MuxinZhou/mapladder-town15

MapLadder areas: 8 Town15 areas, their five ladder human maps and the truth

Eight 250 m areas of CARLA Town15 as seen in Isaac Sim 5.1, each with its input files, its five "ladder" human maps (L0 real scene, L1 scale map, L2 schematic map, L3 main-way sketch, L4 landmark sketch) drawn by the MapLadder engine 1.3.0, and the truth that links every map to the world. The maps are what a navigation method is handed (it sees only the image); the truth is for scoring only and must never reach a method.

id	what	hub	frame (Isaac metres: x0, y0, x1, y1)	source
area_C	area C (roundabout quarter)	roundabout island	[316, -630, 566, -380]	CARLA 0.9.15 tiled capture of Town15, transplanted into Isaac Sim 5.1 (transplant_manifest.json maps the capture frame into the Isaac frame)
area_A	area A (library quarter)	roundabout island	[170, 210, 420, 460]	CARLA 0.9.15 tiled capture of Town15, transplanted into Isaac Sim 5.1
area_D	region W (west end: a block loop with a 5-arm junction plaza)	square (plaza)	[-700, -300, -450, -50]	exported from the full Town15 Isaac Sim 5.1 stage with tools/export_isaac (native frame, no manifest)
area_E	region K (the court around the largest building)	square (court)	[560, -205, 810, 45]	exported from the full Town15 Isaac Sim 5.1 stage with tools/export_isaac
area_M	region M (medical campus: a 2.9 ha plaza, a building bridge)	square (plaza)	[-90, -410, 160, -160]	exported from the full Town15 Isaac Sim 5.1 stage with tools/export_isaac
area_J	Divided villa boulevard with a parking strip, paved squares and a lawn	square: the engine took a paved forecourt of about 5500 m2 between the southern villa rows (centre about (-297, -248), entered by 3 ways, ring nodes n2/n7/n8) and named it 'Square'; it did not take the 4-way street junction at (-315, -141), so this area does not exercise the point hub	[-420, -280, -170, -30]	exported from the full Town15 Isaac Sim 5.1 stage with tools/export_isaac (native frame)
area_L	Small roundabout on a building-lined diagonal street beside a wooded lawn and open paved ground	point: the engine rejected the small roundabout island (about 192 m2, radius 7.8 m, 5 arms; failed the SIZE test) and the two open paved grounds (no ways entering them), and took the unnamed walk junction n4 at about (14.6, 132.3), just south of the roundabout where the walks of the west-curving street and the diagonal street meet	[-60, -50, 190, 200]	exported from the full Town15 Isaac Sim 5.1 stage with tools/export_isaac (native frame)
area_P	Open paved campus ground behind a curving street of low buildings	point: the engine found no roundabout island (the roundabout at the north-east corner is cut by the frame's east edge) and the 47,300 m2 paved ground (square_1) failed the square test with no way entering it, so it took the junction n18 at about (226, -668) on the walkway of the curving southern street; a point hub has no name and no glyph	[50, -690, 300, -440]	exported from the full Town15 Isaac Sim 5.1 stage with tools/export_isaac (native frame)

Layout

All data sits under data/. The config maps (the default: datasets.load_dataset("<id>")) is the image folder data/maps/ with one row per map: image, area, area_name, level, level_name, hub, frame_isaac_m, source, width, height, engine, truth (the path of the map's warp) and sha256 (data/maps/metadata.jsonl).

• data/inputs/<area>/: the area's files in the format of the kit's PROMPT.md 1.3: topdown_rgb.png (orthographic top-down, 3200 px, 0.078125 m/px), topdown_tags.png (class ids), topdown_meta.json (frame, pixel geometry, ground), env_objects.json (every object with its box), class_table.json (ids, names, roles; the CARLA areas use the kit's template instead) and, for the two CARLA captures, transplant_manifest.json and access_evidence.json.
• data/maps/<area>/L<k>/map_2000.png: the reader copy a method is handed (2000 px); data/maps_master/<area>/L<k>/: map.png (the master) and map.pdf.
• data/truth/<area>/: evaluation side only. gt_graph/gt_graph.json (the pedestrian graph G* in Isaac metres), r_star/ (the road skeleton), and per level warp.json (map pixels <-> world metres; similarity at L0/L1, piecewise at L2-L4), labels_PRIVATE.json, drawn_graph_PRIVATE.json, georef_PRIVATE.json and inverse_grid_PRIVATE.npz. Formats: the kit's PROMPT.md 6.2.
• data/areas/<area>.json: the engine's frozen spec of the area (landmarks, names, hub, exits, parameters).
• data/review/<area>/: the contact sheet of the five maps, checks.md (every check I1-I20 + W per level) and salience.md (the landmark ranking).
• index.json: the areas' frames and sources, the engine version, and the sha256 of every file.

How to use

• Navigation experiments: give a method data/maps/<area>/L<k>/map_2000.png and a request; score it with data/truth/.
• New maps or levels: clone the MapLadder kit (framework/mapladder/ of human-map-2, or github.com/muxin-zhou/human-map-laddermap_generation), put data/inputs/<area>/ in its working folder as inputs/<area>/ and run its engine (engine/run.py --area <area> --stage all, about a minute) or launch an agent with launch.sh.
• New areas: tools/export_isaac/ of the kit exports any frame of an Isaac Sim stage that carries class labels.

Town15 is a CARLA map (MIT licence); the renders and derived data here keep that licence. Generated 2026-10-22 with MapLadder engine 1.3.0; the area ids area_D, area_E and area_M are called regions W, K and M in the project's notes.