horizontal_barriers
sequencelengths 1
4
| id
int64 0
99
| goal
sequencelengths 2
2
| vertical_barriers
sequencelengths 1
4
| range_y
sequencelengths 2
2
| description
stringlengths 153
238
| start
sequencelengths 2
2
| range_x
sequencelengths 2
2
|
|---|---|---|---|---|---|---|---|
[
[
10,
0,
25
],
[
15,
30,
50
]
] | 0 | [
20,
20
] | [
[
25,
10,
22
]
] | [
0,
31
] | design a path from [5, 5] to [20, 20] on a 51 by 31 grid that avoids horizontal barriers centered at [[10, 0, 25], [15, 30, 50]] and vertical barriers at [[25, 10, 22]]. | [
5,
5
] | [
0,
51
] |
[
[
10,
0,
25
],
[
15,
30,
50
]
] | 0 | [
3,
14
] | [
[
25,
10,
22
]
] | [
0,
31
] | design a path from [39, 22] to [3, 14] on a 51 by 31 grid that avoids horizontal barriers centered at [[10, 0, 25], [15, 30, 50]] and vertical barriers at [[25, 10, 22]]. | [
39,
22
] | [
0,
51
] |
[
[
10,
0,
25
],
[
15,
30,
50
]
] | 0 | [
44,
27
] | [
[
25,
10,
22
]
] | [
0,
31
] | design a path from [48, 4] to [44, 27] on a 51 by 31 grid that avoids horizontal barriers centered at [[10, 0, 25], [15, 30, 50]] and vertical barriers at [[25, 10, 22]]. | [
48,
4
] | [
0,
51
] |
[
[
10,
0,
25
],
[
15,
30,
50
]
] | 0 | [
5,
5
] | [
[
25,
10,
22
]
] | [
0,
31
] | design a path from [22, 12] to [5, 5] on a 51 by 31 grid that avoids horizontal barriers centered at [[10, 0, 25], [15, 30, 50]] and vertical barriers at [[25, 10, 22]]. | [
22,
12
] | [
0,
51
] |
[
[
10,
0,
25
],
[
15,
30,
50
]
] | 0 | [
27,
15
] | [
[
25,
10,
22
]
] | [
0,
31
] | design a path from [5, 5] to [27, 15] on a 51 by 31 grid that avoids horizontal barriers centered at [[10, 0, 25], [15, 30, 50]] and vertical barriers at [[25, 10, 22]]. | [
5,
5
] | [
0,
51
] |
[
[
10,
0,
25
],
[
15,
30,
50
]
] | 0 | [
47,
28
] | [
[
25,
10,
22
]
] | [
0,
31
] | design a path from [9, 3] to [47, 28] on a 51 by 31 grid that avoids horizontal barriers centered at [[10, 0, 25], [15, 30, 50]] and vertical barriers at [[25, 10, 22]]. | [
9,
3
] | [
0,
51
] |
[
[
10,
0,
25
],
[
15,
30,
50
]
] | 0 | [
47,
13
] | [
[
25,
10,
22
]
] | [
0,
31
] | design a path from [20, 20] to [47, 13] on a 51 by 31 grid that avoids horizontal barriers centered at [[10, 0, 25], [15, 30, 50]] and vertical barriers at [[25, 10, 22]]. | [
20,
20
] | [
0,
51
] |
[
[
10,
0,
25
],
[
15,
30,
50
]
] | 0 | [
5,
5
] | [
[
25,
10,
22
]
] | [
0,
31
] | design a path from [20, 20] to [5, 5] on a 51 by 31 grid that avoids horizontal barriers centered at [[10, 0, 25], [15, 30, 50]] and vertical barriers at [[25, 10, 22]]. | [
20,
20
] | [
0,
51
] |
[
[
10,
0,
25
],
[
15,
30,
50
]
] | 0 | [
40,
25
] | [
[
25,
10,
22
]
] | [
0,
31
] | design a path from [20, 6] to [40, 25] on a 51 by 31 grid that avoids horizontal barriers centered at [[10, 0, 25], [15, 30, 50]] and vertical barriers at [[25, 10, 22]]. | [
20,
6
] | [
0,
51
] |
[
[
10,
0,
25
],
[
15,
30,
50
]
] | 0 | [
28,
8
] | [
[
25,
10,
22
]
] | [
0,
31
] | design a path from [3, 27] to [28, 8] on a 51 by 31 grid that avoids horizontal barriers centered at [[10, 0, 25], [15, 30, 50]] and vertical barriers at [[25, 10, 22]]. | [
3,
27
] | [
0,
51
] |
[
[
15,
10,
21
]
] | 1 | [
5,
5
] | [
[
20,
0,
15
],
[
30,
15,
30
],
[
40,
0,
16
]
] | [
0,
31
] | design a path from [45, 25] to [5, 5] on a 51 by 31 grid that avoids horizontal barriers centered at [[15, 10, 21]] and vertical barriers at [[20, 0, 15], [30, 15, 30], [40, 0, 16]]. | [
45,
25
] | [
0,
51
] |
[
[
15,
10,
21
]
] | 1 | [
45,
25
] | [
[
20,
0,
15
],
[
30,
15,
30
],
[
40,
0,
16
]
] | [
0,
31
] | design a path from [5, 5] to [45, 25] on a 51 by 31 grid that avoids horizontal barriers centered at [[15, 10, 21]] and vertical barriers at [[20, 0, 15], [30, 15, 30], [40, 0, 16]]. | [
5,
5
] | [
0,
51
] |
[
[
15,
10,
21
]
] | 1 | [
45,
5
] | [
[
20,
0,
15
],
[
30,
15,
30
],
[
40,
0,
16
]
] | [
0,
31
] | design a path from [5, 25] to [45, 5] on a 51 by 31 grid that avoids horizontal barriers centered at [[15, 10, 21]] and vertical barriers at [[20, 0, 15], [30, 15, 30], [40, 0, 16]]. | [
5,
25
] | [
0,
51
] |
[
[
15,
10,
21
]
] | 1 | [
5,
25
] | [
[
20,
0,
15
],
[
30,
15,
30
],
[
40,
0,
16
]
] | [
0,
31
] | design a path from [45, 5] to [5, 25] on a 51 by 31 grid that avoids horizontal barriers centered at [[15, 10, 21]] and vertical barriers at [[20, 0, 15], [30, 15, 30], [40, 0, 16]]. | [
45,
5
] | [
0,
51
] |
[
[
15,
10,
21
]
] | 1 | [
25,
3
] | [
[
20,
0,
15
],
[
30,
15,
30
],
[
40,
0,
16
]
] | [
0,
31
] | design a path from [35, 24] to [25, 3] on a 51 by 31 grid that avoids horizontal barriers centered at [[15, 10, 21]] and vertical barriers at [[20, 0, 15], [30, 15, 30], [40, 0, 16]]. | [
35,
24
] | [
0,
51
] |
[
[
15,
10,
21
]
] | 1 | [
25,
25
] | [
[
20,
0,
15
],
[
30,
15,
30
],
[
40,
0,
16
]
] | [
0,
31
] | design a path from [35, 24] to [25, 25] on a 51 by 31 grid that avoids horizontal barriers centered at [[15, 10, 21]] and vertical barriers at [[20, 0, 15], [30, 15, 30], [40, 0, 16]]. | [
35,
24
] | [
0,
51
] |
[
[
15,
10,
21
]
] | 1 | [
45,
25
] | [
[
20,
0,
15
],
[
30,
15,
30
],
[
40,
0,
16
]
] | [
0,
31
] | design a path from [5, 25] to [45, 25] on a 51 by 31 grid that avoids horizontal barriers centered at [[15, 10, 21]] and vertical barriers at [[20, 0, 15], [30, 15, 30], [40, 0, 16]]. | [
5,
25
] | [
0,
51
] |
[
[
15,
10,
21
]
] | 1 | [
16,
2
] | [
[
20,
0,
15
],
[
30,
15,
30
],
[
40,
0,
16
]
] | [
0,
31
] | design a path from [45, 25] to [16, 2] on a 51 by 31 grid that avoids horizontal barriers centered at [[15, 10, 21]] and vertical barriers at [[20, 0, 15], [30, 15, 30], [40, 0, 16]]. | [
45,
25
] | [
0,
51
] |
[
[
15,
10,
21
]
] | 1 | [
22,
4
] | [
[
20,
0,
15
],
[
30,
15,
30
],
[
40,
0,
16
]
] | [
0,
31
] | design a path from [5, 25] to [22, 4] on a 51 by 31 grid that avoids horizontal barriers centered at [[15, 10, 21]] and vertical barriers at [[20, 0, 15], [30, 15, 30], [40, 0, 16]]. | [
5,
25
] | [
0,
51
] |
[
[
15,
10,
21
]
] | 1 | [
5,
25
] | [
[
20,
0,
15
],
[
30,
15,
30
],
[
40,
0,
16
]
] | [
0,
31
] | design a path from [43, 3] to [5, 25] on a 51 by 31 grid that avoids horizontal barriers centered at [[15, 10, 21]] and vertical barriers at [[20, 0, 15], [30, 15, 30], [40, 0, 16]]. | [
43,
3
] | [
0,
51
] |
[
[
7,
0,
10
],
[
5,
30,
40
]
] | 2 | [
18,
8
] | [
[
14,
12,
30
],
[
40,
0,
11
]
] | [
0,
31
] | design a path from [2, 3] to [18, 8] on a 51 by 31 grid that avoids horizontal barriers centered at [[7, 0, 10], [5, 30, 40]] and vertical barriers at [[14, 12, 30], [40, 0, 11]]. | [
2,
3
] | [
0,
51
] |
[
[
7,
0,
10
],
[
5,
30,
40
]
] | 2 | [
42,
4
] | [
[
14,
12,
30
],
[
40,
0,
11
]
] | [
0,
31
] | design a path from [18, 8] to [42, 4] on a 51 by 31 grid that avoids horizontal barriers centered at [[7, 0, 10], [5, 30, 40]] and vertical barriers at [[14, 12, 30], [40, 0, 11]]. | [
18,
8
] | [
0,
51
] |
[
[
7,
0,
10
],
[
5,
30,
40
]
] | 2 | [
2,
3
] | [
[
14,
12,
30
],
[
40,
0,
11
]
] | [
0,
31
] | design a path from [6, 10] to [2, 3] on a 51 by 31 grid that avoids horizontal barriers centered at [[7, 0, 10], [5, 30, 40]] and vertical barriers at [[14, 12, 30], [40, 0, 11]]. | [
6,
10
] | [
0,
51
] |
[
[
7,
0,
10
],
[
5,
30,
40
]
] | 2 | [
2,
28
] | [
[
14,
12,
30
],
[
40,
0,
11
]
] | [
0,
31
] | design a path from [18, 8] to [2, 28] on a 51 by 31 grid that avoids horizontal barriers centered at [[7, 0, 10], [5, 30, 40]] and vertical barriers at [[14, 12, 30], [40, 0, 11]]. | [
18,
8
] | [
0,
51
] |
[
[
7,
0,
10
],
[
5,
30,
40
]
] | 2 | [
40,
25
] | [
[
14,
12,
30
],
[
40,
0,
11
]
] | [
0,
31
] | design a path from [2, 28] to [40, 25] on a 51 by 31 grid that avoids horizontal barriers centered at [[7, 0, 10], [5, 30, 40]] and vertical barriers at [[14, 12, 30], [40, 0, 11]]. | [
2,
28
] | [
0,
51
] |
[
[
7,
0,
10
],
[
5,
30,
40
]
] | 2 | [
18,
8
] | [
[
14,
12,
30
],
[
40,
0,
11
]
] | [
0,
31
] | design a path from [42, 4] to [18, 8] on a 51 by 31 grid that avoids horizontal barriers centered at [[7, 0, 10], [5, 30, 40]] and vertical barriers at [[14, 12, 30], [40, 0, 11]]. | [
42,
4
] | [
0,
51
] |
[
[
7,
0,
10
],
[
5,
30,
40
]
] | 2 | [
2,
3
] | [
[
14,
12,
30
],
[
40,
0,
11
]
] | [
0,
31
] | design a path from [2, 28] to [2, 3] on a 51 by 31 grid that avoids horizontal barriers centered at [[7, 0, 10], [5, 30, 40]] and vertical barriers at [[14, 12, 30], [40, 0, 11]]. | [
2,
28
] | [
0,
51
] |
[
[
7,
0,
10
],
[
5,
30,
40
]
] | 2 | [
18,
8
] | [
[
14,
12,
30
],
[
40,
0,
11
]
] | [
0,
31
] | design a path from [38, 3] to [18, 8] on a 51 by 31 grid that avoids horizontal barriers centered at [[7, 0, 10], [5, 30, 40]] and vertical barriers at [[14, 12, 30], [40, 0, 11]]. | [
38,
3
] | [
0,
51
] |
[
[
7,
0,
10
],
[
5,
30,
40
]
] | 2 | [
2,
3
] | [
[
14,
12,
30
],
[
40,
0,
11
]
] | [
0,
31
] | design a path from [45, 25] to [2, 3] on a 51 by 31 grid that avoids horizontal barriers centered at [[7, 0, 10], [5, 30, 40]] and vertical barriers at [[14, 12, 30], [40, 0, 11]]. | [
45,
25
] | [
0,
51
] |
[
[
7,
0,
10
],
[
5,
30,
40
]
] | 2 | [
16,
14
] | [
[
14,
12,
30
],
[
40,
0,
11
]
] | [
0,
31
] | design a path from [10, 29] to [16, 14] on a 51 by 31 grid that avoids horizontal barriers centered at [[7, 0, 10], [5, 30, 40]] and vertical barriers at [[14, 12, 30], [40, 0, 11]]. | [
10,
29
] | [
0,
51
] |
[
[
15,
20,
30
],
[
15,
35,
50
]
] | 3 | [
10,
10
] | [
[
20,
4,
30
]
] | [
0,
31
] | design a path from [40, 20] to [10, 10] on a 51 by 31 grid that avoids horizontal barriers centered at [[15, 20, 30], [15, 35, 50]] and vertical barriers at [[20, 4, 30]]. | [
40,
20
] | [
0,
51
] |
[
[
15,
20,
30
],
[
15,
35,
50
]
] | 3 | [
40,
20
] | [
[
20,
4,
30
]
] | [
0,
31
] | design a path from [10, 10] to [40, 20] on a 51 by 31 grid that avoids horizontal barriers centered at [[15, 20, 30], [15, 35, 50]] and vertical barriers at [[20, 4, 30]]. | [
10,
10
] | [
0,
51
] |
[
[
15,
20,
30
],
[
15,
35,
50
]
] | 3 | [
10,
10
] | [
[
20,
4,
30
]
] | [
0,
31
] | design a path from [40, 10] to [10, 10] on a 51 by 31 grid that avoids horizontal barriers centered at [[15, 20, 30], [15, 35, 50]] and vertical barriers at [[20, 4, 30]]. | [
40,
10
] | [
0,
51
] |
[
[
15,
20,
30
],
[
15,
35,
50
]
] | 3 | [
24,
12
] | [
[
20,
4,
30
]
] | [
0,
31
] | design a path from [12, 18] to [24, 12] on a 51 by 31 grid that avoids horizontal barriers centered at [[15, 20, 30], [15, 35, 50]] and vertical barriers at [[20, 4, 30]]. | [
12,
18
] | [
0,
51
] |
[
[
15,
20,
30
],
[
15,
35,
50
]
] | 3 | [
19,
2
] | [
[
20,
4,
30
]
] | [
0,
31
] | design a path from [34, 12] to [19, 2] on a 51 by 31 grid that avoids horizontal barriers centered at [[15, 20, 30], [15, 35, 50]] and vertical barriers at [[20, 4, 30]]. | [
34,
12
] | [
0,
51
] |
[
[
15,
20,
30
],
[
15,
35,
50
]
] | 3 | [
22,
26
] | [
[
20,
4,
30
]
] | [
0,
31
] | design a path from [44, 10] to [22, 26] on a 51 by 31 grid that avoids horizontal barriers centered at [[15, 20, 30], [15, 35, 50]] and vertical barriers at [[20, 4, 30]]. | [
44,
10
] | [
0,
51
] |
[
[
15,
20,
30
],
[
15,
35,
50
]
] | 3 | [
15,
15
] | [
[
20,
4,
30
]
] | [
0,
31
] | design a path from [32, 15] to [15, 15] on a 51 by 31 grid that avoids horizontal barriers centered at [[15, 20, 30], [15, 35, 50]] and vertical barriers at [[20, 4, 30]]. | [
32,
15
] | [
0,
51
] |
[
[
15,
20,
30
],
[
15,
35,
50
]
] | 3 | [
19,
2
] | [
[
20,
4,
30
]
] | [
0,
31
] | design a path from [32, 15] to [19, 2] on a 51 by 31 grid that avoids horizontal barriers centered at [[15, 20, 30], [15, 35, 50]] and vertical barriers at [[20, 4, 30]]. | [
32,
15
] | [
0,
51
] |
[
[
15,
20,
30
],
[
15,
35,
50
]
] | 3 | [
34,
12
] | [
[
20,
4,
30
]
] | [
0,
31
] | design a path from [19, 2] to [34, 12] on a 51 by 31 grid that avoids horizontal barriers centered at [[15, 20, 30], [15, 35, 50]] and vertical barriers at [[20, 4, 30]]. | [
19,
2
] | [
0,
51
] |
[
[
15,
20,
30
],
[
15,
35,
50
]
] | 3 | [
47,
28
] | [
[
20,
4,
30
]
] | [
0,
31
] | design a path from [23, 11] to [47, 28] on a 51 by 31 grid that avoids horizontal barriers centered at [[15, 20, 30], [15, 35, 50]] and vertical barriers at [[20, 4, 30]]. | [
23,
11
] | [
0,
51
] |
[
[
20,
0,
20
],
[
5,
30,
40
]
] | 4 | [
16,
16
] | [
[
40,
0,
15
],
[
20,
10,
21
]
] | [
0,
31
] | design a path from [4, 4] to [16, 16] on a 51 by 31 grid that avoids horizontal barriers centered at [[20, 0, 20], [5, 30, 40]] and vertical barriers at [[40, 0, 15], [20, 10, 21]]. | [
4,
4
] | [
0,
51
] |
[
[
20,
0,
20
],
[
5,
30,
40
]
] | 4 | [
25,
25
] | [
[
40,
0,
15
],
[
20,
10,
21
]
] | [
0,
31
] | design a path from [4, 4] to [25, 25] on a 51 by 31 grid that avoids horizontal barriers centered at [[20, 0, 20], [5, 30, 40]] and vertical barriers at [[40, 0, 15], [20, 10, 21]]. | [
4,
4
] | [
0,
51
] |
[
[
20,
0,
20
],
[
5,
30,
40
]
] | 4 | [
16,
16
] | [
[
40,
0,
15
],
[
20,
10,
21
]
] | [
0,
31
] | design a path from [35, 3] to [16, 16] on a 51 by 31 grid that avoids horizontal barriers centered at [[20, 0, 20], [5, 30, 40]] and vertical barriers at [[40, 0, 15], [20, 10, 21]]. | [
35,
3
] | [
0,
51
] |
[
[
20,
0,
20
],
[
5,
30,
40
]
] | 4 | [
25,
25
] | [
[
40,
0,
15
],
[
20,
10,
21
]
] | [
0,
31
] | design a path from [35, 4] to [25, 25] on a 51 by 31 grid that avoids horizontal barriers centered at [[20, 0, 20], [5, 30, 40]] and vertical barriers at [[40, 0, 15], [20, 10, 21]]. | [
35,
4
] | [
0,
51
] |
[
[
20,
0,
20
],
[
5,
30,
40
]
] | 4 | [
44,
4
] | [
[
40,
0,
15
],
[
20,
10,
21
]
] | [
0,
31
] | design a path from [1, 28] to [44, 4] on a 51 by 31 grid that avoids horizontal barriers centered at [[20, 0, 20], [5, 30, 40]] and vertical barriers at [[40, 0, 15], [20, 10, 21]]. | [
1,
28
] | [
0,
51
] |
[
[
20,
0,
20
],
[
5,
30,
40
]
] | 4 | [
20,
5
] | [
[
40,
0,
15
],
[
20,
10,
21
]
] | [
0,
31
] | design a path from [3, 23] to [20, 5] on a 51 by 31 grid that avoids horizontal barriers centered at [[20, 0, 20], [5, 30, 40]] and vertical barriers at [[40, 0, 15], [20, 10, 21]]. | [
3,
23
] | [
0,
51
] |
[
[
20,
0,
20
],
[
5,
30,
40
]
] | 4 | [
3,
24
] | [
[
40,
0,
15
],
[
20,
10,
21
]
] | [
0,
31
] | design a path from [4, 4] to [3, 24] on a 51 by 31 grid that avoids horizontal barriers centered at [[20, 0, 20], [5, 30, 40]] and vertical barriers at [[40, 0, 15], [20, 10, 21]]. | [
4,
4
] | [
0,
51
] |
[
[
20,
0,
20
],
[
5,
30,
40
]
] | 4 | [
16,
16
] | [
[
40,
0,
15
],
[
20,
10,
21
]
] | [
0,
31
] | design a path from [35, 9] to [16, 16] on a 51 by 31 grid that avoids horizontal barriers centered at [[20, 0, 20], [5, 30, 40]] and vertical barriers at [[40, 0, 15], [20, 10, 21]]. | [
35,
9
] | [
0,
51
] |
[
[
20,
0,
20
],
[
5,
30,
40
]
] | 4 | [
16,
16
] | [
[
40,
0,
15
],
[
20,
10,
21
]
] | [
0,
31
] | design a path from [48, 28] to [16, 16] on a 51 by 31 grid that avoids horizontal barriers centered at [[20, 0, 20], [5, 30, 40]] and vertical barriers at [[40, 0, 15], [20, 10, 21]]. | [
48,
28
] | [
0,
51
] |
[
[
20,
0,
20
],
[
5,
30,
40
]
] | 4 | [
45,
15
] | [
[
40,
0,
15
],
[
20,
10,
21
]
] | [
0,
31
] | design a path from [7, 7] to [45, 15] on a 51 by 31 grid that avoids horizontal barriers centered at [[20, 0, 20], [5, 30, 40]] and vertical barriers at [[40, 0, 15], [20, 10, 21]]. | [
7,
7
] | [
0,
51
] |
[
[
7,
0,
20
],
[
15,
10,
15
]
] | 5 | [
4,
4
] | [
[
10,
15,
30
],
[
30,
0,
18
],
[
10,
0,
5
]
] | [
0,
31
] | design a path from [25, 25] to [4, 4] on a 51 by 31 grid that avoids horizontal barriers centered at [[7, 0, 20], [15, 10, 15]] and vertical barriers at [[10, 15, 30], [30, 0, 18], [10, 0, 5]]. | [
25,
25
] | [
0,
51
] |
[
[
7,
0,
20
],
[
15,
10,
15
]
] | 5 | [
25,
25
] | [
[
10,
15,
30
],
[
30,
0,
18
],
[
10,
0,
5
]
] | [
0,
31
] | design a path from [4, 4] to [25, 25] on a 51 by 31 grid that avoids horizontal barriers centered at [[7, 0, 20], [15, 10, 15]] and vertical barriers at [[10, 15, 30], [30, 0, 18], [10, 0, 5]]. | [
4,
4
] | [
0,
51
] |
[
[
7,
0,
20
],
[
15,
10,
15
]
] | 5 | [
15,
21
] | [
[
10,
15,
30
],
[
30,
0,
18
],
[
10,
0,
5
]
] | [
0,
31
] | design a path from [6, 27] to [15, 21] on a 51 by 31 grid that avoids horizontal barriers centered at [[7, 0, 20], [15, 10, 15]] and vertical barriers at [[10, 15, 30], [30, 0, 18], [10, 0, 5]]. | [
6,
27
] | [
0,
51
] |
[
[
7,
0,
20
],
[
15,
10,
15
]
] | 5 | [
4,
4
] | [
[
10,
15,
30
],
[
30,
0,
18
],
[
10,
0,
5
]
] | [
0,
31
] | design a path from [45, 3] to [4, 4] on a 51 by 31 grid that avoids horizontal barriers centered at [[7, 0, 20], [15, 10, 15]] and vertical barriers at [[10, 15, 30], [30, 0, 18], [10, 0, 5]]. | [
45,
3
] | [
0,
51
] |
[
[
7,
0,
20
],
[
15,
10,
15
]
] | 5 | [
13,
3
] | [
[
10,
15,
30
],
[
30,
0,
18
],
[
10,
0,
5
]
] | [
0,
31
] | design a path from [30, 21] to [13, 3] on a 51 by 31 grid that avoids horizontal barriers centered at [[7, 0, 20], [15, 10, 15]] and vertical barriers at [[10, 15, 30], [30, 0, 18], [10, 0, 5]]. | [
30,
21
] | [
0,
51
] |
[
[
7,
0,
20
],
[
15,
10,
15
]
] | 5 | [
6,
21
] | [
[
10,
15,
30
],
[
30,
0,
18
],
[
10,
0,
5
]
] | [
0,
31
] | design a path from [25, 25] to [6, 21] on a 51 by 31 grid that avoids horizontal barriers centered at [[7, 0, 20], [15, 10, 15]] and vertical barriers at [[10, 15, 30], [30, 0, 18], [10, 0, 5]]. | [
25,
25
] | [
0,
51
] |
[
[
7,
0,
20
],
[
15,
10,
15
]
] | 5 | [
40,
7
] | [
[
10,
15,
30
],
[
30,
0,
18
],
[
10,
0,
5
]
] | [
0,
31
] | design a path from [25, 7] to [40, 7] on a 51 by 31 grid that avoids horizontal barriers centered at [[7, 0, 20], [15, 10, 15]] and vertical barriers at [[10, 15, 30], [30, 0, 18], [10, 0, 5]]. | [
25,
7
] | [
0,
51
] |
[
[
7,
0,
20
],
[
15,
10,
15
]
] | 5 | [
35,
16
] | [
[
10,
15,
30
],
[
30,
0,
18
],
[
10,
0,
5
]
] | [
0,
31
] | design a path from [12, 17] to [35, 16] on a 51 by 31 grid that avoids horizontal barriers centered at [[7, 0, 20], [15, 10, 15]] and vertical barriers at [[10, 15, 30], [30, 0, 18], [10, 0, 5]]. | [
12,
17
] | [
0,
51
] |
[
[
7,
0,
20
],
[
15,
10,
15
]
] | 5 | [
28,
3
] | [
[
10,
15,
30
],
[
30,
0,
18
],
[
10,
0,
5
]
] | [
0,
31
] | design a path from [3, 3] to [28, 3] on a 51 by 31 grid that avoids horizontal barriers centered at [[7, 0, 20], [15, 10, 15]] and vertical barriers at [[10, 15, 30], [30, 0, 18], [10, 0, 5]]. | [
3,
3
] | [
0,
51
] |
[
[
7,
0,
20
],
[
15,
10,
15
]
] | 5 | [
34,
3
] | [
[
10,
15,
30
],
[
30,
0,
18
],
[
10,
0,
5
]
] | [
0,
31
] | design a path from [4, 4] to [34, 3] on a 51 by 31 grid that avoids horizontal barriers centered at [[7, 0, 20], [15, 10, 15]] and vertical barriers at [[10, 15, 30], [30, 0, 18], [10, 0, 5]]. | [
4,
4
] | [
0,
51
] |
[
[
21,
31,
34
],
[
0,
26,
36
],
[
12,
9,
25
]
] | 6 | [
42,
15
] | [
[
32,
6,
16
],
[
3,
2,
15
],
[
17,
1,
25
],
[
50,
10,
10
]
] | [
0,
31
] | design a path from [7, 17] to [42, 15] on a 51 by 31 grid that avoids horizontal barriers centered at [[21, 31, 34], [0, 26, 36], [12, 9, 25]] and vertical barriers at [[32, 6, 16], [3, 2, 15], [17, 1, 25], [50, 10, 10]]. | [
7,
17
] | [
0,
51
] |
[
[
21,
31,
34
],
[
0,
26,
36
],
[
12,
9,
25
]
] | 6 | [
18,
10
] | [
[
32,
6,
16
],
[
3,
2,
15
],
[
17,
1,
25
],
[
50,
10,
10
]
] | [
0,
31
] | design a path from [48, 4] to [18, 10] on a 51 by 31 grid that avoids horizontal barriers centered at [[21, 31, 34], [0, 26, 36], [12, 9, 25]] and vertical barriers at [[32, 6, 16], [3, 2, 15], [17, 1, 25], [50, 10, 10]]. | [
48,
4
] | [
0,
51
] |
[
[
21,
31,
34
],
[
0,
26,
36
],
[
12,
9,
25
]
] | 6 | [
46,
7
] | [
[
32,
6,
16
],
[
3,
2,
15
],
[
17,
1,
25
],
[
50,
10,
10
]
] | [
0,
31
] | design a path from [26, 28] to [46, 7] on a 51 by 31 grid that avoids horizontal barriers centered at [[21, 31, 34], [0, 26, 36], [12, 9, 25]] and vertical barriers at [[32, 6, 16], [3, 2, 15], [17, 1, 25], [50, 10, 10]]. | [
26,
28
] | [
0,
51
] |
[
[
21,
31,
34
],
[
0,
26,
36
],
[
12,
9,
25
]
] | 6 | [
36,
5
] | [
[
32,
6,
16
],
[
3,
2,
15
],
[
17,
1,
25
],
[
50,
10,
10
]
] | [
0,
31
] | design a path from [16, 2] to [36, 5] on a 51 by 31 grid that avoids horizontal barriers centered at [[21, 31, 34], [0, 26, 36], [12, 9, 25]] and vertical barriers at [[32, 6, 16], [3, 2, 15], [17, 1, 25], [50, 10, 10]]. | [
16,
2
] | [
0,
51
] |
[
[
21,
31,
34
],
[
0,
26,
36
],
[
12,
9,
25
]
] | 6 | [
16,
26
] | [
[
32,
6,
16
],
[
3,
2,
15
],
[
17,
1,
25
],
[
50,
10,
10
]
] | [
0,
31
] | design a path from [29, 8] to [16, 26] on a 51 by 31 grid that avoids horizontal barriers centered at [[21, 31, 34], [0, 26, 36], [12, 9, 25]] and vertical barriers at [[32, 6, 16], [3, 2, 15], [17, 1, 25], [50, 10, 10]]. | [
29,
8
] | [
0,
51
] |
[
[
21,
31,
34
],
[
0,
26,
36
],
[
12,
9,
25
]
] | 6 | [
14,
15
] | [
[
32,
6,
16
],
[
3,
2,
15
],
[
17,
1,
25
],
[
50,
10,
10
]
] | [
0,
31
] | design a path from [46, 24] to [14, 15] on a 51 by 31 grid that avoids horizontal barriers centered at [[21, 31, 34], [0, 26, 36], [12, 9, 25]] and vertical barriers at [[32, 6, 16], [3, 2, 15], [17, 1, 25], [50, 10, 10]]. | [
46,
24
] | [
0,
51
] |
[
[
21,
31,
34
],
[
0,
26,
36
],
[
12,
9,
25
]
] | 6 | [
2,
18
] | [
[
32,
6,
16
],
[
3,
2,
15
],
[
17,
1,
25
],
[
50,
10,
10
]
] | [
0,
31
] | design a path from [38, 1] to [2, 18] on a 51 by 31 grid that avoids horizontal barriers centered at [[21, 31, 34], [0, 26, 36], [12, 9, 25]] and vertical barriers at [[32, 6, 16], [3, 2, 15], [17, 1, 25], [50, 10, 10]]. | [
38,
1
] | [
0,
51
] |
[
[
21,
31,
34
],
[
0,
26,
36
],
[
12,
9,
25
]
] | 6 | [
21,
19
] | [
[
32,
6,
16
],
[
3,
2,
15
],
[
17,
1,
25
],
[
50,
10,
10
]
] | [
0,
31
] | design a path from [9, 8] to [21, 19] on a 51 by 31 grid that avoids horizontal barriers centered at [[21, 31, 34], [0, 26, 36], [12, 9, 25]] and vertical barriers at [[32, 6, 16], [3, 2, 15], [17, 1, 25], [50, 10, 10]]. | [
9,
8
] | [
0,
51
] |
[
[
21,
31,
34
],
[
0,
26,
36
],
[
12,
9,
25
]
] | 6 | [
45,
20
] | [
[
32,
6,
16
],
[
3,
2,
15
],
[
17,
1,
25
],
[
50,
10,
10
]
] | [
0,
31
] | design a path from [15, 1] to [45, 20] on a 51 by 31 grid that avoids horizontal barriers centered at [[21, 31, 34], [0, 26, 36], [12, 9, 25]] and vertical barriers at [[32, 6, 16], [3, 2, 15], [17, 1, 25], [50, 10, 10]]. | [
15,
1
] | [
0,
51
] |
[
[
21,
31,
34
],
[
0,
26,
36
],
[
12,
9,
25
]
] | 6 | [
39,
15
] | [
[
32,
6,
16
],
[
3,
2,
15
],
[
17,
1,
25
],
[
50,
10,
10
]
] | [
0,
31
] | design a path from [13, 6] to [39, 15] on a 51 by 31 grid that avoids horizontal barriers centered at [[21, 31, 34], [0, 26, 36], [12, 9, 25]] and vertical barriers at [[32, 6, 16], [3, 2, 15], [17, 1, 25], [50, 10, 10]]. | [
13,
6
] | [
0,
51
] |
[
[
13,
34,
35
],
[
4,
47,
50
],
[
4,
3,
49
]
] | 7 | [
44,
23
] | [
[
44,
14,
14
],
[
9,
6,
24
]
] | [
0,
31
] | design a path from [1, 24] to [44, 23] on a 51 by 31 grid that avoids horizontal barriers centered at [[13, 34, 35], [4, 47, 50], [4, 3, 49]] and vertical barriers at [[44, 14, 14], [9, 6, 24]]. | [
1,
24
] | [
0,
51
] |
[
[
13,
34,
35
],
[
4,
47,
50
],
[
4,
3,
49
]
] | 7 | [
38,
17
] | [
[
44,
14,
14
],
[
9,
6,
24
]
] | [
0,
31
] | design a path from [1, 12] to [38, 17] on a 51 by 31 grid that avoids horizontal barriers centered at [[13, 34, 35], [4, 47, 50], [4, 3, 49]] and vertical barriers at [[44, 14, 14], [9, 6, 24]]. | [
1,
12
] | [
0,
51
] |
[
[
13,
34,
35
],
[
4,
47,
50
],
[
4,
3,
49
]
] | 7 | [
10,
1
] | [
[
44,
14,
14
],
[
9,
6,
24
]
] | [
0,
31
] | design a path from [24, 23] to [10, 1] on a 51 by 31 grid that avoids horizontal barriers centered at [[13, 34, 35], [4, 47, 50], [4, 3, 49]] and vertical barriers at [[44, 14, 14], [9, 6, 24]]. | [
24,
23
] | [
0,
51
] |
[
[
13,
34,
35
],
[
4,
47,
50
],
[
4,
3,
49
]
] | 7 | [
46,
7
] | [
[
44,
14,
14
],
[
9,
6,
24
]
] | [
0,
31
] | design a path from [6, 8] to [46, 7] on a 51 by 31 grid that avoids horizontal barriers centered at [[13, 34, 35], [4, 47, 50], [4, 3, 49]] and vertical barriers at [[44, 14, 14], [9, 6, 24]]. | [
6,
8
] | [
0,
51
] |
[
[
13,
34,
35
],
[
4,
47,
50
],
[
4,
3,
49
]
] | 7 | [
7,
25
] | [
[
44,
14,
14
],
[
9,
6,
24
]
] | [
0,
31
] | design a path from [32, 10] to [7, 25] on a 51 by 31 grid that avoids horizontal barriers centered at [[13, 34, 35], [4, 47, 50], [4, 3, 49]] and vertical barriers at [[44, 14, 14], [9, 6, 24]]. | [
32,
10
] | [
0,
51
] |
[
[
13,
34,
35
],
[
4,
47,
50
],
[
4,
3,
49
]
] | 7 | [
14,
2
] | [
[
44,
14,
14
],
[
9,
6,
24
]
] | [
0,
31
] | design a path from [15, 16] to [14, 2] on a 51 by 31 grid that avoids horizontal barriers centered at [[13, 34, 35], [4, 47, 50], [4, 3, 49]] and vertical barriers at [[44, 14, 14], [9, 6, 24]]. | [
15,
16
] | [
0,
51
] |
[
[
13,
34,
35
],
[
4,
47,
50
],
[
4,
3,
49
]
] | 7 | [
18,
9
] | [
[
44,
14,
14
],
[
9,
6,
24
]
] | [
0,
31
] | design a path from [18, 2] to [18, 9] on a 51 by 31 grid that avoids horizontal barriers centered at [[13, 34, 35], [4, 47, 50], [4, 3, 49]] and vertical barriers at [[44, 14, 14], [9, 6, 24]]. | [
18,
2
] | [
0,
51
] |
[
[
13,
34,
35
],
[
4,
47,
50
],
[
4,
3,
49
]
] | 7 | [
37,
15
] | [
[
44,
14,
14
],
[
9,
6,
24
]
] | [
0,
31
] | design a path from [4, 18] to [37, 15] on a 51 by 31 grid that avoids horizontal barriers centered at [[13, 34, 35], [4, 47, 50], [4, 3, 49]] and vertical barriers at [[44, 14, 14], [9, 6, 24]]. | [
4,
18
] | [
0,
51
] |
[
[
13,
34,
35
],
[
4,
47,
50
],
[
4,
3,
49
]
] | 7 | [
19,
12
] | [
[
44,
14,
14
],
[
9,
6,
24
]
] | [
0,
31
] | design a path from [19, 2] to [19, 12] on a 51 by 31 grid that avoids horizontal barriers centered at [[13, 34, 35], [4, 47, 50], [4, 3, 49]] and vertical barriers at [[44, 14, 14], [9, 6, 24]]. | [
19,
2
] | [
0,
51
] |
[
[
13,
34,
35
],
[
4,
47,
50
],
[
4,
3,
49
]
] | 7 | [
8,
21
] | [
[
44,
14,
14
],
[
9,
6,
24
]
] | [
0,
31
] | design a path from [26, 21] to [8, 21] on a 51 by 31 grid that avoids horizontal barriers centered at [[13, 34, 35], [4, 47, 50], [4, 3, 49]] and vertical barriers at [[44, 14, 14], [9, 6, 24]]. | [
26,
21
] | [
0,
51
] |
[
[
27,
14,
33
],
[
10,
38,
47
],
[
6,
1,
44
]
] | 8 | [
39,
1
] | [
[
33,
19,
28
],
[
4,
30,
31
],
[
16,
28,
30
]
] | [
0,
31
] | design a path from [20, 14] to [39, 1] on a 51 by 31 grid that avoids horizontal barriers centered at [[27, 14, 33], [10, 38, 47], [6, 1, 44]] and vertical barriers at [[33, 19, 28], [4, 30, 31], [16, 28, 30]]. | [
20,
14
] | [
0,
51
] |
[
[
27,
14,
33
],
[
10,
38,
47
],
[
6,
1,
44
]
] | 8 | [
24,
29
] | [
[
33,
19,
28
],
[
4,
30,
31
],
[
16,
28,
30
]
] | [
0,
31
] | design a path from [19, 12] to [24, 29] on a 51 by 31 grid that avoids horizontal barriers centered at [[27, 14, 33], [10, 38, 47], [6, 1, 44]] and vertical barriers at [[33, 19, 28], [4, 30, 31], [16, 28, 30]]. | [
19,
12
] | [
0,
51
] |
[
[
27,
14,
33
],
[
10,
38,
47
],
[
6,
1,
44
]
] | 8 | [
12,
4
] | [
[
33,
19,
28
],
[
4,
30,
31
],
[
16,
28,
30
]
] | [
0,
31
] | design a path from [27, 19] to [12, 4] on a 51 by 31 grid that avoids horizontal barriers centered at [[27, 14, 33], [10, 38, 47], [6, 1, 44]] and vertical barriers at [[33, 19, 28], [4, 30, 31], [16, 28, 30]]. | [
27,
19
] | [
0,
51
] |
[
[
27,
14,
33
],
[
10,
38,
47
],
[
6,
1,
44
]
] | 8 | [
41,
15
] | [
[
33,
19,
28
],
[
4,
30,
31
],
[
16,
28,
30
]
] | [
0,
31
] | design a path from [42, 1] to [41, 15] on a 51 by 31 grid that avoids horizontal barriers centered at [[27, 14, 33], [10, 38, 47], [6, 1, 44]] and vertical barriers at [[33, 19, 28], [4, 30, 31], [16, 28, 30]]. | [
42,
1
] | [
0,
51
] |
[
[
27,
14,
33
],
[
10,
38,
47
],
[
6,
1,
44
]
] | 8 | [
7,
2
] | [
[
33,
19,
28
],
[
4,
30,
31
],
[
16,
28,
30
]
] | [
0,
31
] | design a path from [48, 10] to [7, 2] on a 51 by 31 grid that avoids horizontal barriers centered at [[27, 14, 33], [10, 38, 47], [6, 1, 44]] and vertical barriers at [[33, 19, 28], [4, 30, 31], [16, 28, 30]]. | [
48,
10
] | [
0,
51
] |
[
[
27,
14,
33
],
[
10,
38,
47
],
[
6,
1,
44
]
] | 8 | [
22,
1
] | [
[
33,
19,
28
],
[
4,
30,
31
],
[
16,
28,
30
]
] | [
0,
31
] | design a path from [28, 26] to [22, 1] on a 51 by 31 grid that avoids horizontal barriers centered at [[27, 14, 33], [10, 38, 47], [6, 1, 44]] and vertical barriers at [[33, 19, 28], [4, 30, 31], [16, 28, 30]]. | [
28,
26
] | [
0,
51
] |
[
[
27,
14,
33
],
[
10,
38,
47
],
[
6,
1,
44
]
] | 8 | [
6,
14
] | [
[
33,
19,
28
],
[
4,
30,
31
],
[
16,
28,
30
]
] | [
0,
31
] | design a path from [17, 4] to [6, 14] on a 51 by 31 grid that avoids horizontal barriers centered at [[27, 14, 33], [10, 38, 47], [6, 1, 44]] and vertical barriers at [[33, 19, 28], [4, 30, 31], [16, 28, 30]]. | [
17,
4
] | [
0,
51
] |
[
[
27,
14,
33
],
[
10,
38,
47
],
[
6,
1,
44
]
] | 8 | [
17,
5
] | [
[
33,
19,
28
],
[
4,
30,
31
],
[
16,
28,
30
]
] | [
0,
31
] | design a path from [42, 9] to [17, 5] on a 51 by 31 grid that avoids horizontal barriers centered at [[27, 14, 33], [10, 38, 47], [6, 1, 44]] and vertical barriers at [[33, 19, 28], [4, 30, 31], [16, 28, 30]]. | [
42,
9
] | [
0,
51
] |
[
[
27,
14,
33
],
[
10,
38,
47
],
[
6,
1,
44
]
] | 8 | [
24,
3
] | [
[
33,
19,
28
],
[
4,
30,
31
],
[
16,
28,
30
]
] | [
0,
31
] | design a path from [7, 13] to [24, 3] on a 51 by 31 grid that avoids horizontal barriers centered at [[27, 14, 33], [10, 38, 47], [6, 1, 44]] and vertical barriers at [[33, 19, 28], [4, 30, 31], [16, 28, 30]]. | [
7,
13
] | [
0,
51
] |
[
[
27,
14,
33
],
[
10,
38,
47
],
[
6,
1,
44
]
] | 8 | [
8,
13
] | [
[
33,
19,
28
],
[
4,
30,
31
],
[
16,
28,
30
]
] | [
0,
31
] | design a path from [42, 29] to [8, 13] on a 51 by 31 grid that avoids horizontal barriers centered at [[27, 14, 33], [10, 38, 47], [6, 1, 44]] and vertical barriers at [[33, 19, 28], [4, 30, 31], [16, 28, 30]]. | [
42,
29
] | [
0,
51
] |
[
[
24,
20,
48
],
[
6,
50,
51
],
[
30,
40,
46
]
] | 9 | [
6,
8
] | [
[
10,
23,
27
],
[
17,
24,
29
]
] | [
0,
31
] | design a path from [25, 25] to [6, 8] on a 51 by 31 grid that avoids horizontal barriers centered at [[24, 20, 48], [6, 50, 51], [30, 40, 46]] and vertical barriers at [[10, 23, 27], [17, 24, 29]]. | [
25,
25
] | [
0,
51
] |
[
[
24,
20,
48
],
[
6,
50,
51
],
[
30,
40,
46
]
] | 9 | [
9,
29
] | [
[
10,
23,
27
],
[
17,
24,
29
]
] | [
0,
31
] | design a path from [28, 21] to [9, 29] on a 51 by 31 grid that avoids horizontal barriers centered at [[24, 20, 48], [6, 50, 51], [30, 40, 46]] and vertical barriers at [[10, 23, 27], [17, 24, 29]]. | [
28,
21
] | [
0,
51
] |
[
[
24,
20,
48
],
[
6,
50,
51
],
[
30,
40,
46
]
] | 9 | [
35,
28
] | [
[
10,
23,
27
],
[
17,
24,
29
]
] | [
0,
31
] | design a path from [10, 15] to [35, 28] on a 51 by 31 grid that avoids horizontal barriers centered at [[24, 20, 48], [6, 50, 51], [30, 40, 46]] and vertical barriers at [[10, 23, 27], [17, 24, 29]]. | [
10,
15
] | [
0,
51
] |
[
[
24,
20,
48
],
[
6,
50,
51
],
[
30,
40,
46
]
] | 9 | [
29,
11
] | [
[
10,
23,
27
],
[
17,
24,
29
]
] | [
0,
31
] | design a path from [8, 27] to [29, 11] on a 51 by 31 grid that avoids horizontal barriers centered at [[24, 20, 48], [6, 50, 51], [30, 40, 46]] and vertical barriers at [[10, 23, 27], [17, 24, 29]]. | [
8,
27
] | [
0,
51
] |
[
[
24,
20,
48
],
[
6,
50,
51
],
[
30,
40,
46
]
] | 9 | [
18,
3
] | [
[
10,
23,
27
],
[
17,
24,
29
]
] | [
0,
31
] | design a path from [36, 27] to [18, 3] on a 51 by 31 grid that avoids horizontal barriers centered at [[24, 20, 48], [6, 50, 51], [30, 40, 46]] and vertical barriers at [[10, 23, 27], [17, 24, 29]]. | [
36,
27
] | [
0,
51
] |
[
[
24,
20,
48
],
[
6,
50,
51
],
[
30,
40,
46
]
] | 9 | [
33,
6
] | [
[
10,
23,
27
],
[
17,
24,
29
]
] | [
0,
31
] | design a path from [33, 28] to [33, 6] on a 51 by 31 grid that avoids horizontal barriers centered at [[24, 20, 48], [6, 50, 51], [30, 40, 46]] and vertical barriers at [[10, 23, 27], [17, 24, 29]]. | [
33,
28
] | [
0,
51
] |
[
[
24,
20,
48
],
[
6,
50,
51
],
[
30,
40,
46
]
] | 9 | [
40,
29
] | [
[
10,
23,
27
],
[
17,
24,
29
]
] | [
0,
31
] | design a path from [41, 1] to [40, 29] on a 51 by 31 grid that avoids horizontal barriers centered at [[24, 20, 48], [6, 50, 51], [30, 40, 46]] and vertical barriers at [[10, 23, 27], [17, 24, 29]]. | [
41,
1
] | [
0,
51
] |
[
[
24,
20,
48
],
[
6,
50,
51
],
[
30,
40,
46
]
] | 9 | [
29,
25
] | [
[
10,
23,
27
],
[
17,
24,
29
]
] | [
0,
31
] | design a path from [13, 5] to [29, 25] on a 51 by 31 grid that avoids horizontal barriers centered at [[24, 20, 48], [6, 50, 51], [30, 40, 46]] and vertical barriers at [[10, 23, 27], [17, 24, 29]]. | [
13,
5
] | [
0,
51
] |
[
[
24,
20,
48
],
[
6,
50,
51
],
[
30,
40,
46
]
] | 9 | [
9,
9
] | [
[
10,
23,
27
],
[
17,
24,
29
]
] | [
0,
31
] | design a path from [45, 26] to [9, 9] on a 51 by 31 grid that avoids horizontal barriers centered at [[24, 20, 48], [6, 50, 51], [30, 40, 46]] and vertical barriers at [[10, 23, 27], [17, 24, 29]]. | [
45,
26
] | [
0,
51
] |
[
[
24,
20,
48
],
[
6,
50,
51
],
[
30,
40,
46
]
] | 9 | [
13,
14
] | [
[
10,
23,
27
],
[
17,
24,
29
]
] | [
0,
31
] | design a path from [45, 29] to [13, 14] on a 51 by 31 grid that avoids horizontal barriers centered at [[24, 20, 48], [6, 50, 51], [30, 40, 46]] and vertical barriers at [[10, 23, 27], [17, 24, 29]]. | [
45,
29
] | [
0,
51
] |
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PPFT: Path Planning on Fifty x Thirty
Our dataset consists of 100 manually selected 50 × 30 maps from a randomly generated collection, each with 10 different start and goal positions. Therefore, there are 1000 samples in total. Our data conform to the standard of search-based algorithm environments in a continuous space. Each map includes the following parameters:
- x range: The minimum and maximum x-coordinates of the environment boundary range as [x min, x max].
- y range: The minimum and maximum y-coordinates of the environment boundary range as [y min, y max].
- horizontal barriers: List of horizontal barriers, each represented as [y, x start, x end].
- vertical barriers: List of vertical barriers, each represented as [x, y start, y end].
- start goal: List of 10 unique start and goal positions for each map. These parameters define the structure and constraints of each map, ensuring consistency and relevance to the standard experimental environment conditions for search-based algorithms. Meanwhile, the map environment is able to scale properly for scalability experiment.
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