Rename dataset manifest and add dataset illustrations

.gitattributes

@@ -7,3 +7,5 @@
 *.sha256 text
 LICENSE text
 VERSION text
+docs/assets/*.pdf filter=lfs diff=lfs merge=lfs -text
+docs/assets/*.png filter=lfs diff=lfs merge=lfs -text

README.md

@@ -212,7 +212,7 @@ See `spatial_splits.json` for the final frozen spawn indices.
 
 ```text
 dataset_info.json          Dataset-level release summary.
-benchmark_manifest.json    Episode, domain, split, shard, and provenance manifest.
+dataset_manifest.json    Episode, domain, split, shard, and provenance manifest.
 spatial_splits.json        Frozen spatial train/validation/test split.
 shards_manifest.csv        Shard-level manifest with SHA256 checksums.
 checksums.sha256           SHA256 checksum file for all tar shards.
@@ -254,3 +254,13 @@ All authors contributed equally to this work.
 ## Limitations
 
 EgoSpatial-CL is a simulated dataset. It does not provide continuous intra-sequence domain transitions, optical flow, dense depth, 2D/3D object boxes, or multi-view camera annotations. It should be used as a compact, spatially controlled dataset for navigation/control-oriented studies rather than as a replacement for large-scale perception datasets.
+
+## Dataset illustrations
+
+![Weather and traffic examples](docs/assets/weather_traffic.png)
+
+Weather and traffic at two Town02 starting slots. [Frame identities, trajectory maps by split, and reproduction links](docs/figures.md).
+
+![Trajectories by split](docs/assets/trajectories_by_split.png)
+
+The release manifest is named `dataset_manifest.json`. The filename replaces the earlier name; its contents and the frozen split are unchanged.

dataset_info.json

@@ -75,6 +75,6 @@
     "episode_id": "town-local integer identifier in the original episode directory naming scheme",
     "episode": "town-local episode directory name, unique only together with town and split",
     "episode_uid": "release-level unique episode identifier formatted as <town>/<split>/<episode>",
-    "global_episode_index": "release-level integer index assigned in benchmark_manifest.json order"
+    "global_episode_index": "release-level integer index assigned in dataset_manifest.json order"
   }
 }

docs/assets/trajectories_by_split.pdf

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d1daa463f720b56282303b892285adb0e56386f146751f3ab963bb7bc2a8452
+size 171103

docs/assets/weather_traffic.pdf

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bffd91ff06bbd71ec00e89ec1e28da0ffe27750ab477a0b7d93a620c43cdb7fe
+size 3410483

docs/assets/weather_traffic_frames.json

@@ -0,0 +1,92 @@
+{
+  "frames": [
+    {
+      "row": 1,
+      "column": 1,
+      "episode_uid": "Town02_Opt/train/episode_0000",
+      "frame": 7847,
+      "rgb_path": "Town02_Opt/train/episode_0000/images/007847.png",
+      "sha256": "e6f9c7aabb9af806ce20c2efa51793eee664c07e00dc7bc67575780447f217f5",
+      "domain": "clear__NPC00_none",
+      "spawn_index": 84
+    },
+    {
+      "row": 1,
+      "column": 2,
+      "episode_uid": "Town02_Opt/train/episode_0030",
+      "frame": 106232,
+      "rgb_path": "Town02_Opt/train/episode_0030/images/106232.png",
+      "sha256": "2487905cbc2ff79919f2507cab13b6d362468f56224b11a01e4e3f3e4d5e65a3",
+      "domain": "hardrain__NPC00_none",
+      "spawn_index": 84
+    },
+    {
+      "row": 1,
+      "column": 3,
+      "episode_uid": "Town02_Opt/train/episode_0040",
+      "frame": 25719,
+      "rgb_path": "Town02_Opt/train/episode_0040/images/025719.png",
+      "sha256": "b44acd218373c5fbd398345050c280adb54f0686ce39ce617882c90cc63388ca",
+      "domain": "clear__NPC11_veh_high",
+      "spawn_index": 84
+    },
+    {
+      "row": 1,
+      "column": 4,
+      "episode_uid": "Town02_Opt/train/episode_0050",
+      "frame": 128349,
+      "rgb_path": "Town02_Opt/train/episode_0050/images/128349.png",
+      "sha256": "a5065d7780167ca53276bb9f61752e0895e39dedbf9f66421866ef25562b150a",
+      "domain": "hardrain__NPC11_veh_high",
+      "spawn_index": 84
+    },
+    {
+      "row": 2,
+      "column": 1,
+      "episode_uid": "Town02_Opt/test/episode_0009",
+      "frame": 98024,
+      "rgb_path": "Town02_Opt/test/episode_0009/images/098024.png",
+      "sha256": "289e612eb4a76f43db44b8de75d2e25037791b24dcd0adc40959689628005bf4",
+      "domain": "clear__NPC00_none",
+      "spawn_index": 5
+    },
+    {
+      "row": 2,
+      "column": 2,
+      "episode_uid": "Town02_Opt/test/episode_0039",
+      "frame": 19986,
+      "rgb_path": "Town02_Opt/test/episode_0039/images/019986.png",
+      "sha256": "6caada53b3bb156742273f2b55abc452510d20ce51a3f502c3bef1e3a5150918",
+      "domain": "hardrain__NPC00_none",
+      "spawn_index": 5
+    },
+    {
+      "row": 2,
+      "column": 3,
+      "episode_uid": "Town02_Opt/test/episode_0049",
+      "frame": 117436,
+      "rgb_path": "Town02_Opt/test/episode_0049/images/117436.png",
+      "sha256": "8e6d3fd019872f2a82622ba367b60c210642066acbda357d74c6d190c7b67051",
+      "domain": "clear__NPC11_veh_high",
+      "spawn_index": 5
+    },
+    {
+      "row": 2,
+      "column": 4,
+      "episode_uid": "Town02_Opt/test/episode_0059",
+      "frame": 17698,
+      "rgb_path": "Town02_Opt/test/episode_0059/images/017698.png",
+      "sha256": "9c0858400dc52645994fa78ce28adaa861b0071ba91188d2b1bb2120974c7f66",
+      "domain": "hardrain__NPC11_veh_high",
+      "spawn_index": 5
+    }
+  ],
+  "columns": [
+    "clear without NPCs",
+    "hard rain without NPCs",
+    "clear with vehicles",
+    "hard rain with vehicles"
+  ],
+  "maximum_xy_offset_m": 0.57,
+  "maximum_heading_offset_deg": 0.6
+}

docs/data_dictionary.md

@@ -36,8 +36,8 @@ Release-level episode identifiers:
 
 - `episode_id` is a town-local integer identifier inherited from the original episode directory naming scheme.
 - `episode` is the town-local directory name, for example `episode_0000`.
-- `episode_uid` in `benchmark_manifest.json` is the unique release-level identifier formatted as `<Town>/<split>/<episode>`.
-- `global_episode_index` in `benchmark_manifest.json` is a unique integer index assigned in manifest order.
+- `episode_uid` in `dataset_manifest.json` is the unique release-level identifier formatted as `<Town>/<split>/<episode>`.
+- `global_episode_index` in `dataset_manifest.json` is a unique integer index assigned in manifest order.
 
 
 ## Core Counts
@@ -346,9 +346,9 @@ Dataset-level summary used for release metadata.
 | `provenance` | object | Generation provenance summary. |
 | `notes` | array | Release notes. |
 
-### `benchmark_manifest.json`
+### `dataset_manifest.json`
 
-Episode-level and shard-level manifest. Despite the field name `benchmark_name`, the v1.0.0 public artifact is described primarily as a dataset with benchmark-ready splits.
+Episode-level and shard-level manifest. The legacy key `benchmark_name` is retained for schema compatibility; `dataset_name` identifies the dataset.
 
 | Field | Type | Description |
 |---|---|---|
@@ -370,7 +370,7 @@ Episode-level and shard-level manifest. Despite the field name `benchmark_name`,
 | `warnings` | array | Packaging/manifest warnings; empty for the validated v1.0.0 metadata state. |
 | `provenance` | object | Generation provenance summary. |
 
-#### `benchmark_manifest.json.episodes[]`
+#### `dataset_manifest.json.episodes[]`
 
 Each object in `episodes` describes one complete episode. Release-level uniqueness is provided by `episode_uid` and `global_episode_index`.
 
@@ -390,7 +390,7 @@ Each object in `episodes` describes one complete episode. Release-level uniquene
 | `spawn_index` | integer | CARLA spawn-point index used for the ego vehicle. |
 | `meta_summary` | object | Selected episode metadata copied from `meta.json`, including map, seed, weather label, and key weather parameters. |
 
-#### `benchmark_manifest.json.shards[]`
+#### `dataset_manifest.json.shards[]`
 
 Each object in `shards` describes one packed tar shard.
 

docs/data_provenance.md

@@ -15,7 +15,7 @@ Release status: v1.0.0 release candidate for final review
 License: CC BY 4.0
 ```
 
-The public v1.0.0 artifact is a dataset with benchmark-ready spatial and domain splits. The accompanying code repository provides dataset generation, validation, loading, and visualization utilities. Detailed continual-learning and KAN methods and evaluations are outside the scope of this dataset release and are reserved for a separate methodological article.
+The public v1.0.0 artifact is a dataset with fixed starting-location assignments and documented domains. The accompanying code repository provides dataset generation, validation, loading, and visualization utilities. Detailed continual-learning and KAN methods and evaluations are outside the scope of this dataset release and are reserved for a separate methodological article.
 
 ## Provenance Summary
 
@@ -122,7 +122,7 @@ The authoritative split records are:
 
 ```text
 spatial_splits.json
-benchmark_manifest.json
+dataset_manifest.json
 ```
 
 Episode identifiers in the release manifest:
@@ -153,7 +153,7 @@ The v1.0.0 metadata release includes:
 | File | Purpose |
 |---|---|
 | `dataset_info.json` | Dataset-level summary, version, license, repository links, counts, and provenance summary. |
-| `benchmark_manifest.json` | Episode-level and shard-level manifest with domains, splits, spawn indices, shard paths, byte sizes, and SHA256 checksums. |
+| `dataset_manifest.json` | Episode-level and shard-level manifest with domains, splits, spawn indices, shard paths, byte sizes, and SHA256 checksums. |
 | `spatial_splits.json` | Frozen spatial train/validation/test split by town and spawn index. |
 | `shards_manifest.csv` | Tabular shard manifest with path, SHA256, size, town, split, and included episodes. |
 | `checksums.sha256` | Standard SHA256 checksum file for all tar shards. |
@@ -290,7 +290,7 @@ Do not mint the dataset DOI until the following conditions are satisfied:
 - `VERSION` is final;
 - `CITATION.cff` is reviewed;
 - `dataset_info.json` has no local paths and no internal pre-release names;
-- `benchmark_manifest.json` has no local paths and includes final release metadata;
+- `dataset_manifest.json` has no local paths and includes final release metadata;
 - `checksums.sha256` and `shards_manifest.csv` are present and verified;
 - `docs/data_dictionary.md`, `docs/sensor_configuration.md`, and this provenance document are reviewed;
 - no further file renaming, repository renaming, or license changes are expected.
@@ -299,7 +299,7 @@ After DOI minting, update:
 
 - `README.md`;
 - `dataset_info.json`;
-- `benchmark_manifest.json`;
+- `dataset_manifest.json`;
 - `CITATION.cff`;
 - `docs/data_provenance.md`;
 - any Scientific Data manuscript references to the dataset repository.

docs/figures.md

@@ -0,0 +1,17 @@
+# Dataset illustrations
+
+## Weather and background traffic
+
+![Weather and traffic](assets/weather_traffic.png)
+
+Two Town02 starting slots: spawn 84 (training, top) and spawn 5 (test, bottom). Columns: clear and hard rain without traffic, followed by clear and hard rain with vehicles. Episodes with traffic requested 50 vehicles. Frames retain the full field of view; poses within each row differ by at most 0.57 m and 0.6 degrees. See [frame identifiers](assets/weather_traffic_frames.json) and [PDF](assets/weather_traffic.pdf).
+
+## Trajectories by split
+
+![Trajectories by split](assets/trajectories_by_split.png)
+
+Seven towns, two domains (clear without NPCs and clear with vehicles and pedestrians), ten starting slots per town/domain: 140 episodes with 1,000 saved positions each. Colours identify train/validation/test assignments; dots identify starts. Both conditions within a town share a spatial scale; scale bars differ between towns. Nearby paths may occupy different lanes or directions. Distinct starting slots do not imply disjoint routes. [PDF](assets/trajectories_by_split.pdf).
+
+## Reproduction and CLIP characterization
+
+[Figure-generation scripts and CLIP diagram](https://github.com/checo1092/egospatial-cl-code/blob/main/docs/publication_figures.md) are provided in the code repository. Images in this dataset repository are covered by its CC BY 4.0 license.

docs/sensor_configuration.md

@@ -313,7 +313,7 @@ Each town uses 10 frozen spawn slots reused across all compact domains:
 1 test slot
 ```
 
-The exact spawn indices are stored in `spatial_splits.json` and episode-level records in `benchmark_manifest.json`.
+The exact spawn indices are stored in `spatial_splits.json` and episode-level records in `dataset_manifest.json`.
 
 Excluded from release v1.0.0: