maum-ai/COMMAND

COMMAND数据集是一个用于机器人导航的数据集，包含多种环境下的驾驶数据。数据集结构包括地图资源、ROS bag文件和场景信息。地图资源目录包含地图的元数据和图像表示；ROS bag文件目录包含唯一的UUID标识的bag文件；场景信息目录包含描述场景的JSON文件和草图指令的npy文件。数据集中共有3317个bag文件，总计48小时的驾驶数据，覆盖219公里。数据集还提供了详细的统计信息，如不同环境下的平均时间、距离和误导率等。

The COMMAND dataset is a robotics-related dataset organized into directories such as map_asset, bagfiles, and scenarios. The map_asset directory contains map assets, including images and metadata files, while the bagfiles directory holds ROS bagfiles with unique identifiers. The scenarios directory includes scenario information in JSON and NPY formats. The dataset provides statistics on different environments like office, street, and orchard, detailing count, average time, distance, and misleading percentages. The ROS bagfiles contain various topics such as clock, cmd_vel, imu, joy, odom, camera info, compressed images, and tf. The scenario JSON files have a specific schema with fields like semantic_uuid, map_name, sketch_map_name, start, end, drive_map_name, and model_guideline. The dataset is licensed under CC-BY-NC-4.0.