NeSy-Route: A Neuro-Symbolic Benchmark for Constrained Route Planning in Remote Sensing
Paper • 2603.16307 • Published
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query_id string | question string | agent_category string | specific_agent string | start_land_type string | end_land_type string | task_description string | task_type string | input_classes list | traverse_vector list | cost_vector list |
|---|---|---|---|---|---|---|---|---|---|---|
Q00001 | An aerial surveillance drone begins on a cultivated field with rows of crops and soft, tilled soil. It needs to reach a flat, hard, paved area such as a parking lot or sports court. The drone can fly over open sandy or rocky ground, grassy or shrub-covered areas, paved surfaces, vehicle lanes, water bodies, and cultiva... | Drone | Aerial surveillance drone | A cultivated field with rows of crops and soft, tilled soil. | A flat, hard, paved area such as a parking lot or sports court. | What is the safest path for the drone to take? | Safest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
2,
2,
2,
2,
0,
1,
2,
0
] |
Q00002 | An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach another grassy, open field with low vegetation as quickly as possible. The drone can fly over loose, sandy or rocky ground without vegetation, areas with dense bushes or tall grass, liquid surfaces, and cultivated fields with... | Drone | Aerial survey drone | grassy, open field with low vegetation | another grassy, open field with low vegetation | What is the fastest path? | Fastest | [
"Bareland",
"Rangeland",
"Water",
"Agriculture land"
] | [
1,
1,
0,
0,
0,
1,
1,
0
] | [
1,
1,
0,
0,
0,
1,
1,
0
] |
Q00003 | An aerial surveillance drone starts from a paved, hard surface and needs to reach an open area of loose, dry ground. The drone can fly over all surfaces except for dense vertical obstacles and solid structures. The mission requires minimizing risk, so the drone should avoid areas with unpredictable air currents, potent... | Drone | Aerial surveillance drone | paved, hard surface | open, loose, and dry ground | What is the safest path for the aerial surveillance drone to take? | Safest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
2,
2,
2,
2,
0,
1,
2,
0
] |
Q00004 | An aerial survey drone starts from a cultivated field and needs to reach another cultivated field as quickly as possible. The drone can fly over open, dry ground with loose soil and rocks; areas covered by low, natural vegetation like grass and shrubs; bodies of liquid such as rivers or lakes; and other cultivated fiel... | Drone | Aerial survey drone | cultivated field | cultivated field | What is the fastest route for the aerial survey drone to reach the destination cultivated field? | Fastest | [
"Bareland",
"Rangeland",
"Water",
"Agriculture land"
] | [
1,
1,
0,
0,
0,
1,
1,
0
] | [
1,
1,
0,
0,
0,
1,
1,
0
] |
Q00005 | An aerial survey drone begins its mission in a cultivated field and must return to another cultivated field after completing its survey. The drone's flight controller prioritizes smooth, stable flight to protect sensitive imaging equipment and ensure clear data capture. The drone can fly over all types of terrain excep... | Drone | Aerial survey drone | cultivated field | cultivated field | What is the most comfortable flight path from the starting cultivated field to the destination cultivated field? | Comfort | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
2,
2,
2,
2,
0,
1,
2,
0
] |
Q00006 | An aerial surveillance drone is currently positioned over a cultivated field and needs to reach a paved lane. The drone can fly over open, solid ground; grassy or shrub-covered areas; hard, flat surfaces; liquid bodies; and planted areas. However, it must avoid vertical structures and dense vegetation clusters to minim... | Drone | Aerial surveillance drone | cultivated field | paved lane | What is the safest path for the drone to take? | Safest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
2,
2,
2,
2,
0,
1,
2,
0
] |
Q00007 | An aerial surveillance drone is currently positioned over a grassy, open field with low vegetation. It needs to reach a flat, hard, paved surface for a secure landing. The drone can fly over various surfaces including loose, sandy or rocky ground; grassy or shrubby areas; all paved or compacted surfaces; cultivated fie... | Drone | Aerial surveillance drone | grassy, open field with low vegetation | flat, hard, paved surface | What is the safest path for the drone to take? | Safest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
2,
2,
2,
2,
0,
1,
2,
0
] |
Q00008 | A quadcopter drone is deployed from a cultivated field with rows of crops and needs to reach a grassy, shrub-covered area as quickly as possible. The drone can fly over loose, sandy or rocky ground without vegetation, as well as over herbaceous and shrubby terrain. It can also traverse areas with individual or clustere... | Drone | a quadcopter drone | a cultivated field with rows of crops | a grassy, shrub-covered area | What is the fastest path for the drone? | Fastest | [
"Bareland",
"Rangeland",
"Tree",
"Agriculture land"
] | [
1,
1,
0,
0,
1,
0,
1,
0
] | [
2,
2,
0,
0,
1,
0,
2,
0
] |
Q00009 | An aerial survey drone is positioned on a cultivated field with soft, tilled soil and needs to reach an area of exposed rocky ground. The drone must avoid any vertical structures or dense vegetation that could pose collision risks, and should minimize flight over liquid surfaces due to potential signal interference and... | Drone | aerial survey drone | cultivated field | exposed rocky ground | What is the safest path to reach the destination? | Safest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
2,
2,
2,
2,
0,
1,
2,
0
] |
Q00010 | An aerial surveillance drone starts from a paved lane and needs to reach a hard, flat surface such as a parking lot or sidewalk while prioritizing safety. The drone can fly over areas with loose soil or rocks, grassy or shrub-covered ground, cultivated fields, individual trees or groups of trees, and bodies of water, b... | Drone | Aerial surveillance drone | paved lane | hard, flat surface such as a parking lot or sidewalk | What is the safest route for the aerial surveillance drone to take from the paved lane to the hard, flat surface? | Safest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Tree",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
1,
1,
1,
0
] | [
2,
2,
2,
2,
1,
1,
2,
0
] |
Q00011 | An aerial survey drone starts from a cultivated field and needs to reach an area of exposed rocky ground. The drone must avoid any vertical structures or dense vegetation that could cause collisions. The mission prioritizes minimizing risk to the drone's operation. What is the safest path? | Drone | Aerial survey drone | cultivated field | exposed rocky ground | What is the safest path? | Safest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
2,
2,
2,
2,
0,
1,
2,
0
] |
Q00012 | An aerial survey drone starts from a cultivated field and needs to reach a wooded area. The drone can fly over loose, sandy ground and grassy, shrub-covered terrain. It can also navigate through cultivated fields and wooded areas, though trees present obstacles that require careful maneuvering. The drone cannot fly ove... | Drone | Aerial survey drone | cultivated field | wooded area | What is the fastest path to the destination? | Fastest | [
"Bareland",
"Rangeland",
"Tree",
"Agriculture land"
] | [
1,
1,
0,
0,
1,
0,
1,
0
] | [
2,
2,
0,
0,
1,
0,
2,
0
] |
Q00013 | An aerial surveillance drone is deployed from a grassy, open field with low vegetation and needs to reach a cultivated field with planted crops for monitoring. The drone can fly over most surfaces, including open ground, grassy areas, paved surfaces, vehicle lanes, water bodies, and agricultural fields. However, flying... | Drone | Aerial surveillance drone | A grassy, open field with low vegetation | A cultivated field with planted crops | What is the safest path for the drone to take? | Safest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
2,
2,
2,
2,
0,
1,
2,
0
] |
Q00014 | A quadcopter drone starts from a vegetated area with tall, leafy structures and needs to reach another vegetated area with tall, leafy structures. The drone must prioritize a smooth and stable flight to minimize vibrations and ensure stable sensor readings. The terrain includes rough, loose ground composed of sand or r... | Drone | a quadcopter drone | a vegetated area with tall, leafy structures | another vegetated area with tall, leafy structures | What is the most comfortable path? | Comfort | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Tree",
"Water",
"Agriculture land",
"Building"
] | [
1,
1,
1,
1,
1,
1,
1,
1
] | [
3,
3,
3,
3,
1,
2,
3,
3
] |
Q00015 | An aerial survey drone starts from a grassy, uneven field and needs to reach an exposed, rocky ground. The drone can fly over grassy areas, loose soil with crops, and open water surfaces, but must avoid dense tree canopies and solid structures. The flight path should prioritize smooth, stable surfaces to minimize vibra... | Drone | Aerial survey drone | grassy, uneven field | exposed, rocky ground | What is the most comfortable path for the drone to take? | Comfort | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
2,
2,
2,
2,
0,
1,
2,
0
] |
Q00016 | An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and needs to reach another area of similar dry, exposed earth. An aerial survey drone must plan a route that prioritizes safety. The drone can fly over areas with low, sparse vegetation, cultivated fields with crops, and clusters of ... | Drone | Aerial survey drone | Starting from a patch of loose, sandy ground with scattered rocks | and needing to reach another area of similar dry, exposed earth | What is the safest path? | Safest | [
"Bareland",
"Rangeland",
"Tree",
"Agriculture land"
] | [
1,
1,
0,
0,
1,
0,
1,
0
] | [
2,
2,
0,
0,
1,
0,
2,
0
] |
Q00017 | An aerial surveillance drone starts from a vegetated area with tall, vertical structures and needs to reach another vegetated area with tall, vertical structures. The drone can fly over various surfaces including loose, sandy or rocky ground; grassy or shrub-covered terrain; hard, paved surfaces like sidewalks or parki... | Drone | Aerial surveillance drone | a vegetated area with tall, vertical structures | another vegetated area with tall, vertical structures | What is the safest path to reach the destination? | Safest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Tree",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
1,
1,
1,
0
] | [
2,
2,
2,
2,
1,
1,
2,
0
] |
Q00018 | An aerial survey drone starts from an area of loose, dry soil with scattered rocks and no vegetation cover and needs to reach a location beneath the canopy of tall, leafy vegetation. The aerial survey drone must avoid any vertical structures or dense overhead obstacles that could cause collisions. The drone can fly ove... | Drone | Aerial survey drone | Starting from an area of loose, dry soil with scattered rocks and no vegetation cover | and needing to reach a location beneath the canopy of tall, leafy vegetation | What is the safest path for the aerial survey drone to take? | Safest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Tree",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
1,
1,
1,
0
] | [
2,
2,
2,
2,
1,
1,
2,
0
] |
Q00019 | An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and needs to reach a tall, leafy canopy with dense branches. The drone's flight path must prioritize a smooth and stable journey to protect its sensitive onboard sensors. It can fly over open water bodies, cultivated fields with low ... | Drone | Aerial survey drone | Starting from a patch of loose, sandy ground with scattered rocks. | The destination is a tall, leafy canopy with dense branches. | What is the most comfortable route? | Comfort | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Tree",
"Water",
"Agriculture land",
"Building"
] | [
1,
1,
1,
1,
1,
1,
1,
1
] | [
3,
3,
3,
3,
1,
2,
3,
3
] |
Q00020 | An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and needs to reach a cultivated field with orderly rows of crops. The drone's flight must prioritize smooth, stable travel to protect its sensitive imaging equipment from vibrations. The drone can fly over open liquid surfaces, but m... | Drone | Aerial survey drone | Starting from a patch of loose, sandy ground with scattered rocks. | The destination is a cultivated field with orderly rows of crops. | What is the most comfortable path for the drone to take? | Comfort | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
2,
2,
2,
2,
0,
1,
2,
0
] |
Q00021 | An aerial surveillance drone is currently positioned over a cultivated field with loose, tilled soil and crop rows. It needs to reach a grassy meadow covered with low, dense vegetation. The drone must avoid any tall, dense vegetation that could entangle its rotors and any solid vertical structures that could cause coll... | Drone | Aerial surveillance drone | cultivated field | grassy meadow | What is the safest path for the drone to take? | Safest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
2,
2,
2,
2,
0,
1,
2,
0
] |
Q00022 | An aerial surveillance drone starts from a paved, hard surface and needs to reach a cultivated field with crops. The drone can fly over open sandy or rocky ground, grassy or shrubby areas, paved areas like parking lots or sports fields, vehicle lanes, liquid bodies, and cultivated fields. It can also navigate around ve... | Drone | Aerial surveillance drone | paved, hard surface | cultivated field with crops | What is the safest path for the drone to take? | Safest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land",
"Building"
] | [
1,
1,
1,
1,
0,
1,
1,
1
] | [
2,
2,
2,
2,
0,
1,
2,
1
] |
Q00023 | An aerial survey drone, which prioritizes stable flight and minimal vibration for its sensors, is positioned on a paved, hard surface. Its destination is an open, dry area composed of loose soil and rocks. The drone can fly over all surfaces except those with tall, dense vertical obstacles or solid vertical structures.... | Drone | Aerial survey drone | paved, hard surface | open, dry area of loose soil and rocks | What is the most comfortable route to reach the destination? | Comfort | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
2,
2,
2,
2,
0,
1,
2,
0
] |
Q00024 | An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and needs to reach an area of low, natural grass and shrubs. The drone must maintain a smooth, vibration-free flight to protect its sensitive imaging sensors. The drone can fly over hard, flat surfaces like paved areas and vehicle la... | Drone | Aerial survey drone | Starting from a patch of loose, sandy ground with scattered rocks. | The destination is an area of low, natural grass and shrubs. | What is the most comfortable path for the drone to take? | Comfort | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land",
"Building"
] | [
1,
1,
1,
1,
0,
1,
1,
1
] | [
2,
2,
2,
2,
0,
1,
2,
2
] |
Q00025 | An aerial surveillance drone starts from a patch of loose, sandy ground with scattered rocks and no vegetation and needs to reach a grassy, shrub-covered area with low, natural herbaceous growth. The drone can fly over open water bodies and cultivated crop fields, but must avoid tall trees and buildings due to collisio... | Drone | Aerial surveillance drone | Starting from a patch of loose, sandy ground with scattered rocks and no vegetation. | The destination is a grassy, shrub-covered area with low, natural herbaceous growth. | What is the shortest path to the destination? | Shortest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
1,
1,
1,
1,
0,
1,
1,
0
] |
Q00026 | A quadcopter drone is deployed from a cultivated field with loose soil and crop rows, needing to reach an exposed, dry ground area with no vegetation. The drone can fly over surfaces with loose soil, grassy or shrubby areas, liquid bodies, and cultivated plots, but must avoid tall vertical obstacles like trees and stru... | Drone | A quadcopter drone | cultivated field with loose soil and crop rows | exposed, dry ground with no vegetation | What is the shortest path for the drone to reach the exposed, dry ground? | Shortest | [
"Bareland",
"Rangeland",
"Water",
"Agriculture land"
] | [
1,
1,
0,
0,
0,
1,
1,
0
] | [
1,
1,
0,
0,
0,
1,
1,
0
] |
Q00027 | A quadcopter drone is positioned on a grassy, shrub-covered area and needs to reach a dry, sandy or rocky patch. The drone can fly over grassy fields, loose sandy or rocky ground, cultivated crop fields, and bodies of water, but must avoid tall trees and buildings due to potential collision risks. What is the shortest ... | Drone | A quadcopter drone | a grassy, shrub-covered area | a dry, sandy or rocky patch | What is the shortest path to the destination? | Shortest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
1,
1,
1,
1,
0,
1,
1,
0
] |
Q00028 | A quadcopter drone starts from a dry, sandy or rocky surface and needs to reach another dry, sandy or rocky surface. The drone can fly over loose soil, grassy areas, liquid surfaces, and cultivated fields, but must avoid vertical obstacles like trees and buildings to ensure safety. The goal is to find the safest path. | Drone | a quadcopter drone | a dry, sandy or rocky surface | a dry, sandy or rocky surface | What is the safest path for the drone to take? | Safest | [
"Bareland",
"Rangeland",
"Water",
"Agriculture land"
] | [
1,
1,
0,
0,
0,
1,
1,
0
] | [
2,
2,
0,
0,
0,
1,
2,
0
] |
Q00029 | A quadcopter drone starts from a vegetated, soft, and slightly submerged area with grasses and shrubs and needs to reach a cultivated, soft, and slightly submerged area with planted crops. The drone can fly over most surfaces, but must avoid dense vertical obstacles like trees or buildings to prevent collisions and ens... | Drone | A quadcopter drone | A vegetated, soft, and slightly submerged area with grasses and shrubs | A cultivated, soft, and slightly submerged area with planted crops | What is the most comfortable path to take? | Comfort | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
2,
2,
2,
2,
0,
1,
2,
0
] |
Q00030 | An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks, and need to reach a cultivated field with planted crops. The drone can fly over open sandy areas, grassy fields, water surfaces, and farmed plots. It cannot fly through dense tree canopies or between buildings. What is the shortest ... | Drone | Aerial survey drone | Starting from a patch of loose, sandy ground with scattered rocks | and need to reach a cultivated field with planted crops | What is the shortest path to the destination? | Shortest | [
"Bareland",
"Rangeland",
"Water",
"Agriculture land"
] | [
1,
1,
0,
0,
0,
1,
1,
0
] | [
1,
1,
0,
0,
0,
1,
1,
0
] |
Q00031 | An aerial survey drone is positioned on a grassy, open field with low vegetation and needs to reach a cultivated crop field with rows of plants. The drone can fly over any solid or liquid surface, but must avoid tall vertical obstacles like trees and structures, as they pose collision risks and require careful maneuver... | Drone | Aerial survey drone | grassy, open field with low vegetation | cultivated crop field with rows of plants | What is the fastest path for the drone to take? | Fastest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
1,
1,
1,
1,
0,
1,
1,
0
] |
Q00032 | A quadcopter drone starts from a cluster of tall vegetation with distinct vertical structures and needs to reach a patterned agricultural area with cultivated soil. The available terrain includes expanses of exposed, loose soil and rock formations, open areas with low natural vegetation, and the tall vegetation has suf... | Drone | quadcopter drone | a cluster of tall vegetation with distinct vertical structures | a patterned agricultural area with cultivated soil | What is the shortest path to the destination? | Shortest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Tree",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
1,
1,
1,
0
] | [
2,
2,
2,
2,
1,
2,
2,
0
] |
Q00033 | An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach another similar grassy, open field. The drone must avoid all vertical structures and dense tree canopies that could cause collisions. It cannot fly over any paved or hard surfaces, nor any areas with compacted soil or artific... | Drone | Aerial survey drone | grassy, open field with low vegetation | another grassy, open field with low vegetation | What is the safest path for the aerial survey drone to travel from the starting grassy field to the destination grassy field? | Safest | [
"Bareland",
"Rangeland",
"Water",
"Agriculture land"
] | [
1,
1,
0,
0,
0,
1,
1,
0
] | [
2,
2,
0,
0,
0,
1,
2,
0
] |
Q00034 | An aerial survey drone starts from a grassy, open field with scattered low shrubs and needs to reach another grassy, open field with scattered low shrubs. The drone must avoid areas with dense, tall vegetation that could cause turbulence and instability, and avoid flying over structures that could create unpredictable ... | Drone | Aerial survey drone | Starting from a grassy, open field with scattered low shrubs. | Ending at another grassy, open field with scattered low shrubs. | What is the most comfortable path for the drone? | Comfort | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
0,
1,
0
] | [
1,
1,
1,
1,
0,
0,
1,
0
] |
Q00035 | An aerial drone starts from a dry, sandy area with loose soil and scattered rocks, and need to reach a cultivated field with planted crops. The aerial drone can fly over open water surfaces, grassy or shrub-covered terrain, and the planted crop fields. However, it must avoid any areas with tall, dense vegetation or ver... | Drone | Aerial drone | Starting from a dry, sandy area with loose soil and scattered rocks | and need to reach a cultivated field with planted crops | What is the fastest route? | Fastest | [
"Bareland",
"Rangeland",
"Water",
"Agriculture land"
] | [
1,
1,
0,
0,
0,
1,
1,
0
] | [
1,
1,
0,
0,
0,
1,
1,
0
] |
Q00036 | An aerial survey drone starts from a cultivated field and needs to reach a grassy meadow. The drone can fly over open sandy or rocky ground, grassy or shrubby areas, liquid surfaces, and cultivated fields. The drone must avoid vertical structures and dense tree canopies that could obstruct flight. What is the fastest p... | Drone | Aerial survey drone | cultivated field | grassy meadow | What is the fastest path to reach the destination? | Fastest | [
"Bareland",
"Rangeland",
"Water",
"Agriculture land"
] | [
1,
1,
0,
0,
0,
1,
1,
0
] | [
1,
1,
0,
0,
0,
1,
1,
0
] |
Q00037 | A hiker starts from a dry, rocky area with loose soil and needs to reach another similar patch of barren ground. The hiker can walk across open sandy stretches, grassy meadows, cultivated fields, and forested areas, but cannot enter any buildings or cross water bodies. Pavements and roads are not available for use. Wha... | Pedestrian | A hiker | Starting from a dry, rocky area with loose soil | and needs to reach another similar patch of barren ground | What is the shortest route to the destination? | Shortest | [
"Bareland",
"Rangeland",
"Tree",
"Agriculture land"
] | [
1,
1,
0,
0,
1,
0,
1,
0
] | [
1,
1,
0,
0,
1,
0,
1,
0
] |
Q00038 | An aerial survey drone starts from a grassy, open field and needs to reach another grassy, open field. The drone can fly over areas with loose, dry soil and rocks, as well as over cultivated fields with crops, and it can also cross over bodies of water. However, it cannot fly through dense tree canopies or between buil... | Drone | Aerial survey drone | grassy, open field | grassy, open field | What is the shortest path for the aerial survey drone to reach the destination grassy, open field? | Shortest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
1,
1,
1,
1,
0,
1,
1,
0
] |
Q00039 | A quadcopter drone starts from a dry, sandy area with loose earth and rocks and needs to reach a cultivated field with soft, tilled soil. The drone can fly over most surfaces but must avoid areas with tall, dense vegetation that could cause turbulence and instability. You cannot use hard paved surfaces or vertical stru... | Drone | A quadcopter drone | Bareland | Agriculture land | What is the most comfortable path to reach the destination? | Comfort | [
"Bareland",
"Rangeland",
"Water",
"Agriculture land"
] | [
1,
1,
0,
0,
0,
1,
1,
0
] | [
2,
2,
0,
0,
0,
1,
2,
0
] |
Q00040 | A hiker starts from a grassy area with scattered shrubs and needs to reach a wooded area with tall vegetation. The terrain consists of loose, sandy ground; grassy areas with bushes; tall vegetation with tree-like structures; and cultivated fields with crops. You cannot travel on paved surfaces, water bodies, or man-mad... | Pedestrian | hiker | grassy area with scattered shrubs | wooded area with tall vegetation | What is the shortest path to your destination? | Shortest | [
"Bareland",
"Rangeland",
"Tree",
"Agriculture land"
] | [
1,
1,
0,
0,
1,
0,
1,
0
] | [
1,
1,
0,
0,
1,
0,
1,
0
] |
Q00041 | A quadcopter drone needs to travel from a patch of loose, sandy ground to another patch of loose, sandy ground as quickly as possible. The drone can fly over areas with loose soil and rocks, hard paved surfaces like sidewalks and parking lots, vehicle lanes, and areas with tall vertical obstacles like individual trees.... | Drone | a quadcopter drone | a patch of loose, sandy ground | another patch of loose, sandy ground | What is the fastest path for the quadcopter drone to reach the destination? | Fastest | [
"Bareland",
"Developed space",
"Road",
"Tree"
] | [
1,
0,
1,
1,
1,
0,
0,
0
] | [
2,
0,
2,
2,
1,
0,
0,
0
] |
Q00042 | A quadcopter drone is currently positioned on grassy, shrub-covered terrain and needs to reach cultivated crop fields. The drone can fly over areas with loose, dry soil and rocks; grassy or shrubby vegetation; liquid surfaces; and planted agricultural fields. However, it cannot fly through dense tree canopies or close ... | Drone | A quadcopter drone | grassy, shrub-covered terrain | cultivated crop fields | What is the shortest path to the destination? | Shortest | [
"Bareland",
"Rangeland",
"Water",
"Agriculture land"
] | [
1,
1,
0,
0,
0,
1,
1,
0
] | [
1,
1,
0,
0,
0,
1,
1,
0
] |
Q00043 | A hiker starts from a vegetated area with tall, leafy structures and needs to reach another vegetated area with tall, leafy structures. The terrain includes rough, loose ground; grassy or shrubby surfaces; and cultivated fields. The hiker can traverse these surfaces because they are dry and stable today. However, paved... | Pedestrian | a hiker | a vegetated area with tall, leafy structures | another vegetated area with tall, leafy structures | What is the shortest path? | Shortest | [
"Bareland",
"Rangeland",
"Tree",
"Agriculture land"
] | [
1,
1,
0,
0,
1,
0,
1,
0
] | [
1,
1,
0,
0,
1,
0,
1,
0
] |
Q00044 | A hiker starts from an area of loose, dry soil and scattered rocks with no vegetation and needs to reach a location beneath the canopy of tall, leafy vegetation that casts shadows on the ground. The terrain is dry and stable enough for walking on loose earth and rocks. The low-growing wild grasses and shrubs are sparse... | Pedestrian | Hiker | Starting from an area of loose, dry soil and scattered rocks with no vegetation. | The destination is a location beneath the canopy of tall, leafy vegetation that casts shadows on the ground. | What is the shortest path to the destination? | Shortest | [
"Bareland",
"Rangeland",
"Tree",
"Agriculture land"
] | [
1,
1,
0,
0,
1,
0,
1,
0
] | [
1,
1,
0,
0,
1,
0,
1,
0
] |
Q00045 | An aerial surveillance drone starts from a patch of loose, sandy ground with scattered rocks and no vegetation and needs to reach another area of similar loose, sandy ground with scattered rocks and no vegetation. The drone can fly over open, dry terrain covered with loose soil and rocks; over grassy or shrubby areas w... | Drone | Aerial surveillance drone | Starting from a patch of loose, sandy ground with scattered rocks and no vegetation. | The destination is another area of similar loose, sandy ground with scattered rocks and no vegetation. | What is the shortest path for the drone to reach the destination? | Shortest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
1,
1,
1,
1,
0,
1,
1,
0
] |
Q00046 | A quadcopter drone starts from a patch of loose, sandy soil and aiming to reach a planted crop field, a quadcopter drone must navigate through terrain where loose granular surfaces, grassy or shrub-covered ground, liquid bodies, and cultivated areas are all accessible. The drone can fly over all these surfaces but must... | Drone | A quadcopter drone | Starting from a patch of loose, sandy soil | and aiming to reach a planted crop field | What is the safest path to reach the destination? | Safest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
2,
2,
2,
2,
0,
1,
2,
0
] |
Q00047 | A geologist conducting field research starts from an area of loose, rocky soil and needs to return to another patch of similar barren ground. The geologist wants to minimize physical discomfort during the walk. The geologist can walk across open grassy areas, cultivated fields, and through light wooded areas, but paved... | Pedestrian | Geologist conducting field research | Starting from an area of loose, rocky soil | and needing to return to another patch of similar barren ground | What is the most comfortable path? | Comfort | [
"Bareland",
"Rangeland",
"Tree",
"Agriculture land"
] | [
1,
1,
0,
0,
1,
0,
1,
0
] | [
2,
3,
0,
0,
1,
0,
4,
0
] |
Q00048 | A hiker starts from a cultivated field with crops and needs to reach an area of exposed, loose soil and rocky ground. The hiker can walk across open ground covered by short vegetation or bushes, as well as through cultivated fields, but must avoid walking through dense tree areas due to rough terrain. What is the faste... | Pedestrian | A hiker | cultivated field with crops | exposed, loose soil and rocky ground | What is the fastest path for the hiker to reach the exposed, loose soil and rocky ground from the cultivated field with crops? | Fastest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
0,
1,
0
] | [
1,
2,
5,
4,
0,
0,
3,
0
] |
Q00049 | An aerial survey drone starts from a dry, sandy area with loose soil and scattered rocks, an aerial survey drone must fly to another similar patch of dry, sandy ground. The drone can traverse open, flat surfaces like sandy expanses, grassy fields, liquid surfaces, and cultivated plots, but must avoid tall, dense vegeta... | Drone | Aerial survey drone | Starting from a dry, sandy area with loose soil and scattered rocks | and needs to reach another similar patch of dry, sandy ground | What is the fastest path for the aerial survey drone to reach the destination? | Fastest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
1,
1,
1,
1,
0,
1,
1,
0
] |
Q00050 | An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and needs to reach another area of similar loose, sandy terrain. The drone must maintain stable flight and minimize vibrations for its sensitive imaging equipment. It can fly over areas with short, sparse vegetation; flat, open culti... | Drone | aerial survey drone | Starting from a patch of loose, sandy ground with scattered rocks | and needing to reach another area of similar loose, sandy terrain | What is the most comfortable path for the drone to take? | Comfort | [
"Bareland",
"Rangeland",
"Water",
"Agriculture land"
] | [
1,
1,
0,
0,
0,
1,
1,
0
] | [
2,
2,
0,
0,
0,
1,
2,
0
] |
Q00051 | An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach a cultivated crop field while prioritizing safety. The drone must avoid any areas with tall vegetation or vertical structures that could pose collision risks. The drone can fly over dry, exposed earth surfaces; grassy or shru... | Drone | Aerial survey drone | grassy, open field with low vegetation | cultivated crop field | What is the safest path to reach the destination? | Safest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
2,
2,
2,
2,
0,
1,
2,
0
] |
Q00052 | A quadcopter drone is flying from a cultivated field with low crops to a grassy, shrub-covered area. The drone can traverse most surfaces by air, but for safety, it must avoid tall vertical obstacles like trees and buildings that could cause collisions. The path should prioritize open areas with minimal risk of interfe... | Drone | A quadcopter drone | A cultivated field with low crops | A grassy, shrub-covered area | What is the safest route for the drone to take? | Safest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
2,
2,
2,
2,
0,
1,
2,
0
] |
Q00053 | An aerial survey drone begins its mission from a cultivated field with soft, tilled soil and needs to reach an area of exposed rocky ground. The drone can fly over open water surfaces, grassy or shrub-covered terrain, and agricultural plots, but must avoid dense tree canopies and man-made structures. Which route allows... | Drone | Aerial survey drone | cultivated field | exposed rocky ground | Which route allows the drone to complete its survey mission most quickly? | Fastest | [
"Bareland",
"Rangeland",
"Water",
"Agriculture land"
] | [
1,
1,
0,
0,
0,
1,
1,
0
] | [
1,
1,
0,
0,
0,
1,
1,
0
] |
Q00054 | A quadcopter drone is currently above a cultivated field with crops. It needs to reach an open area of sand or rock without vegetation. The drone can fly over most surfaces but must avoid vertical obstacles like tall structures and dense tree canopies that pose collision risks. It should also minimize flying over large... | Drone | A quadcopter drone | A cultivated field with crops | An open area of sand or rock without vegetation | What is the safest path to reach the destination? | Safest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
2,
2,
2,
2,
0,
1,
2,
0
] |
Q00055 | An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and no vegetation and needs to reach a grassy, shrub-covered area with soft, uneven soil. The drone must avoid any tall, dense vegetation or vertical structures that could obstruct its flight path. Additionally, it should minimize tr... | Drone | Aerial survey drone | Starting from a patch of loose, sandy ground with scattered rocks and no vegetation. | The destination is a grassy, shrub-covered area with soft, uneven soil. | What is the most comfortable path for the drone to take? | Comfort | [
"Bareland",
"Rangeland",
"Water",
"Agriculture land"
] | [
1,
1,
0,
0,
0,
1,
1,
0
] | [
2,
2,
0,
0,
0,
1,
2,
0
] |
Q00056 | An agricultural monitoring drone starts from a cultivated field with loose, tilled soil and needs to reach another cultivated field with similar loose soil. The terrain includes areas of exposed earth without vegetation, patches of natural grasses and shrubs, open water bodies, and cultivated fields. The drone can fly ... | Drone | Agricultural monitoring drone | cultivated field | cultivated field | What is the shortest path to the destination field? | Shortest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
1,
1,
1,
1,
0,
1,
1,
0
] |
Q00057 | An aerial surveillance drone is deployed from a dry, sandy area with loose soil and scattered rocks. It needs to reach a grassy field with low shrubs and natural vegetation as quickly as possible. The drone can fly over open water bodies, cultivated crop fields, and the grassy field itself, but must avoid dense tree ca... | Drone | Aerial surveillance drone | Starting from a dry, sandy area with loose soil and scattered rocks | ending at a grassy field with low shrubs and natural vegetation | What is the fastest path for the aerial surveillance drone to reach the grassy field from the sandy area? | Fastest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
1,
1,
1,
1,
0,
1,
1,
0
] |
Q00058 | A quadcopter drone starts from an open, sandy area and needs to reach a patch of grassy vegetation. The drone can fly over most surfaces, but to ensure safety, it must avoid areas with tall, dense obstacles that could cause collisions or instability, such as vertical structures or thick tree canopies. The terrain inclu... | Drone | A quadcopter drone | Bareland | Rangeland | What is the safest route for the drone to take? | Safest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
2,
2,
2,
2,
0,
1,
2,
0
] |
Q00059 | A hiker is starting from a grassy field and needs to reach a sandy clearing. The terrain includes areas with loose soil and rocks, patches of dense vegetation, and cultivated fields with soft earth. The hiker wants to minimize physical strain and maintain stable footing throughout the journey. Which path provides the m... | Pedestrian | hiker | grassy field | sandy clearing | Which path provides the most comfortable route? | Comfort | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Tree",
"Agriculture land"
] | [
1,
1,
1,
1,
1,
0,
1,
0
] | [
2,
3,
6,
5,
1,
0,
4,
0
] |
Q00060 | A quadcopter starts from a cultivated field and needs to reach another cultivated field across a landscape. The terrain includes loose, sandy or rocky ground without vegetation; areas covered with natural grasses and shrubs; patches of tall, dense vegetation with tree canopies; and cultivated fields. All these terrains... | Drone | quadcopter | cultivated field | cultivated field | What is the shortest path to the destination? | Shortest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Tree",
"Water",
"Agriculture land",
"Building"
] | [
1,
1,
1,
1,
1,
1,
1,
1
] | [
2,
2,
2,
2,
1,
2,
2,
2
] |
Q00061 | An aerial surveillance drone starts from a dense cluster of tall, leafy vegetation and needs to reach a wide, paved lane. The drone can fly over open, loose soil and rocky patches, as well as hard, flat surfaces like sidewalks and parking lots, but must navigate carefully through vertical obstacles like trees and build... | Drone | Aerial surveillance drone | A dense cluster of tall, leafy vegetation | A wide, paved lane | What is the fastest path from the starting vegetation to the destination paved lane? | Fastest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Tree",
"Water",
"Agriculture land",
"Building"
] | [
1,
1,
1,
1,
1,
1,
1,
1
] | [
2,
2,
2,
2,
1,
2,
2,
2
] |
Q00062 | An aerial survey drone starts from a cultivated field with rows of crops and needs to reach a grassy or shrub-covered open area. The drone must avoid areas with tall, dense vegetation and vertical structures, as these can cause turbulence and instability during flight. Liquid surfaces are permissible but may introduce ... | Drone | Aerial survey drone | cultivated field with rows of crops | grassy or shrub-covered open area | What is the most comfortable path for the aerial survey drone to take? | Comfort | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
2,
2,
2,
2,
0,
1,
2,
0
] |
Q00063 | A quadcopter starts from a grassy, open field and needs to reach a cultivated crop field. The terrain includes areas of loose, sandy soil and rocky patches, as well as sections with scattered trees and bushes. You must avoid any paved or hard surfaces, water bodies, and structures. What is the most comfortable flight p... | Drone | quadcopter | grassy, open field | cultivated crop field | What is the most comfortable flight path? | Comfort | [
"Bareland",
"Rangeland",
"Tree",
"Agriculture land"
] | [
1,
1,
0,
0,
1,
0,
1,
0
] | [
2,
2,
0,
0,
1,
0,
2,
0
] |
Q00064 | A hiker starts from a cultivated field with loose, tilled soil and needs to reach a grassy meadow. The terrain includes areas of loose, sandy ground; patches of shrubs and low vegetation; scattered trees; and the cultivated field itself. You cannot use paved surfaces, roads, water bodies, or buildings. What is the shor... | Pedestrian | hiker | cultivated field | grassy meadow | What is the shortest path to the grassy meadow? | Shortest | [
"Bareland",
"Rangeland",
"Tree",
"Agriculture land"
] | [
1,
1,
0,
0,
1,
0,
1,
0
] | [
1,
1,
0,
0,
1,
0,
1,
0
] |
Q00065 | A quadcopter drone starts from a paved lane and needs to reach another paved lane. The drone can fly over hard surfaces, liquid bodies, cultivated fields, and vertical obstacles, but it must avoid dense overhead vegetation that could entangle its rotors. What is the shortest path? | Drone | a quadcopter drone | a paved lane | a paved lane | What is the shortest path? | Shortest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land",
"Building"
] | [
1,
1,
1,
1,
0,
1,
1,
1
] | [
1,
1,
1,
1,
0,
1,
1,
1
] |
Q00066 | A hiker starts from an area of natural, uncultivated grassy vegetation and needs to reach a patch of exposed, loose earth and rocks. The terrain includes soft, uneven ground with scattered vegetation, cultivated fields with crops, and areas with individual trees or small groves. You cannot use any paved or hard surface... | Pedestrian | Hiker | Rangeland | Bareland | What is the shortest path to the destination? | Shortest | [
"Bareland",
"Rangeland",
"Tree",
"Agriculture land"
] | [
1,
1,
0,
0,
1,
0,
1,
0
] | [
1,
1,
0,
0,
1,
0,
1,
0
] |
Q00067 | A hiker starts from a cultivated field with loose soil and crop residues and needs to reach an area of exposed rocky ground with no vegetation. The terrain includes patches of wild grass and shrubs, as well as scattered trees with low-hanging branches. Paved surfaces and roads are unavailable due to recent flooding tha... | Pedestrian | hiker | cultivated field | exposed rocky ground | What is the shortest path to the rocky destination? | Shortest | [
"Bareland",
"Rangeland",
"Tree",
"Agriculture land"
] | [
1,
1,
0,
0,
1,
0,
1,
0
] | [
1,
1,
0,
0,
1,
0,
1,
0
] |
Q00068 | An aerial drone starts from a cultivated field with soft, tilled soil and needs to reach an area of open rocky ground. The terrain includes loose sandy patches, grassy and shrub-covered areas, and scattered wooded sections. You must avoid any liquid surfaces, vertical obstacles like trees, and structures. Your aerial d... | Drone | aerial drone | cultivated field | open rocky ground | What is the most comfortable path to reach the rocky ground from the cultivated field? | Comfort | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
0,
1,
0
] | [
1,
1,
1,
1,
0,
0,
1,
0
] |
Q00069 | A quadcopter drone starts from a cultivated field with soft, tilled soil and needs to reach a wooded area with tall, dense vegetation. The drone must avoid any built structures or water bodies entirely, and flying through trees is only allowed if absolutely necessary due to their obstructive branches. The terrain inclu... | Drone | A quadcopter drone | cultivated field | wooded area | What is the safest path for the drone to take from the cultivated field to the wooded area? | Safest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Tree",
"Agriculture land"
] | [
1,
1,
1,
1,
1,
0,
1,
0
] | [
2,
2,
2,
2,
1,
0,
2,
0
] |
Q00070 | A hiker starts from a cultivated field with soft, tilled soil and needs to reach a wooded area with tall, dense vegetation. The path must avoid all water bodies and buildings completely. You can walk on loose, sandy ground and through areas with low, wild grasses and shrubs, but these terrains may be uneven or slippery... | Pedestrian | A hiker | cultivated field | wooded area | What is the safest path for the hiker to take from the cultivated field to the wooded area? | Safest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Tree",
"Agriculture land"
] | [
1,
1,
1,
1,
1,
0,
1,
0
] | [
2,
3,
6,
5,
1,
0,
4,
0
] |
Q00071 | A hiker starts from an area of loose, rocky ground with no vegetation and needs to reach a cultivated field with planted crops. The terrain includes patches of soft, grassy soil and scattered clusters of tall, dense vegetation. You must avoid any paved or hard surfaces, as well as any structures or water bodies. What i... | Pedestrian | Hiker | Bareland | Agriculture land | What is the safest route to take? | Safest | [
"Bareland",
"Rangeland",
"Tree",
"Agriculture land"
] | [
1,
1,
0,
0,
1,
0,
1,
0
] | [
2,
3,
0,
0,
1,
0,
4,
0
] |
Q00072 | An aerial survey drone starts from an open area of dry, rocky terrain and needs to reach a cultivated crop field. The environment includes zones of sparse grassy vegetation, dense clusters of tall vegetation that could pose collision risks, and no liquid surfaces or man-made structures are present. What is the safest r... | Drone | Aerial survey drone | Bareland | Agriculture land | What is the safest route to take? | Safest | [
"Bareland",
"Rangeland",
"Tree",
"Agriculture land"
] | [
1,
1,
0,
0,
1,
0,
1,
0
] | [
2,
2,
0,
0,
1,
0,
2,
0
] |
Q00073 | A quadcopter drone starts from a concrete surface and needs to reach an asphalt lane while prioritizing a smooth and stable flight. The drone can fly over areas with loose soil and rocks, grassy or shrub-covered ground, paved areas and footpaths, vehicle lanes, cultivated fields, and vertical structures, as these offer... | Drone | a quadcopter drone | a concrete surface | an asphalt lane | What is the most comfortable path from the starting concrete surface to the destination asphalt lane? | Comfort | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Tree",
"Water",
"Agriculture land",
"Building"
] | [
1,
1,
1,
1,
1,
1,
1,
1
] | [
3,
3,
3,
3,
1,
2,
3,
3
] |
Q00074 | A hiker starts from a patch of grassy, shrub-covered ground and needs to reach another area of similar grassy, shrub-covered ground. The terrain includes loose, sandy or rocky surfaces without vegetation; open areas with natural grass and bushes; scattered individual trees or groups of trees; and cultivated fields with... | Pedestrian | hiker | grassy, shrub-covered ground | grassy, shrub-covered ground | What is the shortest path to your destination? | Shortest | [
"Bareland",
"Rangeland",
"Tree",
"Agriculture land"
] | [
1,
1,
0,
0,
1,
0,
1,
0
] | [
1,
1,
0,
0,
1,
0,
1,
0
] |
Q00075 | A hiker starts from a patch of ground shaded by tall, leafy vegetation with visible tree trunks and needs to reach an open area covered with low, natural grasses and shrubs. The terrain includes rough, loose soil surfaces, natural grassy areas, cultivated fields with crops, and wooded patches. You must avoid any paved ... | Pedestrian | hiker | a patch of ground shaded by tall, leafy vegetation with visible tree trunks | an open area covered with low, natural grasses and shrubs | What is the shortest path to your destination? | Shortest | [
"Bareland",
"Rangeland",
"Tree",
"Agriculture land"
] | [
1,
1,
0,
0,
1,
0,
1,
0
] | [
1,
1,
0,
0,
1,
0,
1,
0
] |
Q00076 | A hiker starts from a paved area and needs to reach a wooded area with tall vegetation. The hiker can traverse hard, compacted surfaces, loose or rocky ground, and vegetated areas, but cannot cross liquid surfaces or enter solid structures. What is the shortest path to the destination? | Pedestrian | hiker | paved area | wooded area with tall vegetation | What is the shortest path to the destination? | Shortest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Tree",
"Agriculture land"
] | [
1,
1,
1,
1,
1,
0,
1,
0
] | [
1,
1,
1,
1,
1,
0,
1,
0
] |
Q00077 | A quadcopter starts from a cultivated field and needs to reach another cultivated field. The terrain includes loose, sandy expanses; grassy, uneven ground; and dense, tall vegetation. The quadcopter seeks a path that ensures stable flight and minimizes turbulence over rough surfaces. Which route should the quadcopter t... | Drone | quadcopter | cultivated field | cultivated field | What is the most comfortable path for the quadcopter to take? | Comfort | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
2,
2,
2,
2,
0,
1,
2,
0
] |
Q00078 | A hiker starts from a patch of loose, sandy ground and needs to reach a cultivated field. The terrain includes areas of soft, dry soil without vegetation, grassy or shrub-covered expanses, individual or clustered tall vegetation with vertical obstacles, and tilled, planted soil. You must avoid any hard, paved surfaces,... | Pedestrian | hiker | Bareland | Agriculture land | What is the shortest path from the loose, sandy ground to the cultivated field? | Shortest | [
"Bareland",
"Rangeland",
"Tree",
"Agriculture land"
] | [
1,
1,
0,
0,
1,
0,
1,
0
] | [
1,
1,
0,
0,
1,
0,
1,
0
] |
Q00079 | An aerial survey drone starts from a paved lane and needs to reach a cultivated field. The drone can fly over hard surfaces, loose soil, and liquid areas, but must avoid vertical structures and dense vegetation. The drone is permitted to traverse over hard surfaces, loose soil, and liquid areas, but cannot pass through... | Drone | Aerial survey drone | paved lane | cultivated field | What is the shortest path for the aerial survey drone to reach the cultivated field from the paved lane? | Shortest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
1,
1,
1,
1,
0,
1,
1,
0
] |
Q00080 | A quadcopter drone starts from a cultivated field with soft, tilled soil and needs to reach a grassy shrubland area. The terrain includes loose, sandy or rocky ground without vegetation, areas with natural herbaceous cover or bushes, patches of tall vegetation with distinct vertical structures, and cultivated plots. Yo... | Drone | a quadcopter drone | cultivated field | grassy shrubland | What is the safest path from the cultivated field to the grassy shrubland? | Safest | [
"Bareland",
"Rangeland",
"Agriculture land"
] | [
1,
1,
0,
0,
0,
0,
1,
0
] | [
1,
1,
0,
0,
0,
0,
1,
0
] |
Q00081 | A quadcopter drone starts from a paved, hard surface area and needs to reach another paved, hard surface area while prioritizing safety. The drone can fly over loose, dry soil and rocky ground, grassy or shrub-covered terrain, other hard, compacted surfaces, paved lanes, liquid surfaces, and cultivated fields. It can a... | Drone | A quadcopter drone | A paved, hard surface area | Another paved, hard surface area | What is the safest path for the quadcopter drone to take? | Safest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land",
"Building"
] | [
1,
1,
1,
1,
0,
1,
1,
1
] | [
2,
2,
2,
2,
0,
1,
2,
1
] |
Q00082 | A quadcopter drone starts from sandy, rocky terrain and needs to reach a hard, paved lane. The drone can fly over open ground, hard surfaces, and even water bodies, but must avoid dense tree canopies and building structures to prevent collisions. What is the fastest route? | Drone | quadcopter drone | sandy, rocky terrain | hard, paved lane | What is the fastest route for the quadcopter drone to reach the hard, paved lane? | Fastest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
1,
1,
1,
1,
0,
1,
1,
0
] |
Q00083 | An agricultural monitoring drone is currently positioned over a cultivated field and needs to return to a different part of the same field. The drone must maintain stable flight and avoid vibrations to protect its sensitive imaging equipment. The area includes loose, dry soil patches; grassy and shrub-covered terrain; ... | Drone | Agricultural monitoring drone | cultivated field | cultivated field | What is the most comfortable path for the drone to take? | Comfort | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
2,
2,
2,
2,
0,
1,
2,
0
] |
Q00084 | A hiker starts from a patch of loose, sandy or rocky ground without vegetation and needs to reach a grassy or shrub-covered terrain. The area includes surfaces with loose soil and rocks, herbaceous vegetation or bushes, individual trees or groups of trees, and cultivated crop fields. You must avoid any paved or hard ar... | Pedestrian | hiker | loose, sandy or rocky ground without vegetation | grassy or shrub-covered terrain | What is the shortest path to the destination? | Shortest | [
"Bareland",
"Rangeland",
"Tree",
"Agriculture land"
] | [
1,
1,
0,
0,
1,
0,
1,
0
] | [
1,
1,
0,
0,
1,
0,
1,
0
] |
Q00085 | A hiker starts from a grassy, shrub-covered area and needs to reach a cultivated crop field. The terrain includes loose, sandy or rocky ground without vegetation; grassy or shrubby areas that are not maintained; areas with individual or clustered tall vegetation that may obstruct movement; and planted fields used for g... | Pedestrian | hiker | grassy, shrub-covered ground | cultivated crop field | What is the shortest path to the crop field? | Shortest | [
"Bareland",
"Rangeland",
"Tree",
"Agriculture land"
] | [
1,
1,
0,
0,
1,
0,
1,
0
] | [
1,
1,
0,
0,
1,
0,
1,
0
] |
Q00086 | A delivery drone starts from an open area of sandy, rocky ground and needs to reach a cultivated crop field. The drone prioritizes a smooth flight to protect its payload. Grassy patches and areas with low vegetation are easily traversable. Regions with dense tree cover are accessible but require maneuvering through bra... | Drone | A delivery drone | Starting from an open area of sandy, rocky ground | and needs to reach a cultivated crop field | What is the most comfortable path for the delivery drone to take? | Comfort | [
"Bareland",
"Rangeland",
"Tree",
"Agriculture land"
] | [
1,
1,
0,
0,
1,
0,
1,
0
] | [
2,
2,
0,
0,
1,
0,
2,
0
] |
Q00087 | A hiker starts from a cultivated field with loose, tilled soil and needs to reach a grassy meadow. The terrain includes areas of loose earth and rocks, patches of wild grass and shrubs, dense clusters of tall vegetation with overhead canopy, and soft, uneven cultivated ground. You must avoid any hard, paved surfaces, v... | Pedestrian | hiker | cultivated field | grassy meadow | What is the most comfortable path to take? | Comfort | [
"Bareland",
"Rangeland",
"Agriculture land"
] | [
1,
1,
0,
0,
0,
0,
1,
0
] | [
1,
2,
0,
0,
0,
0,
3,
0
] |
Q00088 | An aerial drone starts from a cultivated field and needs to reach another cultivated field while minimizing risk. The terrain includes loose, sandy or rocky ground; areas with natural grasses and shrubs; individual or clustered tall vegetation; and cultivated crop areas. The drone can fly over all ground surfaces and v... | Drone | aerial drone | cultivated field | cultivated field | Which path provides the safest route? | Safest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Tree",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
1,
1,
1,
0
] | [
2,
2,
2,
2,
1,
1,
2,
0
] |
Q00089 | A delivery drone starts from a paved road surface and needs to reach a paved parking lot. The terrain includes areas with loose soil and rocks, grassy patches with uneven ground, smooth paved surfaces, hard-packed vehicle lanes, clusters of tall vertical obstacles, liquid bodies, and cultivated fields with soft soil. Y... | Drone | a delivery drone | paved road surface | paved parking lot | What path would provide the most comfortable journey from the paved road surface to the paved parking lot? | Comfort | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Tree",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
1,
1,
1,
0
] | [
3,
3,
3,
3,
1,
2,
3,
0
] |
Q00090 | A quadcopter drone starts from a cultivated field with loose, moist soil, you need to navigate to a dry, sandy or rocky expanse. The drone can fly over most surfaces, but areas with dense vertical obstacles like tall trees or buildings are blocked due to navigation hazards. What is the most comfortable path to reach th... | Drone | a quadcopter drone | a cultivated field with loose, moist soil | a dry, sandy or rocky expanse | What is the most comfortable path to reach the destination? | Comfort | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
2,
2,
2,
2,
0,
1,
2,
0
] |
Q00091 | An aerial surveillance drone starts from a cultivated field and needs to reach a paved lane. The drone can fly over areas with hard surfaces, liquid surfaces, and cultivated vegetation, but must avoid vertical structures that could obstruct its flight path. The drone cannot pass through dense overhead vegetation that w... | Drone | Aerial surveillance drone | cultivated field | paved lane | What is the shortest path to reach the destination? | Shortest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
1,
1,
1,
1,
0,
1,
1,
0
] |
Q00092 | A quadcopter drone starts from a patch of loose, sandy ground and needs to reach a grassy field. The drone prioritizes flying over surfaces that minimize turbulence and vibration for stable footage. Loose, sandy ground and grassy fields are traversable and generally flat. Areas with tall, dense vegetation are passable ... | Drone | a quadcopter drone | a patch of loose, sandy ground | a grassy field | What is the most comfortable path for the quadcopter drone? | Comfort | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Tree",
"Water",
"Agriculture land",
"Building"
] | [
1,
1,
1,
1,
1,
1,
1,
1
] | [
3,
3,
3,
3,
1,
2,
3,
3
] |
Q00093 | An aerial survey drone starts from a cultivated field with rows of crops and needs to reach another cultivated field with rows of crops. The area includes hard, flat surfaces suitable for landing and takeoff; smooth, paved lanes for vehicles; tall, vertical obstacles that can be flown over if necessary; liquid bodies t... | Drone | Aerial survey drone | A cultivated field with rows of crops | Another cultivated field with rows of crops | What is the shortest path? | Shortest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Tree",
"Water",
"Agriculture land",
"Building"
] | [
1,
1,
1,
1,
1,
1,
1,
1
] | [
2,
2,
2,
2,
1,
2,
2,
2
] |
Q00094 | A hiker starts from loose, sandy ground and needs to reach a paved, hard surface. The area includes rough, uneven terrain with scattered vegetation and obstacles, but you can traverse these if they are not too dense. However, you cannot cross any liquid areas or enter any solid structures. What is the shortest path? | Pedestrian | a hiker | loose, sandy ground | a paved, hard surface | What is the shortest path from the loose, sandy ground to the paved, hard surface? | Shortest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Tree",
"Agriculture land"
] | [
1,
1,
1,
1,
1,
0,
1,
0
] | [
1,
1,
1,
1,
1,
0,
1,
0
] |
Q00095 | A hiker starts from a patch of loose, sandy ground with scattered rocks and no vegetation and needs to reach a tall, leafy structure with branches and a distinct vertical profile. The hiker can walk on hard, flat surfaces like sidewalks and paved lanes, and is permitted to cross loose, sandy areas and tall vegetation b... | Pedestrian | A hiker | Starting from a patch of loose, sandy ground with scattered rocks and no vegetation. | The destination is a tall, leafy structure with branches and a distinct vertical profile. | What is the shortest path to the destination? | Shortest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Tree",
"Agriculture land"
] | [
1,
1,
1,
1,
1,
0,
1,
0
] | [
1,
1,
1,
1,
1,
0,
1,
0
] |
Q00096 | A quadcopter drone starts from a flat, hard, paved surface and needs to reach a dry, loose, sandy area while maximizing ride comfort. The drone can fly over all surfaces except densely packed vertical obstacles like trees and solid structures, which are blocked. Smooth, stable surfaces are preferred for comfort, while ... | Drone | a quadcopter drone | a flat, hard, paved surface | a dry, loose, sandy area | What is the most comfortable path for the drone to take? | Comfort | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
2,
2,
2,
2,
0,
1,
2,
0
] |
Q00097 | A quadcopter drone is positioned in a cultivated field with rows of crops and needs to reach a paved parking lot. The drone can fly over various surfaces, but must avoid flying directly through dense tree canopies as they pose a collision risk. The drone can safely traverse over liquid surfaces like rivers or ponds. Th... | Drone | A quadcopter drone | A cultivated field with rows of crops | A paved parking lot | What is the shortest path the drone can take to reach the paved parking lot from the cultivated field? | Shortest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land",
"Building"
] | [
1,
1,
1,
1,
0,
1,
1,
1
] | [
1,
1,
1,
1,
0,
1,
1,
1
] |
Q00098 | An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach an area of exposed, dry ground with loose soil and rocks. The drone's flight path must prioritize smooth, stable surfaces to minimize vibrations and ensure stable camera operation. While the drone can fly over most terrain ty... | Drone | Aerial survey drone | grassy, open field with low vegetation | exposed, dry ground with loose soil and rocks | What is the most comfortable route? | Comfort | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Tree",
"Water",
"Agriculture land",
"Building"
] | [
1,
1,
1,
1,
1,
1,
1,
1
] | [
3,
3,
3,
3,
1,
2,
3,
3
] |
Q00099 | A quadcopter drone is on a concrete surface and needs to reach a paved roadway. The area contains loose, sandy patches; grassy and shrub-covered terrain; hard, paved areas; vehicle lanes; tall vertical structures; bodies of liquid; and cultivated fields. For safety, the drone must avoid flying close to tall vertical st... | Drone | A quadcopter drone | A concrete surface | A paved roadway | What is the safest path to reach the paved roadway? | Safest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
0,
1,
0
] | [
1,
1,
1,
1,
0,
0,
1,
0
] |
Q00100 | An aerial surveillance drone is positioned on a flat, hard, paved area and needs to reach a long, straight, paved lane. The drone can fly over open water bodies, cultivated fields with low vegetation, and areas with scattered trees or buildings, but must avoid dense tree canopies and vertical structures to prevent coll... | Drone | Aerial surveillance drone | A flat, hard, paved area | A long, straight, paved lane | Which path minimizes the risk of accidents or damage? | Safest | [
"Bareland",
"Rangeland",
"Developed space",
"Road",
"Water",
"Agriculture land"
] | [
1,
1,
1,
1,
0,
1,
1,
0
] | [
2,
2,
2,
2,
0,
1,
2,
0
] |
End of preview.
NeSy-Route: A Neural-Symbolic Benchmark for Constrained Route Planning in Remote Sensing
Dataset Composition
NeSy-Route is organized into three benchmark tasks for evaluating perception, symbolic reasoning, and constrained route planning over remote-sensing imagery.
| Task | Setting | Easy | Medium | Hard | Total | Content |
|---|---|---|---|---|---|---|
| Task 1 | Few-shot | - | - | - | 3,607 | Semantic traversability and cost-vector prediction |
| Task 2 | Zero-shot | 7,659 | 3,712 | 1,604 | 12,975 | Constraint-aware semantic and region reasoning |
| Task 3 | Zero-shot | 6,492 | 2,705 | 1,624 | 10,821 | Constrained route planning with waypoint or trajectory outputs |
Task 1 and Task 2 provide semantic constraint annotations for vector-based reasoning. Task 3 provides route-planning samples together with traversability maps, cost maps, ground-truth paths, and difficulty-level subsets.
Evaluation Code
Evaluation scripts, prompt templates, and running instructions are available in the GitHub repository:
https://github.com/MingYang1010/NeSy-Route
License
NeSy-Route follows the same licensing policy as OpenEarthMap. Label data are released under the same license as the corresponding source RGB imagery when applicable. For data whose source imagery is public domain or whose license is otherwise unspecified, the released labels follow the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License (CC BY-NC-SA 4.0).
Please also check the LICENSE file in this repository before using or redistributing the dataset.
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