WayFASTER: a Self-Supervised Traversability Prediction for Increased Navigation Awareness
Paper • 2402.00683 • Published
Dataset Viewer
The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code: StreamingRowsError
Exception: ValueError
Message: Invalid string class label wayfast_ts_dataset@11f4099904d80a1c8508a0b7af0e7d5c3b1f92fd
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 149, in get_rows_or_raise
return get_rows(
dataset=dataset,
...<4 lines>...
column_names=column_names,
)
File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
return func(*args, **kwargs)
File "/src/services/worker/src/worker/utils.py", line 129, in get_rows
rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
File "/src/services/worker/src/worker/utils.py", line 544, in safe_iter
yield from ds.decode(False) if ds.features else ds
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 3052, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2572, in __iter__
example = _apply_feature_types_on_example(
example, self.features, token_per_repo_id=self.token_per_repo_id
)
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2489, in _apply_feature_types_on_example
encoded_example = features.encode_example(example)
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 2244, in encode_example
return encode_nested_example(self, example)
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1518, in encode_nested_example
{k: encode_nested_example(schema[k], obj.get(k), level=level + 1) for k in schema}
~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1541, in encode_nested_example
return schema.encode_example(obj) if obj is not None else None
~~~~~~~~~~~~~~~~~~~~~^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1210, in encode_example
example_data = self.str2int(example_data)
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1147, in str2int
output = [self._strval2int(value) for value in values]
~~~~~~~~~~~~~~~~^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1168, in _strval2int
raise ValueError(f"Invalid string class label {value}")
ValueError: Invalid string class label wayfast_ts_dataset@11f4099904d80a1c8508a0b7af0e7d5c3b1f92fdNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
WayFAST / WayFASTER TerraSentia Dataset
This repository hosts field recordings from the TerraSentia wheeled robot, originally collected for the WayFAST and WayFASTER traversability prediction works. We use this data in the Capability-Aware Traversability (CAT) project.
Contents
The data is split into .zip files, one per recording session (~38.5 GB in total). Each file name contains the date and time of the recording:
| Files | Period |
|---|---|
dataset_ts_2022_*.zip (12 files) |
April – July 2022 |
dataset_terrasentia_2023-11-21-*.zip (4 files) |
November 2023 |
Download
from huggingface_hub import snapshot_download
snapshot_download(
repo_id="CAT-IROS-2026/wayfast_ts_dataset",
repo_type="dataset",
local_dir="wayfast_ts_dataset",
)
To download a single session, add allow_patterns="dataset_ts_2022_04_10_14h27m23s.zip" (or any other file name).
Acknowledgements
A big thank you to Mateus Valverde Gasparino for collecting and kindly releasing the WayFAST and WayFASTER data, which made this work possible. 🙏
If you use this data, please cite the original works:
@article{gasparino2022wayfast,
title = {WayFAST: Navigation With Predictive Traversability in the Field},
author = {Gasparino, Mateus Valverde and Sivakumar, Arun Narenthiran and Liu, Yixiao and Velasquez, Andres Eduardo Baquero and Higuti, Vitor Akihiro Hisano and Rogers, John and Tran, Huy and Chowdhary, Girish},
journal = {IEEE Robotics and Automation Letters},
year = {2022}
}
@inproceedings{gasparino2024wayfaster,
title = {WayFASTER: a Self-Supervised Traversability Prediction for Increased Navigation Awareness},
author = {Gasparino, Mateus Valverde and Sivakumar, Arun Narenthiran and Chowdhary, Girish},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
year = {2024}
}
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