏ธ
Certification-Aware
ARP 6983 / ED-324
4.4 M
Default Samples		 7
Resolution Levels		 3
A* Configurations		 1
Solver Backend		 30 m/px
Spatial Resolution
--- ## ๐Ÿ—บ๏ธ Data Overview ### Representative Sample

Representative PASSAGE sample

Normalized elevation with start/end markers, procedural superellipse obstacles, and two computed paths (free terrain vs. obstacle-aware).

### Dataset World Coverage The dataset leverages the worldwide elevation data publicly provided by JAXA. Each cell below represents a 5ร—5 grid of 1ยฐร—1ยฐ tiles (3600ร—3600 pixels at 30 m resolution). Black cells indicate regions with no available tile โ€” these are treated as flat tiles at sea level during dataset generation.

Download Coverage Map

### Maximum Elevation Map

Maximum Elevation Map

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). > **๐Ÿ“ˆ Elevation Range** > > According to the calibration across all tiles: > > - Global minimum elevation: **โˆ’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

Peak-to-Peak Elevation Map

The **peak-to-peak (PTP) elevation map** displays the elevation range (max โˆ’ min) within each tile. High PTP values (bright regions) indicate significant topographic variation โ€” 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.

Hold-Out Mask

--- ## ๐Ÿš€ 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 โ†’ (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. --- ## ๐Ÿ“ฆ Dataset Structure Each sample consists of: | Field | Type | Description | |-------|------|-------------| | `tensor` | `bytes` | zstd-compressed `(H, W, 3)` float32 tensor payload | | `path__free` | `list[[i, j], ...]` | Path without obstacles for each configured solver | | `path__obstacles` | `list[[i, j], ...]` | Path with obstacles for each configured solver | | `image_` | `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. --- ## ๐Ÿ” Pipeline Overview
1. Download
JAXA DSM tiles		 โ†’ 2. Calibrate
min / max elevation		 โ†’ 3. Generate
samples + paths		 โ†’ 4. Export
Parquet + HF Hub
| Step | Command | What it does | |:----:|---------|--------------| | 1 | `passage download` | Download JAXA ALOS AW3D30 5ยฐร—5ยฐ 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 | > ๐Ÿ“– **Full walkthrough:** see [`notebooks/demo.ipynb`](notebooks/demo.ipynb), [`DATASHEET.md`](DATASHEET.md), and [`croissant.json`](croissant.json). --- ## ๐Ÿ““ 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 โ€” auto-executed per resolution during export | Per-resolution analysis notebooks are included with each configuration: - **64ร—64**: In-depth analysis [notebook](64x64/dataset.ipynb) - **128ร—128**: In-depth analysis [notebook](128x128/dataset.ipynb) - **256ร—256**: In-depth analysis [notebook](256x256/dataset.ipynb) - **512ร—512**: In-depth analysis [notebook](512x512/dataset.ipynb) - **1024ร—1024**: In-depth analysis [notebook](1024x1024/dataset.ipynb) - **2048ร—2048**: In-depth analysis [notebook](2048x2048/dataset.ipynb) - **4096ร—4096**: In-depth analysis [notebook](4096x4096/dataset.ipynb) --- ## ๐ŸŽฏ Sampling Procedure Each sample is generated through a carefully designed stochastic process ensuring diversity across elevations, geographic locations, and terrain types. ### Step 1 โ€” 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 โ€” 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 โ€” 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 โ€” 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 โ€” 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 โ€” Elevation Normalization The elevation crop is normalized to $[0, 1]$ using global calibration statistics: $$\hat{e}(i,j) = \frac{e(i,j) - e_{\min}}{e_{\max} - e_{\min}}$$ --- ## ๐Ÿงฉ Obstacle Generation Obstacles are procedurally generated using **superellipse** shapes (Lamรฉ curves), allowing a rich variety of geometries โ€” 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. --- ## โš–๏ธ 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. --- ## ๐Ÿ”ฌ 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 | --- ## ๐Ÿ“ Citation Use the metadata in [`CITATION.cff`](CITATION.cff). Anonymous submission mirrors intentionally omit author-identifying citation fields until de-anonymisation. --- ## ๐Ÿ“„ 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 โ€” 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). | > โš ๏ธ **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 โ€” or of any artefact derived from it > (a trained model, a generated planning result, a downstream > benchmark) โ€” **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.