etcetra7n/atlas-v1

Atlas Navigation Dataset v1

This dataset is composed of manual user-input keyboard navigation (WASD) commands. The user was told to navigate a rover to a destination point in a procedurally generated mars-like terrain in a godot-based game. The new terrain is generated for each run using perlin-noise. The data is collected at a rate of 15 samples per second

A single data sample consists of :

{
  "frame_id",
  "dest_x",
  "dest_y",
  
  "pos_x",
  "pos_y",
  "fwd_x",
  "fwd_y",
  "fwd_z",
  
  "mv_fwd",
  "mv_right",
  "steer",
}

Foler structure:

data.tar.zst
└──data
   ├───run_0001
   │   ├───frames
   │   │   ├───0.png
   │   │   ├───1.png
   │   │   ├───2.png
   │   │   ├───3.png
   │   │   └───...
   │   └───labels.jsonl
   ├───run_0002
   │   ├───frames
   │   │   ├───0.png
   │   │   ├───1.png
   │   │   ├───2.png
   │   │   ├───3.png
   │   │   └───...
   │   └───labels.jsonl
   ├───...
   └───run_0066
       ├───frames
       │   ├───0.png
       │   ├───1.png
       │   ├───2.png
       │   ├───3.png
       │   └───...
       └───labels.jsonl

• each run has its own uniquely generated terrain
• here frame_id is a number ranging from 0 to n where n is the number of samples in a run, and corresponds to the image number. For example, if frame_id is 12, then its corresponding frame image is 12.png
• dest_x, dest_y represent the destination coordinate to where the rover is eventually navigated
• pos_x, pos_y represent the current position of the rover
• fwd_x, fwd_y, fwd_z represent a direction vector indicating the direction in which the rover is headed
• mv_fwd is a number than can have values of -1,0 or 1. 1 means the user is commanding the rover to move forward (by pressing W key). -1 represent the user is commanding the rover to move backward (reverse) (by pressing S key). 0 means neither forward/reverse motion is in place
• mv_right is a number than can have values of -1,0 or 1. 1 means right command (D key), -1 means left command 0 means neither
• steer is a number than can have values of -1,0 or 1. 1 means clockwise rotation command, -1 is counter-clockwise command and 0 is neither

Visit the GitHub repo for the source code of simulation, training etc.