Update README.md with eval directory documentation

README.md

@@ -8,6 +8,17 @@ size_categories:
 - 1K<n<10K
 ---
 # COMMAND Dataset 😃
+
+## 🤗 Dataset Availability
+
+The **evaluation data** from this dataset is now available on Hugging Face:
+- **Repository**: [maum-ai/COMMAND](https://huggingface.co/datasets/maum-ai/COMMAND)
+- **Content**: 60 evaluation scenarios (240 files, ~38GB)
+- **File Types**: ROS bagfiles (`.bag`), metadata (`.json`), instructions (`.npy`), visualizations (`.png`)
+- **Purpose**: Standardized evaluation set for benchmarking navigation models
+- **Upload Date**: September 25, 2025
+- **Status**: ✅ Successfully uploaded and verified
+
 ## Dataset Structure 🗂️
 
 The **COMMAND_dataset** is organized as follows:
@@ -23,9 +34,14 @@ COMMAND_dataset/
 │        └─ .yml          # Map info (for ROS map server)
 ├─ bagfiles/                      # Directory containing ROS bagfiles 🎥
 │  └─ .bag                  # ROS bagfile with unique identifier
-└─ scenarios/                     # Directory containing scenario information 📜
-├─.json                 # Scenario schema
-└─.npy                  # Sketch instructions
+├─ scenarios/                     # Directory containing scenario information 📜
+│  ├─.json                 # Scenario schema
+│  └─.npy                  # Sketch instructions
+└─ eval/                          # Directory containing evaluation scenarios 🧪
+   ├─.bag                   # ROS bagfile for evaluation
+   ├─.json                  # Evaluation scenario schema
+   ├─.npy                   # Evaluation sketch instructions
+   └─.png                   # Evaluation scenario visualization
 ```
 
 How to extract the dataset:
@@ -50,9 +66,12 @@ tar --use-compress-program=zstd -xf COMMAND.tar.zst
 | Avg. FD (P / M)    | 1.05 / 1.77         | 0.97 / 2.02                     | 3.03 / 3.50                             | 1.91 / 3.76           |
 | % of Misleading    | 31%                 | 51%                             | 50%                                     | 39%                   |
 
-Total : 3317 bagfiles, includes 48 hours of driving data over 219 kilometers.
+**Training Data:** 3,317 bagfiles, includes 48 hours of driving data over 219 kilometers.
+**Evaluation Data:** 60 bagfiles for standardized model evaluation.
+
+**Total:** 3,377 bagfiles in the complete dataset.
 
-**Note:** These values differ slightly from the paper because the data version history is missing.
+**Note:** Training data values differ slightly from the paper because the data version history is missing.
 
 ## Directory Details 🏗️
 
@@ -69,6 +88,17 @@ Total : 3317 bagfiles, includes 48 hours of driving data over 219 kilometers.
 - **`<uuid>.json`**: Scenario schema file describing the scenario.
 - **`<uuid>.npy`**: Scenario annotations (sketch instructions). It contains a list of `(y, x)` pixel coordinates on the corresponding `sketch_map_name` map image.
 
+### `eval/`
+- **`<uuid>.bag`**: ROS bagfile containing expert demonstration data for the evaluation scenario with robot sensor readings and control commands.
+- **`<uuid>.json`**: Evaluation scenario schema file with the same structure as training scenarios but specifically designed for model evaluation.
+- **`<uuid>.npy`**: Evaluation sketch instructions containing `(y, x)` pixel coordinates on the corresponding map image.
+- **`<uuid>.png`**: Visualization image of the evaluation scenario showing the trajectory and environment.
+
+**Evaluation Statistics:**
+- **Total scenarios**: 60 evaluation scenarios (10 scenarios per each of the five environments + unseen environment Art museum (sim_art_museum))
+- **File types**: 4 files per scenario (`.bag`, `.json`, `.npy`, `.png`)
+- **Purpose**: Standardized evaluation set for benchmarking navigation models trained on the COMMAND dataset
+
 ---
 
 ### Topics in ROS Bagfiles 🎥
@@ -90,7 +120,7 @@ Total : 3317 bagfiles, includes 48 hours of driving data over 219 kilometers.
 
 5. **`/odom`**
    - **Message Type**: `nav_msgs/msg/Odometry`
-   - **Description**: Offers an estimate of the robot’s position and velocity in free space. This serves as ground-truth data in simulation.
+   - **Description**: Offers an estimate of the robot's position and velocity in free space. This serves as ground-truth data in simulation.
 
 6. **`/rgb_front/camera_info`, `/rgb_left/camera_info`, `/rgb_right/camera_info`**
    - **Message Type**: `sensor_msgs/msg/CameraInfo`
@@ -104,7 +134,9 @@ Total : 3317 bagfiles, includes 48 hours of driving data over 219 kilometers.
    - **Message Type**: `tf2_msgs/msg/TFMessage`
    - **Description**: Provides an odom-to-base_link transform.
 
-### Schema of Scenario JSON 📜
+### Schema of Scenario JSON ��
+Both training scenarios (in `scenarios/`) and evaluation scenarios (in `eval/`) follow the same JSON schema:
+
 - **`semantic_uuid`**: A unique identifier for the scenario. Combines map name, scenario name, and either "precise" or "misleading," followed by the scenario number.
 - **`map_name`**: The name of the map where the scenario is located.
 - **`sketch_map_name`**: The map where the sketch instructions are provided.
@@ -135,4 +167,4 @@ If you find this work useful, please cite our paper:
   journal={arXiv preprint arXiv:2410.01273},
   year={2024}
 }
-```
+```